JP2022002481A - Harvesting machine - Google Patents

Abstract

To provide a harvesting machine capable of avoiding interaction of a harvesting unit with an outer edge part of a field.SOLUTION: There are provided a harvesting unit H which is constituted so as to be lifted and lowered, and harvests a crop in a field 5, an acquisition unit which acquires outer edge part information indicating a three-dimensional shape of the field outer edge part 6 which is provided so as to surround the field 5, and a lifting/lowering control unit which automatically controls lifting/lowering of the harvesting unit H so as to avoid interaction of the harvesting unit H with the field outer edge part 6 on the basis of the outer edge part information, when the harvesting unit H is in a state overlapping to the field outer edge part 6 in a plan view accompanying the travel of a machine body.SELECTED DRAWING: Figure 8

Description

The present invention relates to a harvester including a harvesting section for harvesting field crops.

As the above-mentioned harvester, for example, the one described in Patent Document 1 is already known. The harvesting section (“cutting section” in Patent Document 1) in this harvester (“combine” in Patent Document 1) is configured to be able to move up and down with respect to the machine body.

Japanese Unexamined Patent Publication No. 2017-3517

Generally, the outer edge of the field provided so as to surround the field includes a ridge, a water supply / drainage pump, and the like. Then, when the harvester changes direction at the corner of the field, the harvesting part advances to a position overlapping the outer edge of the field in a plan view, and then the turning run is performed, so that efficient direction change can be easily performed. However, when the harvesting portion overlaps with the outer edge of the field in a plan view, it is necessary to prevent the harvesting portion from interfering with the outer edge of the field.

Here, Patent Document 1 does not describe a configuration for preventing the harvesting portion from interfering with the outer edge of the field when the harvesting portion overlaps with the outer edge of the field in a plan view.

An object of the present invention is to provide a harvester capable of preventing the harvesting section from interfering with the outer edge of the field.

The feature of the present invention is to acquire information on the outer edge of the harvesting section, which is configured to be able to move up and down with respect to the machine and harvests the crops in the field, and the outer edge of the field, which is provided so as to surround the field. When the harvesting part overlaps with the outer edge of the field in a plan view as the machine travels, the harvesting part does not interfere with the outer edge of the field based on the information of the outer edge. It is provided with an elevating control unit that automatically controls the elevating and lowering of the harvesting unit.

According to the present invention, the raising and lowering of the harvesting portion is automatically controlled so that the harvesting portion does not interfere with the outer edge of the field according to the three-dimensional shape of the outer edge of the field. This makes it possible to realize a harvester that can prevent the harvesting portion from interfering with the outer edge of the field.

Further, in the present invention, it is preferable that the elevating control unit controls the elevating and lowering of the harvesting unit so that the lower the above-ground height of the field outer edge is, the lower the above-ground height of the harvesting unit is.

When the elevating control unit is configured to raise the harvesting part to the highest position regardless of the ground clearance of the field outer edge when the harvesting part overlaps the field outer edge in a plan view. It is possible to prevent the harvesting part from interfering with the outer edge of the field. However, in this case, when the harvesting portion overlaps with the outer edge of the field in a plan view, it is necessary to start raising the harvesting portion at a relatively early stage. As a result, the position of action of the harvesting part on unharvested crops tends to be higher than the appropriate height.

For example, when the crop in the field is a grain and the harvesting part has a cutting device for cutting the culm, when the harvesting part overlaps with the outer edge of the field in a plan view, it is harvested at a relatively early stage. When you start to raise the part, the cutting height tends to be higher than the appropriate height.

Here, according to the above configuration, the ground clearance of the harvesting portion when the harvesting portion overlaps with the outer edge of the field in a plan view becomes the minimum necessary according to the above-ground height of the outer edge of the field. The configuration can be realized. As a result, it is possible to realize a harvester that can easily avoid a situation in which the position of action of the harvesting portion on unharvested crops becomes higher than the appropriate height.

Further, in the present invention, it is preferable that the elevating control unit controls the elevating and lowering of the harvesting unit so that the separation distance between the harvesting unit and the outer edge of the field is maintained wider than a predetermined value. be.

According to this configuration, it is possible to reliably provide an elevating control unit that automatically controls the elevating and lowering of the harvesting unit so that the harvesting unit does not interfere with the outer edge of the field.

Further, in the present invention, the present invention includes a traveling control unit that controls the traveling of the machine body so that the harvesting portion does not overlap the field outer edge portion in a plan view when the ground height of the field outer edge portion is higher than a predetermined height. Is suitable.

When the ground height of the outer edge of the field is relatively high, when the harvesting part overlaps the outer edge of the field in a plan view, the harvesting part may start to rise at a relatively early stage under the control of the elevating control part. is assumed. As a result, the position of action of the harvesting part on unharvested crops tends to be higher than the appropriate height.

In addition, when the ground height of the outer edge of the field is relatively high, when the harvesting part overlaps with the outer edge of the field in a plan view, even if the harvesting part rises to the highest position, the harvesting part is the outer edge of the field. It is assumed that it will interfere with.

Here, according to the above configuration, when the ground height of the outer edge of the field is relatively high, it is possible to realize a harvester in which the traveling of the machine is controlled so that the harvesting portion does not overlap with the outer edge of the field in a plan view. can. As a result, as described above, it is possible to avoid a situation in which the position of action of the harvesting portion on the unharvested crop is higher than the appropriate height and a situation in which the harvesting portion interferes with the outer edge of the field.

Further, in the present invention, the peripheral harvesting run, which is a running along the outer edge of the field, can be executed at the outermost peripheral portion of the field, and the outer edge of the field is executed during the peripheral harvesting run. Of these, a detector that detects the three-dimensional shape of the part of the field adjacent to the area where the crop has been harvested, and an outer edge map that shows the distribution of the three-dimensional shape of the outer edge of the field based on the detection result of the detection unit. It is preferable that the acquisition unit acquires the outer edge map, and the elevating control unit controls the elevating of the harvesting unit based on the outer edge map.

According to this configuration, the detection unit detects the three-dimensional shape of the portion of the outer edge of the field adjacent to the region where the crop has been harvested in the field. Therefore, when the detection unit detects the three-dimensional shape of the outer edge of the field, it is unlikely that the detection will be hindered by the crop. As a result, the map generation unit can generate an outer edge map with good accuracy. As a result, the accuracy of the elevating control of the harvesting section by the elevating control section tends to be good.

Further, in the present invention, the peripheral harvesting run, which is a run performed along the outer edge of the field at the outermost periphery of the field, is configured to be feasible, and the acquisition section has a three-dimensional shape of the outer edge of the field. A detection unit that acquires a map of the outer edge portion showing the distribution and detects the three-dimensional shape of the portion of the outer edge portion of the field adjacent to the region where the crop has been harvested in the field during the execution of the surrounding harvesting run. The elevating control unit includes a map updating unit that updates the outer edge map based on the detection result of the detection unit, and the elevating control unit elevates the harvesting unit based on the outer edge map updated by the map updating unit. It is preferable to control.

If there is a discrepancy between the outer edge map acquired by the acquisition unit and the distribution of the three-dimensional shape of the actual field outer edge, if the elevation of the harvesting unit is controlled based on the outer edge map acquired by the acquisition unit. , The raising and lowering of the harvesting part may be inappropriate.

Here, according to the above configuration, even if there is a discrepancy between the outer edge map acquired by the acquisition unit and the distribution of the three-dimensional shape of the actual field outer edge, the outer edge map is created by the map update unit. Is updated. As a result, the elevating control of the harvesting unit by the elevating control unit tends to be appropriate.

Moreover, according to this configuration, the detection unit detects the three-dimensional shape of the portion of the outer edge of the field adjacent to the region where the crop has been harvested in the field. Therefore, when the detection unit detects the three-dimensional shape of the outer edge of the field, it is unlikely that the detection will be hindered by the crop. As a result, the accuracy of the outer edge map updated by the map update unit tends to be good. As a result, the accuracy of the elevating control of the harvesting section by the elevating control section tends to be good.

It is a left side view of the combine. It is a figure which shows the surrounding harvesting run. It is a figure which shows the cutting running along the cutting running path. It is a figure which shows the cutting running along the cutting running path. It is a block diagram which shows the structure about the control part. It is a figure which shows the detection direction by a detection part. It is a figure which shows an example of the outer edge map. It is a figure which shows the elevating control of a harvesting part by an elevating control part. It is a figure which shows the elevating control of a harvesting part according to the height above the ground of the field outer edge part. It is a figure which shows the example of the case where the running of the machine body is controlled so that the harvesting part does not overlap with the outer edge part of a field in a plan view. It is a figure which shows the example of the case where the running of the machine body is controlled so that the harvesting part does not overlap with the outer edge part of a field in a plan view. It is a block diagram which shows the structure about the control part in 1st Embodiment. It is a figure which shows an example of the outer edge part map before being updated by the map update part in 1st Embodiment.

A mode for carrying out the present invention will be described with reference to 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”. Further, the direction of the arrow U shown in FIG. 1 is "up", and the direction of the arrow D is "down".

[Overall composition of combine harvester]
As shown in FIG. 1, the ordinary type combine 1 (corresponding to the “harvester” according to the present invention) includes a harvesting unit H, a crawler type traveling device 11, an operating unit 12, a threshing device 13, and a grain tank 14. It is equipped with a transport unit 16, a grain discharge device 18, a satellite positioning module 80, and an engine E.

The traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by the power from the engine E. The combine 1 can be self-propelled by the traveling device 11.

Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the work of the combine 1 can be boarded on the driving unit 12. The operator may monitor the work of the combine 1 from outside the combine 1.

The grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.

The harvesting section H is provided in the front portion of the combine 1. The transport section 16 is provided on the rear side of the harvest section H. Further, the harvesting unit H includes a cutting device 15 and a reel 17.

The reaping device 15 cuts the planted culm in the field 5 (see FIG. 2). Further, the reel 17 is driven to rotate around the reel axis 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested. The cut grain culm cut by the cutting device 15 is sent to the transport unit 16.

With this configuration, the harvesting unit H harvests the grain of the field 5 (corresponding to the “crop” according to the present invention). Then, the combine 1 can be cut and run by the running device 11 while cutting the planted culm in the field 5 by the cutting device 15.

The harvested culm harvested by the harvesting unit H is transported to the rear of the machine body by the transport unit 16. As a result, the harvested grain culm is transported to the threshing device 13.

In the threshing device 13, the harvested grain culm is threshed. The 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 18 as needed.

Further, as shown in FIG. 1, a communication terminal 4 is arranged in the driving unit 12. The communication terminal 4 is configured to be able to display various information. In the present embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, and the communication terminal 4 may be located outside the combine 1. ..

Here, as shown in FIGS. 2 to 4, the combine 1 is configured to harvest grains in the field 5 located inside the field outer edge portion 6. The field outer edge 6 is provided so as to surround the field 5. The field outer edge 6 includes, for example, a ridge 61, a water supply / drainage pump 62 (see FIG. 7), and the like.

More specifically, as shown in FIG. 2, the combine 1 is configured to be capable of performing a peripheral harvesting run. The peripheral harvesting run is a run performed along the outer edge portion 6 of the field at the outermost peripheral portion in the field 5.

In this embodiment, the number of laps in the surrounding harvesting run is one. However, the present invention is not limited to this, and the number of laps in the surrounding harvesting run may be any number of times of 2 or more.

Then, the combine 1 is configured to harvest the grain of the field 5 by performing a peripheral harvesting run and then performing a cutting run in the inner region of the field 5 as shown in FIGS. 3 and 4. There is.

That is, the combine 1 is configured to be capable of performing a peripheral harvesting run, which is a run along the outer edge portion 6 of the field at the outermost peripheral portion in the field 5.

In the present embodiment, the surrounding harvesting run shown in FIG. 2 is performed by manual running. Further, the cutting run in the inner region shown in FIGS. 3 and 4 is performed by automatic running. That is, the combine 1 can run automatically.

The present invention is not limited to this, and the surrounding harvesting running shown in FIG. 2 may be performed by automatic running.

Further, as shown in FIG. 1, the driving unit 12 is provided with a main speed change lever 19. The main shift lever 19 is artificially operated. When the operator operates the main shift lever 19 while the combine 1 is manually traveling, the vehicle speed of the combine 1 changes. That is, when the combine 1 is manually traveling, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.

The operator can change the rotation speed of the engine E by operating the communication terminal 4.

Growth characteristics such as ease of threshing and ease of lodging differ depending on the type of crop. Therefore, the appropriate working speed differs depending on the type of crop. If the operator operates the communication terminal 4 and sets the rotation speed of the engine E to an appropriate rotation speed, the work can be performed at a work speed suitable for the type of crop.

[Structure related to control unit]
As shown in FIG. 5, the combine 1 includes a control unit 20. The control unit 20 includes a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, and an automatic driving control unit 24. The automatic traveling control unit 24 controls the automatic traveling of the combine 1. Further, the automatic travel control unit 24 includes a route selection unit 25 and a travel control unit 26.

As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 5, the satellite positioning module 80 sends positioning data indicating the own vehicle position of the combine 1 to the own vehicle position calculation unit 21 based on the received GPS signal.

The own vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the area calculation unit 22 and the automatic traveling control unit 24.

The area calculation unit 22 calculates the cut area SA and the uncut area CA as shown in FIG. 3 based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. The cut area SA is an area in which grains have been harvested in the field 5. Further, the uncut area CA is an area in the field 5 where grains have not been harvested yet.

More specifically, the area calculation unit 22 calculates the travel locus of the combine 1 in the surrounding harvesting travel in the field 5 based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Then, the area calculation unit 22 calculates the area where the combine 1 has performed the surrounding harvesting as the cut area SA based on the calculated travel locus of the combine 1. Further, the area calculation unit 22 calculates the area surrounded by the calculated uncut area SA as the uncut area CA.

For example, in FIG. 2, the traveling path of the combine 1 in the surrounding harvesting traveling in the field 5 is indicated by an arrow. When the cutting run along this running path is completed, the field 5 is in the state shown in FIG.

As shown in FIG. 3, the area calculation unit 22 calculates the area where the combine 1 has performed the surrounding harvesting run as the already-cut area SA. Further, the area calculation unit 22 calculates the area surrounded by the calculated uncut area SA as the uncut area CA.

Then, as shown in FIG. 5, the calculation result by the area calculation unit 22 is sent to the route calculation unit 23.

Based on the calculation result received from the area calculation unit 22, the route calculation unit 23 calculates the mowing travel route LI, which is a travel route for the mowing operation in the uncut area CA, as shown in FIG. As shown in FIG. 3, in the present embodiment, the cutting travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Further, the plurality of mesh lines do not have to be straight lines and may be curved.

As shown in FIG. 5, the plurality of mowing travel path LIs calculated by the route calculation unit 23 are sent to the automatic travel control unit 24.

The route selection unit 25 in the automatic travel control unit 24 determines the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the plurality of harvesting travel routes LI received from the route calculation unit 23. Next, the harvesting route LI to be traveled is selected. Information indicating the cutting travel route LI selected by the route selection unit 25 is sent to the travel control unit 26.

The travel control unit 26 is configured to be able to control the travel device 11. Then, the travel control unit 26 automatically travels the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the information indicating the harvesting travel route LI selected by the route selection unit 25. To control. More specifically, as shown in FIG. 3, the traveling control unit 26 controls the traveling of the combine 1 so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI.

In this automatic traveling, the traveling control unit 26 of the combine 1 so that the harvesting traveling along the cutting traveling route LI selected by the route selection unit 25 is performed next to the cutting traveling route LI currently being traveled. Control driving.

[Flow of harvesting work by combine harvester]
In the following, as an example of the harvesting work by the combine 1, the flow when the combine 1 performs the harvesting work in the field 5 shown in FIG. 2 will be described.

First, the operator manually operates the combine 1 to perform a peripheral harvesting run as shown in FIG. When this surrounding harvesting run is completed, the field 5 is in the state shown in FIG.

The area calculation unit 22 calculates the travel locus of the combine 1 in the surrounding harvesting travel shown in FIG. 2 based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Then, as shown in FIG. 3, the area calculation unit 22 sets the area on the outer peripheral side of the field 5 in which the combine 1 travels while cutting the planted grain culm, based on the calculated travel locus of the combine 1. Calculated as SA. Further, the area calculation unit 22 calculates the area surrounded by the calculated uncut area SA as the uncut area CA.

Next, the route calculation unit 23 sets the cutting travel route LI in the uncut area CA as shown in FIG. 3 based on the calculation result received from the area calculation unit 22.

Then, when the operator presses the automatic running start button (not shown), automatic running along the cutting running path LI is started as shown in FIG. At this time, the traveling control unit 26 controls the traveling of the combine 1 so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI. Further, the traveling control unit 26 controls the traveling of the combine 1 so that the harvesting traveling along the cutting traveling route LI selected by the route selecting unit 25 is performed next to the cutting traveling route LI currently traveling. do.

When the automatic running in the uncut area CA is started, as shown in FIG. 3, the combine 1 repeats running along the cutting running path LI and changing the direction by the α turn, thereby repeating the uncut area CA. The harvesting run is performed on the outer peripheral part of the combine harvester. As a result, the uncut area CA shrinks and the already cut area SA expands.

In the present embodiment, the area calculation unit 22 is configured to calculate the already-cut area SA and the uncut area CA over time during the cutting run in the field 5.

Then, as shown in FIG. 4, when the harvested region SA is expanded to the extent that the direction can be changed by the U-turn, the combine 1 repeats traveling along the cutting travel path LI and changing the direction by the U-turn. As a result, the cutting run is performed so as to cover the entire uncut area CA.

In this embodiment, as shown in FIGS. 2 to 4, the carrier CV is parked at the outer edge portion 6 of the field. Then, in the mowed area SA, a stop position PP is set at a position near the carrier CV.

The carrier CV can collect and transport the grains discharged by the combine 1 from the grain discharge device 18. At the time of grain discharge, the combine 1 stops at the stop position PP, and the grain is discharged to the carrier CV by the grain discharge device 18.

Then, when the cutting run along all the cutting running paths LI in the uncut area CA is completed, the entire field 5 is harvested.

[Structure related to raising and lowering control of the harvesting section]
As shown in FIGS. 1 and 5, the combine 1 includes a cutting cylinder 15A. Further, as shown in FIG. 5, the automatic traveling control unit 24 has an elevating control unit 27.

The elevating control unit 27 is configured to be able to control the cutting cylinder 15A. When the elevating control unit 27 controls the cutting cylinder 15A in the extending direction, the transport unit 16 and the harvesting unit H integrally swing in the direction in which the harvesting unit H rises. As a result, the harvesting section H rises with respect to the aircraft.

Further, when the elevating control unit 27 controls the cutting cylinder 15A in the contraction direction, the transport unit 16 and the harvesting unit H integrally swing in the direction in which the harvesting unit H descends. As a result, the harvesting section H descends with respect to the aircraft.

With this configuration, the elevating control unit 27 can control the elevating of the harvesting unit H with respect to the machine body. Further, the harvesting unit H can be raised and lowered with respect to the machine body.

That is, the combine 1 is configured to be able to move up and down with respect to the machine body, and has a harvesting section H for harvesting grains in the field 5.

[Structure related to acquisition of outer edge map]
As shown in FIG. 5, the control unit 20 has a map generation unit 28 and an acquisition unit 29. Further, as shown in FIGS. 5 and 6, the combine 1 includes a detection unit 30.

In the present embodiment, the detection unit 30 is a camera (for example, a CCD camera, a CMOS camera, or an infrared camera). As shown in FIG. 6, the detection unit 30 is provided at the rear end portion of the combine 1. Further, the detection unit 30 is directed to the rear right of the machine body.

In FIG. 6, the combine 1 is executing a peripheral harvesting run. Further, as shown in FIG. 2, in the present embodiment, the direction of the surrounding harvesting run is counterclockwise in a plan view. Therefore, as shown in FIG. 6, when the surrounding harvesting run is being executed, the detection unit 30 takes an image of the portion of the field outer edge portion 6 adjacent to the cut area SA. As a result, the detection unit 30 detects the three-dimensional shape of the portion of the field outer edge portion 6 adjacent to the cut area SA.

That is, the combine 1 is provided with a detection unit 30 that detects the three-dimensional shape of the portion of the field outer edge portion 6 adjacent to the region where the grain has been harvested in the field 5 during the execution of the surrounding harvesting run.

As shown in FIG. 5, the detection result by the detection unit 30 is sent to the map generation unit 28.

The map generation unit 28 generates an outer edge map based on the detection result of the detection unit 30. The outer edge map is a map showing the distribution of the three-dimensional shape of the field outer edge 6. Further, the outer edge map corresponds to the "outer edge information" according to the present invention. Then, the acquisition unit 29 acquires the outer edge portion map from the map generation unit 28.

That is, the combine 1 includes a map generation unit 28 that generates an outer edge portion map showing the distribution of the three-dimensional shape of the field outer edge portion 6 based on the detection result of the detection unit 30. Further, the acquisition unit 29 acquires the outer edge portion map. Further, the combine 1 includes an acquisition unit 29 for acquiring information on the outer edge portion indicating the three-dimensional shape of the outer edge portion 6 of the field provided so as to surround the field 5.

From the start to the end of the surrounding harvesting run, the detection unit 30 will take an image of the entire circumference of the field outer edge portion 6. As a result, the detection unit 30 can detect the three-dimensional shape of the field outer edge portion 6 over the entire circumference of the field outer edge portion 6. As a result, the map generation unit 28 can generate an outer edge portion map corresponding to the entire circumference of the field outer edge portion 6.

FIG. 7 shows an example of an outer edge map generated by the map generation unit 28. The outer edge map shown in FIG. 7 includes the position and three-dimensional shape of the side surface portion 61a of the ridge shore 61, the position and three-dimensional shape of the upper surface portion 61b of the ridge shore 61, and the position and three-dimensional shape of the water supply / drainage pump 62. It has been. As shown in FIG. 8, the side surface portion 61a is inclined so as to be higher toward the outside (the farther from the field 5). Further, the upper surface portion 61b is horizontal.

[About the elevating control of the harvesting part based on the outer edge map]
As shown in FIG. 5, the outer edge map acquired by the acquisition unit 29 is sent to the automatic traveling control unit 24. Then, the elevating control unit 27 controls the elevating of the harvesting unit H based on the outer edge map.

In the following, the elevating control of the harvesting portion H based on the outer edge portion map will be described in detail.

FIG. 8 shows an example in which the combine 1 changes direction in the vicinity of the outer edge portion 6 of the field. In this example, the surrounding harvest run has already been completed. Then, the outer edge map has already been generated by the map generation unit 28. Further, the combine 1 is automatically traveling.

In the example shown in FIG. 8, the combine 1 first goes straight while performing a cutting run in the uncut area CA. Then, when the harvesting portion H enters the uncut region SA from the uncut region CA, the combine 1 changes direction by an α turn.

More specifically, when the harvesting unit H enters the uncut area SA from the uncut area CA, the combine 1 turns to the left side of the machine body while decelerating under the control of the traveling control unit 26. Then, the combine 1 is temporarily stopped in a state where the harvesting portion H overlaps the field outer edge portion 6 in a plan view.

After that, the combine 1 changes the direction of the aircraft while moving backward and forward. As a result, the change of direction of the combine 1 is completed.

Here, before the harvesting unit H enters the uncut area SA from the uncut area CA, the traveling control unit 26 receives information indicating the cutting traveling route LI selected by the route selection unit 25 and the acquisition unit 29. Based on the outer edge map and the target route of the combine 1 at the time of turning. In FIG. 8, the cutting route LI is not shown.

Then, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 changes direction along the calculated target route. Further, the traveling control unit 26 sends the calculated target route to the elevating control unit 27 before the harvesting unit H enters the uncut area SA from the uncut area CA.

The elevating control unit 27 generates elevating schedule information indicating the elevating control schedule of the harvesting unit H based on the target route received from the traveling control unit 26 and the outer edge portion map received from the acquisition unit 29. Then, the elevating control unit 27 controls the elevating of the harvesting unit H according to the generated elevating schedule information.

At this time, the elevating control unit 27 generates elevating schedule information so that the harvesting unit H does not interfere with the field outer edge portion 6 when the harvesting unit H overlaps with the field outer edge portion 6 in a plan view. As a result, when the harvesting portion H overlaps with the field outer edge portion 6 in a plan view, the raising and lowering of the harvesting portion H is automatically controlled so that the harvesting portion H does not interfere with the field outer edge portion 6.

That is, in the combine 1, when the harvesting portion H overlaps with the field outer edge portion 6 in a plan view as the aircraft travels, the harvesting portion H does not interfere with the field outer edge portion 6 based on the outer edge portion information. Is provided with an elevating control unit 27 that automatically controls the elevating and lowering of the harvesting unit H.

In the present embodiment, the ascending / descending schedule information includes the position of the machine that starts the ascent of the harvesting part H, the position of the machine that ends the ascending of the harvesting part H, the position of the machine that starts the descent of the harvesting part H, and the harvesting. Information indicating the position of the aircraft to end the descent of the portion H and the information indicating the position thereof are included.

Further, as shown in FIG. 9, the elevating control unit 27 is scheduled to move up and down so that the lower the ground height of the field outer edge portion 6, the closer the position of the machine body at which the harvesting portion H starts to rise is to the field outer edge portion 6. Generate information. As a result, the lower the ground clearance of the field outer edge portion 6, the lower the ground clearance reached by the harvesting portion H when the harvesting portion H overlaps with the field outer edge portion 6 in a plan view.

That is, the elevating control unit 27 controls the elevating of the harvesting unit H so that the lower the above-ground height of the field outer edge portion 6 is, the lower the above-ground height of the harvesting unit H is.

For example, FIG. 9 shows a case where the above-ground height of the field outer edge portion 6 is the first height T1 and a case where the above-ground height of the field outer edge portion 6 is the second height T2. .. The second height T2 is lower than the first height T1.

When the ground height of the field outer edge portion 6 is the first height T1, the ascending of the harvesting portion H is started when the front lower end of the harvesting portion H reaches the position P1. Further, when the above-ground height of the field outer edge portion 6 is the second height T2, the ascending of the harvesting portion H is started when the front lower end of the harvesting portion H reaches the position P2. The distance between the position P2 and the field outer edge 6 is shorter than the distance between the position P1 and the field outer edge 6.

Therefore, when the above-ground height of the field outer edge 6 is the second height T2, the harvesting portion H starts to rise as compared with the case where the above-ground height of the field outer edge 6 is the first height T1. The position of the machine is close to the outer edge of the field 6. As a result, when the above-ground height of the field outer edge 6 is the second height T2, the harvesting portion H is in a plan view as compared with the case where the above-ground height of the field outer edge 6 is the first height T1. The height above the ground reached by the harvesting portion H becomes low when it overlaps with the outer edge portion 6 of the field.

Further, as shown in FIG. 8, the elevating control unit 27 generates elevating schedule information so that the separation distance D1 between the harvesting unit H and the field outer edge portion 6 is maintained wider than a predetermined value. .. As a result, the raising and lowering of the harvesting portion H is controlled so that the separation distance D1 between the harvesting portion H and the field outer edge portion 6 is maintained to be wider than a predetermined value.

That is, the elevating control unit 27 controls the elevating of the harvesting unit H so that the separation distance D1 between the harvesting unit H and the field outer edge portion 6 is maintained wider than a predetermined value.

It should be noted that this predetermined value can be arbitrarily set.

[About running control according to the ground height of the outer edge of the field]
As described above, when the combine 1 during automatic traveling changes direction, the traveling control unit 26 is selected by the route selection unit 25 before the harvesting unit H enters the uncut area SA from the uncut area CA. The target route of the combine 1 at the time of turning is calculated based on the information indicating the harvesting travel route LI and the outer edge map received from the acquisition unit 29. Then, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 changes direction along the calculated target route.

Here, in the example shown in FIG. 8, the combine 1 advances to a position where the harvesting portion H overlaps with the field outer edge portion 6 in a plan view.

However, in the combine 1 in the present embodiment, when the ground height of the field outer edge portion 6 is higher than the predetermined height, the harvesting portion H overlaps with the field outer edge portion 6 in a plan view, unlike the example shown in FIG. It is configured to run so as not to.

More specifically, when the ground height of the field outer edge portion 6 is higher than the predetermined height, when the combine 1 during automatic traveling changes direction, the traveling control unit 26 performs the α-turn target route as shown in FIG. Instead, the target route as shown in FIG. 11 is calculated. Then, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 changes direction along the calculated target route.

In the example shown in FIG. 11, the combine 1 first goes straight while performing a cutting run in the uncut area CA. Then, after the harvesting portion H enters the uncut region SA from the uncut region CA, the combine 1 is temporarily stopped in a state where the harvesting portion H does not overlap with the field outer edge portion 6 in a plan view.

After that, the combine 1 changes the direction of the aircraft while repeating backward and forward movements. As a result, the change of direction of the combine 1 is completed. During this direction change, the traveling control unit 26 controls the traveling of the aircraft so that the harvesting unit H does not overlap the field outer edge portion 6 in a plan view.

That is, the combine 1 includes a traveling control unit 26 that controls the traveling of the machine body so that the harvesting unit H does not overlap the field outer edge portion 6 in a plan view when the ground height of the field outer edge portion 6 is higher than the predetermined height. ing.

The predetermined height can be arbitrarily set. Further, in FIGS. 10 and 11, the illustration of the cutting travel path LI is omitted.

With the configuration described above, the raising and lowering of the harvesting portion H is automatically controlled so that the harvesting portion H does not interfere with the field outer edge portion 6 according to the three-dimensional shape of the field outer edge portion 6. As a result, it is possible to realize a combine 1 that can prevent the harvesting portion H from interfering with the field outer edge portion 6.

[First Embodiment]
In the above embodiment, the acquisition unit 29 acquires the outer edge portion map generated by the map generation unit 28. However, the present invention is not limited to this. Hereinafter, the first embodiment according to the present invention will be described focusing on the differences from the above-described embodiment. The configuration other than the parts described below is the same as that of the above embodiment. Further, the same reference numerals are given to the same configurations as those in the above embodiment.

As shown in FIG. 12, the control unit 20 in the first embodiment includes a map update unit 32 and an acquisition unit 129.

The acquisition unit 129 acquires the outer edge portion map from the management server 31 installed outside the combine 1. The management server 31 stores an outer edge map generated based on the detection result of the detection unit 30 in the harvesting work performed in the field 5 in the past. However, the present invention is not limited to this, and the outer edge map stored in the management server 31 detects the three-dimensional shape of the field outer edge 6 in the work carried out by a work vehicle such as a tractor or a rice transplanter. It may be generated, or it may be generated by the operation input of the operator.

That is, the acquisition unit 129 acquires an outer edge map showing the distribution of the three-dimensional shape of the field outer edge 6.

FIG. 13 shows an example of the outer edge map acquired from the management server 31. The outer edge map shown in FIG. 13 includes the position and three-dimensional shape of the side surface portion 61a of the ridge shore 61 and the position and three-dimensional shape of the upper surface portion 61b of the ridge shore 61.

The acquisition unit 129 sends the acquired outer edge map to the map update unit 32. Further, the detection result by the detection unit 30 is sent to the map update unit 32.

The map update unit 32 updates the outer edge map received from the acquisition unit 129 based on the detection result of the detection unit 30.

That is, the combine 1 includes a map updating unit 32 that updates the outer edge map based on the detection result of the detection unit 30.

From the start to the end of the surrounding harvesting run, the detection unit 30 will take an image of the entire circumference of the field outer edge portion 6. As a result, the detection unit 30 can detect the three-dimensional shape of the field outer edge portion 6 over the entire circumference of the field outer edge portion 6. As a result, the map update unit 32 can update the entire outer edge map.

FIG. 13 shows an example of the outer edge map before being updated by the map update unit 32. The outer edge map shown in FIG. 13 includes the position and three-dimensional shape of the side surface portion 61a of the ridge shore 61 and the position and three-dimensional shape of the upper surface portion 61b of the ridge shore 61.

Here, the outer edge map before being updated by the map update unit 32 does not include information indicating the existence of the water supply / drainage pump 62, but in reality, the field outer edge portion 6 includes the water supply / drainage pump 62. It is assumed that there is. In that case, the three-dimensional shape of the water supply / drainage pump 62 is detected by the detection unit 30 during the execution of the surrounding harvesting run. As a result, the outer edge map updated by the map updating unit 32 includes the position and the three-dimensional shape of the water supply / drainage pump 62. That is, for example, when the outer edge map shown in FIG. 13 is updated by the map updating unit 32, the existence of the water supply / drainage pump 62 is reflected, and the outer edge map as shown in FIG. 7 is obtained.

As shown in FIG. 12, the outer edge map updated by the map updating unit 32 is sent to the automatic traveling control unit 24. Then, the elevating control unit 27 controls the elevating of the harvesting unit H based on the updated outer edge map. The elevating control of the harvesting unit H is the same as that of the above embodiment.

That is, the elevating control unit 27 controls the elevating of the harvesting unit H based on the outer edge map updated by the map updating unit 32.

The updated outer edge map may be sent from the map update unit 32 to the management server 31. In this case, the outer edge map stored in the management server 31 is updated by replacing the outer edge map before the update stored in the management server 31 with the outer edge map sent from the map update unit 32. May be configured.

[Other embodiments]
(1) The traveling device 11 may be a wheel type or a semi-crawler type.

(2) In the above embodiment, the cutting travel route LI calculated by the route calculation unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the cutting travel path LI calculated by the route calculation unit 23 does not have to be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the cutting travel path LI calculated by the route calculation unit 23 may be a spiral travel route. Further, the cutting travel path LI does not have to be orthogonal to another cutting travel route LI. Further, the cutting travel path LI calculated by the route calculation unit 23 may be a plurality of parallel lines parallel to each other.

(3) Own vehicle position calculation unit 21, area calculation unit 22, route calculation unit 23, automatic travel control unit 24, route selection unit 25, travel control unit 26, elevating control unit 27, map generation unit 28, acquisition unit 29, A part or all of the 129 and the map update unit 32 may be provided outside the combine 1, for example, in a management facility or a management server 31 provided outside the combine 1. Is also good.

(4) The detection unit 30 may be other than the camera. For example, the detection unit 30 may be a radar or a LIDAR (laser radar).

(5) The combine 1 may be configured so that it cannot run automatically. In that case, for example, the vehicle speed and steering may be controlled by manual operation, and the elevating and lowering of the harvesting unit H may be automatically controlled by the elevating control unit 27.

(6) The elevating control unit 27 may be configured to control the elevating of the harvesting unit H regardless of the ground clearance of the field outer edge portion 6.

(7) In the above embodiment, the elevating control unit 27 raises and lowers the harvesting unit H so that the separation distance D1 between the harvesting unit H and the field outer edge portion 6 is maintained wider than a predetermined value. Control. However, the present invention is not limited to this, and such a predetermined value may not be set.

(8) The detection unit 30 may not be provided in the combine 1. For example, the detection unit 30 may be provided on a flyable multicopter.

(9) The map generation unit 28 may generate an outer edge portion map based on information other than the detection result of the detection unit 30. For example, the map generation unit 28 may generate an outer edge map based on the locus of the harvesting unit H when the harvesting unit H moves up and down by manual operation.

(10) The outer edge map may show the position and height of the lowest portion of the side surface portion 61a of the ridge shore 61 and the position and height of the highest portion of the side surface portion 61a of the ridge shore 61. ..

It should be noted that the configuration disclosed in the above 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. Moreover, the embodiment disclosed in the present specification is an example, and the embodiment of the present invention is not limited to this, and can be appropriately modified without departing from the object of the present invention.

INDUSTRIAL APPLICABILITY The present invention can be used for a harvester provided with a harvesting section for harvesting crops in a field.

1 combine (harvester)
5 Field 6 Field outer edge 26 Travel control unit 27 Elevation control unit 28 Map generation unit 29, 129 Acquisition unit 30 Detection unit 32 Map update unit D1 Separation distance H Harvesting unit

Claims (6)

A harvesting section that can be raised and lowered with respect to the aircraft and harvests crops in the field,
An acquisition unit that acquires outer edge information indicating the three-dimensional shape of the outer edge of the field provided so as to surround the field, and an acquisition unit.
When the harvesting part overlaps with the outer edge of the field in a plan view as the machine travels, the harvesting part of the harvesting part is based on the information of the outer edge so that the harvesting part does not interfere with the outer edge of the field. A harvester equipped with an elevating control unit that automatically controls elevating. The harvester according to claim 1, wherein the elevating control unit controls the elevating and lowering of the harvesting unit so that the lower the above-ground height of the field outer edge is, the lower the above-ground height of the harvesting unit is. The first or second aspect of claim 1 or 2, wherein the elevating control unit controls the elevating of the harvesting unit so that the distance between the harvesting unit and the outer edge of the field is maintained to be wider than a predetermined value. Harvester. 13. The harvester described in any one of the items. It is configured to enable the surrounding harvesting run, which is the run along the outer edge of the field, at the outermost periphery of the field.
A detection unit that detects the three-dimensional shape of the portion of the outer edge of the field adjacent to the area where the crop has been harvested during the surrounding harvesting run.
A map generation unit that generates an outer edge map showing the distribution of the three-dimensional shape of the field outer edge based on the detection result of the detection unit is provided.
The acquisition unit acquires the outer edge map and obtains the map.
The harvester according to any one of claims 1 to 4, wherein the elevating control unit controls the elevating of the harvesting unit based on the outer edge map. It is configured to enable the surrounding harvesting run, which is the run along the outer edge of the field, at the outermost periphery of the field.
The acquisition unit acquires an outer edge map showing the distribution of the three-dimensional shape of the outer edge of the field.
A detection unit that detects the three-dimensional shape of the portion of the outer edge of the field adjacent to the area where the crop has been harvested during the surrounding harvesting run.
A map update unit that updates the outer edge map based on the detection result of the detection unit is provided.
The harvester according to any one of claims 1 to 4, wherein the elevating control unit controls the elevating of the harvesting unit based on the outer edge map updated by the map updating unit.

Images