JP2022010720A - Combine harvester - Google Patents

Abstract

To provide a combine harvester capable of flexibly and arbitrarily changing a speed relation between a reaping speed and a vehicle speed.SOLUTION: A combine harvester includes: a travel device; a reaping part for reaping planted standing grain culms; and a conveyance device for conveying reaped grain culms reaped by the reaping part to a thresher. The combine harvester further includes: a reaping control part for controlling a reaping speed; a travel control part for controlling a vehicle speed; a change operation tool for outputting a change signal along with operation; and a speed management part for arbitrarily determining a speed relation between the reaping speed and the vehicle speed based on the change signal, and giving a control command to the reaping control part and the travel control part so as to realize the determined speed relation.SELECTED DRAWING: Figure 4

Description

The present invention relates to a combine having a traveling device, a cutting unit for cutting planted grain culms, and a transport device for transporting the harvested grain culms cut by the cutting unit to a threshing device.

Patent Document 1 provides a combine that can switch between vehicle speed tuning control that synchronizes the drive speed in the cutting section with the vehicle speed and constant speed control that sets the drive speed in the cutting section to a preset constant value regardless of the vehicle speed. It is disclosed in.

The combine according to Patent Document 2 is a standard mode in which the speed of the feed chain that transports the grain from the harvester to the threshing device is synchronized with the vehicle speed, and a lodging in which the speed of the feed chain is not synchronized with the vehicle speed and is faster than the standard mode. It has a mode switch to switch between modes. Unexpected increase in culm delivered from the reaping device while the reaping operation is being performed in standard mode. In this case, the mode switch is used to switch the standard mode to the lodging mode, which speeds up the feedchain and prevents clogging of the culm delivered from the reaper to the feedchain.

International Publication No. 2005/058010 Japanese Unexamined Patent Publication No. 2019-146554

In the combine of Patent Document 1, the drive speed (cutting speed) of the cutting unit is determined by two preset speed patterns, that is, a speed pattern synchronized with the vehicle speed and a constant speed pattern that becomes a constant speed regardless of the vehicle speed. Then, one of the speed patterns is selected according to the work situation. Further, in the combine of Patent Document 2, a standard mode in which the feed chain speed is synchronized with the vehicle speed and a lodging mode in which the cutting speed is higher than the standard mode are prepared in advance, and either mode is prepared according to the work situation. Is selected. In the combine of Patent Document 1 and Patent Document 2, since the speed is controlled by the relationship between the cutting speed and the vehicle speed determined in advance, the speed is controlled according to the condition of the field, the condition of the planted culm, the experience of the driver, and the like. It is not possible to arbitrarily change the speed relationship between the cutting speed and the vehicle speed at the work site.

From the above circumstances, an object of the present invention is to provide a combine that can arbitrarily change the speed relationship between the cutting speed and the vehicle speed.

The combine according to the present invention including a traveling device, a cutting unit for cutting the planted grain culm, and a transport device for transporting the cut grain culm cut by the cutting unit to the threshing device is a cutting control for controlling the cutting speed. The speed relationship between the cutting speed and the vehicle speed is arbitrarily determined and determined based on the unit, the traveling control unit that controls the vehicle speed, the change operation tool that outputs a change signal according to the operation, and the change signal. A speed management unit that gives a control command to the cutting control unit and the travel control unit is provided so that the speed relationship is realized.

In this configuration, when the operator determines that the cutting speed is too slow or the cutting speed is too fast in the cutting operation, the change operation tool can be operated to increase or decrease the value of the cutting speed with respect to the vehicle speed. As a result, the cutting work is performed at a speed relationship that the worker deems appropriate based on the judgment based on the worker's experience and the like. If you feel that the cutting speed is too slow (or too fast), slow down (or increase) the vehicle speed without changing the cutting speed to relatively eliminate the cutting speed that is too slow. You may make speed-related changes.

If the speed-related decisions are completely left to the worker, the burden on the worker will increase. Also, if an inexperienced worker determines the speed relationship, the cutting operation may be inefficient. For this reason, a reference speed relationship is experimentally obtained in advance, a reference line that defines this reference speed relationship in a predetermined vehicle speed range is set, and the worker sets this reference according to the experience of the worker. It is convenient to adjust the line. From this, in one of the preferred embodiments of the present invention, the speed management unit is calculated using the reference line setting unit for setting the reference line defining the speed relationship as a reference and the reference line. It is provided with a cutting speed adjusting unit that calculates an adjusted cutting speed by multiplying the cutting speed by an adjustment magnification, and the adjustment magnification is determined based on the change signal. In this configuration, if the operator feels that the cutting speed is inappropriate for the current vehicle speed, the current cutting speed is changed by the adjustment magnification by operating the shifting control tool, and the vehicle speed and the cutting speed are changed. The speed relationship is improved.

In order to more efficiently adjust the speed relationship using the change operation tool, it is preferable to enable the adjustment in a plurality of stages by using the change operation tool. From this, in one of the preferred embodiments of the present invention, a plurality of different change signals are output by the operation of the change operation tool, and different adjustment magnifications are determined based on the respective change signals.

The cutting speed may be too fast or too slow for the current vehicle speed. In order to deal with both of them, in one of the preferred embodiments of the present invention, the adjustment magnification includes an increase ratio which is a value larger than 1 and a decrease ratio which is a value smaller than 1. There is. In this configuration, for example, the reduction factor or the increase factor can be selectively used by operating the change operation tool. When the increase magnification is selected as the adjustment magnification, the current cutting speed increases by the increase magnification. On the contrary, when the reduction magnification is selected as the adjustment magnification, the current cutting speed is reduced by the reduction magnification.

The reference line can be adjusted by a method of adding adjustment values in addition to the method of using the adjustment magnification as described above. For example, in one of the preferred embodiments of the present invention, the speed management unit includes a reference line setting unit that sets a reference line that defines the speed relationship as a reference, and the reference line calculated using the reference line. It is provided with a cutting speed adjusting unit that calculates an adjusted cutting speed by adding an adjustment value to the cutting speed, and the adjustment value is determined based on the change signal. Even with this configuration, if the operator feels that the cutting speed is inappropriate for the current vehicle speed, the current cutting speed is changed by the adjustment value by operating the shifting control tool, and the vehicle speed and the cutting speed are changed. The speed relationship is improved.

Even in the adjustment of the reference line using the adjustment value, it is preferable that the adjustment in a plurality of steps can be performed by using the change operation tool. From this, in one of the preferred embodiments of the present invention, a plurality of different change signals are output by the operation of the change operation tool, and different adjustment values are determined based on the respective change signals.

Further, even in the adjustment of the reference line using the adjustment value, it is preferable to be able to deal with the case where the cutting speed is too fast and the case where the cutting speed is too slow with respect to the current vehicle speed. Therefore, in one of the preferred embodiments of the present invention, the adjustment value includes a positive value and a negative value. When an adjustment value with a positive value is used, the current cutting speed is increased by the adjustment value. On the contrary, when the adjustment value having a negative value is used, the current cutting speed is lowered by the adjustment value.

If the adjustment cutting speed calculated using the adjustment magnification or the adjustment value based on the reference line is stored in advance as a plurality of adjustment lines, the adjustment cutting speed is always adjusted when adjusting the cutting speed based on the reference line. It is not necessary to calculate the cutting speed, and the cutting speed can be adjusted quickly. From this, in one of the preferred embodiments of the present invention, a plurality of adjustment lines adjusted with the reference line are preset, and based on the change signal, the change signal is transmitted from the plurality of adjustment lines. The adjustment line is selected according to the above, and the cutting speed adjustment unit calculates the adjustment cutting speed using the selected adjustment line.

The cutting speed is limited by the performance of the harvesting section of the combine and the transport device. Further, since a cutting speed higher than necessary causes damage to the grain rod, it is preferable to set an upper limit for the cutting speed determined when adjusting the speed relationship. For this reason, in one of the preferred embodiments of the present invention, the adjusted cutting speed is limited so as not to exceed a preset upper limit.

The reference line, which is the basis for adjusting the speed relationship between the cutting speed and the vehicle speed, is designed to adapt to standard cutting operations. However, depending on the cutting work area, the type of grain rod to be worked on, and the condition of the grain rod, the cutting speed required there may differ from the cutting speed based on the reference line adapted to the standard cutting work. It will be a rod. In order to deal with such problems smoothly, it is convenient to set another reference line that adapts to special circumstances. From this, in one of the preferred embodiments of the present invention, as the reference line, the first reference line and the cutting speed having a value different from the cutting speed of the first reference line with respect to the vehicle speed are used. A first mode in which at least one related second reference line is set and the first reference line is used based on a selection signal output by operating a selection operation tool different from the change operation tool. When either of the second mode using the second reference line is selected and the change operation tool is operated in both the first mode and the second mode, the speed control unit controls the cutting. The control command is given to the unit and the traveling control unit. According to this configuration, one of a plurality of modes to which a reference line indicating a different speed relationship is assigned is selected by the selection operation tool, and further, the reference line assigned to the selected mode is used as a base. The fine adjustments made to are realized by operating the change operation tool. As a result, a wide range of adjustment of the speed relationship between the cutting speed and the vehicle speed can be smoothly performed.

In the embodiment in which the mode selection described above is adopted, the speed-related adjustment (adjustment using the adjustment magnification and the adjustment value) by operating the change operation tool in each mode is performed with the same feeling, that is, with the same adjustment magnification or the same adjustment value. Once done, it can be adjusted without discomfort even if the mode is different. From this, in one of the preferred embodiments of the present invention, the speed control unit has a relationship between the cutting speed and the adjusted cutting speed calculated by using the first reference line in the first mode. The control command is determined so that the relationship between the cutting speed calculated using the second reference line in the second mode and the adjusted cutting speed has the same value. On the contrary, depending on the reference line assigned to each mode, it may be better to adjust the speed relationship by operating the change operation tool in each mode with different feelings. From this, in one of the preferred embodiments of the present invention, the speed control unit has a relationship between the cutting speed and the adjusted cutting speed calculated by using the first reference line in the first mode. The control command is determined so that the relationship between the cutting speed calculated using the second reference line in the second mode and the adjusted cutting speed has different values.

If there are multiple adjustment modes (1st mode, 2nd mode) and the speed relation can be adjusted by operating the change operation tool, there is an advantage that fine speed relation can be adjusted, but the adjustment operation Becomes complicated. Therefore, for the purpose of simplifying the adjustment operation and its control, in one of the preferred embodiments of the present invention, the reference line is a first reference line and the first reference line with respect to the vehicle speed. At least one second reference line associated with the cutting speed having a value different from the cutting speed is set, and based on the selection signal output by the operation of the selection operation tool different from the change operation tool. , The first mode using the first reference line and the second mode using the second reference line are selected, and the speed management unit is in one of the first mode and the second mode. When the change operation tool is operated, the control command is given to the cutting control unit and the travel control unit. In this configuration, even if there are a plurality of adjustment modes, fine adjustment can be performed only in one of the modes, and even if it is simple, speed-related adjustment is realized without excess or deficiency.

It is an overall side view of a combine. It is the whole plan view of a combine. It is a functional block diagram of the control system about a vehicle speed and a cutting speed. It is explanatory drawing for demonstrating the speed relationship between a vehicle speed and a cutting speed, which is determined by using an adjustment magnification. It is explanatory drawing for demonstrating the speed relationship between a vehicle speed and a cutting speed determined by using an adjustment value. It is a graph which shows the 1st reference line and the 2nd reference line. It is a graph which shows the 1st reference line and a plurality of adjustment lines based on the 1st reference line. It is a graph which shows the 2nd reference line and a plurality of adjustment lines based on the 2nd reference line.

Hereinafter, embodiments of the combine according to the present invention will be described with reference to the drawings.

In this embodiment, the direction indicated by the reference numeral (F) in FIGS. 1 and 2 is the front side of the machine, and the direction indicated by the reference numeral (B) in FIGS. 1 and 2 is the rear side of the machine body. The direction indicated by the reference numeral (L) in FIG. 2 is the left side of the aircraft, and the direction indicated by the reference numeral (R) in FIG. 2 is the right side of the aircraft.

As shown in FIGS. 1 and 2, the combine according to the present invention includes a traveling machine body 1 and a cutting section 2 capable of cutting 7 planted culms. The cutting portion 2 is connected to the traveling machine body 1 so as to be able to swing up and down around the horizontal axis P1, and is provided so as to be driven and raised and lowered by a hydraulic cylinder 20 for raising and lowering.

The traveling machine body 1 is provided with left and right crawler traveling devices 11R and 11L as traveling devices 11, and is provided with a driving unit 12 on the right side (one side in the left-right direction) of the front portion of the machine body. Behind the driving unit 12, a threshing device 13 for threshing the grain culms cut by the cutting unit 2 and a grain tank 14 for storing the grains obtained by the threshing process are lined up in the horizontal direction of the machine. It is equipped with. The driving unit 12 is covered with the cabin 15. The threshing device 13 handles and processes the tips of the cut grain culms transported from the cutting unit 2 by the transporting device 3, and sorts the grains and dust by the sorting unit provided in the lower part of the handling chamber. The selected grains are sent from the threshing device 13 to the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside by the grain discharging device 16.

The cutting section 2 is provided with a space in the left-right direction, and has a plurality of (8) weeding tools 21 that separately form the seven culm introduction routes Q1 to Q7, and all the culm introduction routes Q1. It is provided corresponding to each of ~ Q7, and is introduced into the seven grain culm raising devices 22 (hereinafter, simply referred to as raising devices) that cause planted culms and all the culm introduction routes Q1 to Q7. It is equipped with a varican-shaped cutter 23 for cutting planted culms.

Of the eight weeding tools 21, the two weeding tools 21 located on the outermost side of the aircraft divide the planted culms into those to be cut and those not to be cut, and the culms to be cut are weeded. It is introduced into the grain culm introduction routes Q1 to Q7 adjacent to the tool 21, and the non-target grain culms are guided to the lateral outside of the grain culm introduction routes Q1 to Q7. For the other weeding tools 21, the culms to be planted on the two planting strips are sown on both sides of the weeding tool 21, and the culm introduction routes on both sides of the weeding tool 21 are Q1 to Q7. Introduce to. The grain culm introduction routes Q1 to Q7 have a width partitioned by the weeding tools 21 on both the left and right sides, and are for introducing one row of planted grain culms.

Next, a transport device 3 for transporting the harvested grain culms cut by the harvesting unit 2 to the threshing device 13 will be described. The transport device 3 includes a first transport unit 31, a second transport unit 32, and a third transport unit 33. The first transport section 31 transports the cut grain culms of each row cut by the cutter 23 to the confluence portion located at the rear of the cutting section 2. The second transport unit 32 transports the merged 7 rows of cut grain culms to the start end of the third transport unit 33. The third transport unit 33 is a conveyor called a feed chain, sandwiches the stock root of the harvested grain culm, and sends the tip of the harvested grain rod into the handling chamber of the threshing device 13.

FIG. 3 shows a functional block of a control system for vehicle speed and cutting speed mounted on this combine. The control system includes a plurality of computer units called connected ECUs such as an in-vehicle LAN. Each ECU performs information processing based on signals sent from sensors, switches, etc. and data from other ECUs, and outputs appropriate data. The functional unit shown in FIG. 3 is substantially configured by an ECU.

The control system shown in FIG. 3 includes an input signal processing unit 51, a speed management unit 6, a traveling control unit 55, and a cutting control unit 56.

The input signal processing unit 51 processes signals sent based on operations of the traveling speed change lever 41, the cutting operation tool 42, the change operation tool 43, the selection operation tool 44, and the like, and processes the speed management unit 6 and the cutting up / down management. Transfer to unit 54 and further to other functional units.

The speed management unit 6 manages the transport speed of the transport device 3, that is, the cutting speed, and the speed of the traveling device 11, that is, the vehicle speed, which transports the cut grain culms cut by the cutting unit 2 to the threshing device 13. The speed management unit 6 includes a speed management module 60, a vehicle speed management unit 52, and a control command unit 53. The control command unit 53 includes a travel control command generation unit 53a and a cutting control command generation unit 53b. The travel control command generation unit 53a gives a travel control command, which is a control command related to the travel speed, to the travel control unit 55. The cutting control command generation unit 53b gives a cutting control command, which is a control command regarding the cutting speed, to the cutting control unit 56.

The travel control unit 55 sends a travel control signal to the travel speed change mechanism 7. The traveling speed change mechanism 7 includes an HST (hydraulic continuously variable transmission) and an electric motor that changes the inclination angle of the variable swash plate of the HST, and shifts the power from the engine E based on the traveling control signal to change the traveling device. Communicate to 11. The cutting control unit 56 gives a work control signal to the work speed change mechanism 8. The work speed change mechanism 8 also includes an HST (hydraulic continuously variable transmission) and an electric motor that changes the tilt angle of the variable swash plate of the HST, and shifts the power from the engine E based on the work control signal to change the cutting unit. 2 and the transfer device 3.

When the cutting operation is not performed, the travel control unit 55 generates a travel control signal based on the operation signal of the travel speed change lever 41 and gives it to the travel speed change mechanism 7. As a result, the traveling device 11 is driven at a vehicle speed based on the driver's operation. Further, the cutting control unit 56 receives a control signal from other than the cutting control command generation unit 53b and controls the working speed change mechanism 8. For example, when an elevating signal for raising and lowering the mowing unit 2 is input to the input signal processing unit 51 as an operation signal of the mowing operation tool 42, it is transferred to the mowing elevating and lowering management unit 54, and the mowing and elevating management unit 54 cuts. An ascending / descending command is given to the cutting control unit 56. The cutting control unit 56 outputs a control signal for raising and lowering the lifting hydraulic cylinder 20 based on the cutting raising and lowering command.

The speed management module 60 cooperates with the vehicle speed management unit 52 to determine the speed relationship between the cutting speed and the vehicle speed based on the change signal which is an operation signal from the change operation tool 43. The speed management module 60 includes a reference line setting unit 61, a cutting speed adjustment unit 62 that functions as a speed-related adjustment unit, and a mode selection unit 63.

The reference line setting unit 61 sets a reference line that defines the speed relationship over a predetermined range. The cutting speed adjusting unit 62 not only uses the cutting speed calculated using the set reference line as it is, but also has a function of adjusting the calculated cutting speed to calculate the adjusted cutting speed.

Hereinafter, two methods for calculating the adjusted cutting speed will be described with reference to FIGS. 4 and 5. The reference line shown in FIGS. 4 and 5 is a curved line, and the speed relationship between the cutting speed and the vehicle speed is non-linear (not a straight line), but may be linear (straight line). If the vehicle speed (horizontal axis) is indicated by x, the cutting speed (vertical axis) is indicated by y, and the speed function indicating a continuous speed relationship is f (), the reference line is represented by y = f (x). To.

FIG. 4 shows a method of calculating the adjusted cutting speed by multiplying the cutting speed calculated using the reference line by the adjustment magnification. In this method, one or more different change signals are output by the operation of the change operation tool 43, and different adjustment magnifications are assigned to each change signal. That is, if the change signal by the change operation tool is s1, s2, ..., And the function (signal conversion function) for deriving the adjustment magnification from the change signal is g (), the adjustment magnification: K1, K2, ... teeth,
K1 = g (s1),
K2 = g (s2),
・ ・ ・
Will be.
Next, at vehicle speed: x, by multiplying the cutting speed calculated from the reference line by this change magnification, the adjusted cutting speeds according to the operation of the change operation tool 43: y1, y2, ... Are as follows. can get.
y1 = K1 · f (x),
y2 = K2 ・ f (x),
...
If the adjustment ratio is larger than 1, the increase ratio is to increase the cutting speed, and if the adjustment ratio is smaller than 1, the reduction ratio is to decrease the cutting speed.

FIG. 5 shows a method of calculating the adjusted cutting speed by adding an adjustment value to the cutting speed calculated using the reference line. In this method, one or more different change signals are output by the operation of the change operation tool 43, and different adjustment values are assigned to each change signal. That is, if the change signal by the change operation tool is s1, s2, ..., And the function (signal conversion function) for deriving the adjustment value from the change signal is h (), the adjustment value: Δy1, Δy2, ... teeth,
Δy1 = h (s1),
Δy2 = h (s2),
・ ・ ・
Will be.
Next, at vehicle speed: x, by adding this adjustment value to the cutting speed calculated from the reference line, the adjustment cutting speed according to the operation of the change operation tool 43: y1, y2, ... Is as follows. can get.
y1 = f (x) + Δy1,
y2 = f (x) + Δy2,
...
If the adjustment value becomes a value larger than 0 (positive value), it becomes an additional value that increases the cutting speed, and if the adjustment value becomes a value smaller than 1 (negative value), the cutting speed decreases. It becomes a subtraction value.

By calculating the adjusted cutting speed while changing the vehicle speed, a large number of adjusted cutting speeds for each vehicle speed can be obtained. By interpolating this large number of adjusted cutting speeds, a line showing the relationship between the vehicle speed and the adjusted cutting speed can be obtained. This line can be set as an adjustment line showing another relationship between the vehicle speed based on the reference line and the adjustment cutting speed. Such an adjustment line is set for each of a plurality of change signals by the change operation tool 43. That is, by operating the change operation tool 43 such as a dial step by step, an adjustment line that gradually rises or decreases from the reference line can be used.

As shown in FIGS. 4 and 5, the upper limit line of the cutting speed is set so that the adjusted cutting speed does not exceed the upper limit value. In FIGS. 4 and 5, the upper limit line is a straight line parallel to the horizontal axis indicating that the upper limit cutting speed is constant regardless of the vehicle speed, but is a polygonal line in which the upper limit cutting speed changes depending on the vehicle speed. It may be a curved line.

In this embodiment, a plurality of reference lines as shown in FIG. 6, for example, a first reference line and a second reference line are provided, and selection is output with the operation of the selection operation tool 44 different from the change operation tool 43. Depending on the signal, either the first reference line or the second reference line is selected. Here, the second reference line coincides in both end regions, but in regions other than both ends, the cutting speed is higher than that of the first reference line. When the first reference line is selected, the first mode (low-speed cutting speed mode) is set, and when the second reference line is selected, the second mode (high-speed cutting speed mode) is set. As shown in FIG. 7, a plurality of the above-mentioned adjustment lines (first adjustment line to eighth adjustment line) can be set with respect to the first reference line. Further, as shown in FIG. 8, a plurality of the above-mentioned adjustment lines (first adjustment line to eighth adjustment line) can be set for the second reference line as well. A selection signal is given to the mode selection unit 63 by the operation of the selection operation tool 44 by the driver, and the mode selection unit 63 selects either the first mode or the second mode according to the selection signal and uses the reference. It is given to the line setting unit 61. The cutting speed adjustment unit 62 changes from the first adjustment line to the eighth adjustment line adjusted based on the reference line in either the first mode or the second mode by the operation of the change operation tool 43 by the driver. Calculate the adjusted cutting speed based on.

In FIG. 7, which shows the speed relationship in the first mode, the cutting speed calculated based on the first reference line is shown by the first adjustment line to the eighth adjustment line for each adjustment magnification. The adjustment factor in FIG. 7 is shown as a percentage. For example, 104% is an adjustment magnification of 1.04 times (first adjustment line), 116% is an adjustment magnification of 1.16 times (fourth adjustment line), and 96% is an adjustment magnification of 0.96 times. (Fifth adjustment line), and 84% is an adjustment magnification of 0.84 times (eighth adjustment line). Similarly, in FIG. 8, which shows the speed relationship in the second mode, the cutting speed calculated based on the second reference line is shown by the first adjustment line to the eighth adjustment line for each adjustment magnification. The adjustment factor in FIG. 8 is shown as a percentage. For example, 104% is an adjustment magnification of 1.04 times (first adjustment line), 116% is an adjustment magnification of 1.16 times (fourth adjustment line), and 96% is an adjustment magnification of 0.96 times. (Fifth adjustment line), and 84% is an adjustment magnification of 0.84 times (eighth adjustment line). That is, in this embodiment, the same adjustment magnification is used in both the first mode and the second mode. This means that the rate of increase or decrease of the plurality of adjustment lines set based on the first reference line is the same as the rate of increase or decrease of the plurality of adjustment lines set based on the second reference line. It means that.

Although not shown, as another embodiment, it is possible to make the adjustment magnification in the first mode different from the adjustment magnification in the second mode. In this case, it means that the increase rate or decrease rate of the plurality of adjustment lines set based on the first reference line is different from the increase rate or decrease rate of the plurality of adjustment lines set based on the second reference line. is doing.

Furthermore, in either the first mode or the second mode, the adjusted cutting speed by operating the change operation tool 43 cannot be used, and only the cutting speed according to the vehicle speed can be used only on the reference line. May be.

The speed relationship obtained by the plurality of reference lines and the plurality of adjustment lines shown in FIGS. 7 and 8 is made into a look-up table, and when stored in the mode selection unit 63, the selection is output by the selection operation tool 44. Based on the signal, the cutting speed (adjusted cutting speed) can be obtained with low arithmetic processing.

In the above-described embodiment, the reference line and the adjustment line are set in a wide vehicle speed range, but the ultra-low speed region, the ultra-high speed region, or both regions may be excluded from the setting range. Further, the setting range of the reference line and the adjustment line may be limited to one predetermined vehicle speed range or a plurality of predetermined vehicle speed ranges at intervals.

In the above-described embodiment, the adjustment magnifications for the adjustment lines shown in FIGS. 7 and 8 are set in 4% increments, but adjustment magnifications other than 4% may be used.

Each functional unit shown in the functional block diagram of FIG. 3 may be combined with another functional unit, or one functional unit may be separated into a plurality of functional units.

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.

The present invention can be applied to a self-removing combine harvester or other combine harvesters in addition to the ordinary combine harvester.

1: Traveling machine 2: Cutting unit 3: Conveying device 6: Speed control unit 7: Traveling speed change mechanism 8: Working speed change mechanism 11: Traveling device 12: Driving unit 13: Grain removal device 41: Traveling speed change lever 42: Cutting operation tool 43 : Change operation tool 44: Selection operation tool 51: Input signal processing unit 52: Vehicle speed management unit 53: Control command unit 53a: Travel control command generation unit 53b: Mowing control command generation unit 54: Mowing control command generation unit 55: Travel control unit 56: Mowing control unit 60: Vehicle speed management module 61: Reference line setting unit 62: Mowing speed adjustment unit 63: Mode selection unit

Claims (13)

It is a combine equipped with a traveling device, a cutting section for cutting planted grain culms, and a transport device for transporting the cut grain culms cut by the cutting section to a threshing device.
A cutting control unit that controls the cutting speed,
A driving control unit that controls the vehicle speed,
A change operation tool that outputs a change signal according to the operation,
Speed management that arbitrarily determines the speed relationship between the cutting speed and the vehicle speed based on the change signal and gives a control command to the cutting control unit and the traveling control unit so that the determined speed relationship is realized. Department and
Combine with. The speed management unit determines the adjusted cutting speed by multiplying the reference line setting unit that sets the reference line that defines the speed relationship as a reference and the cutting speed calculated using the reference line by an adjustment magnification. Equipped with a cutting speed adjustment unit to calculate
The combine according to claim 1, wherein the adjustment magnification is determined based on the change signal. The combine according to claim 2, wherein a plurality of different change signals are output by the operation of the change operation tool, and different adjustment magnifications are determined based on the respective change signals. The combine according to claim 2 or 3, wherein the adjustment ratio includes an increase ratio that is a value greater than 1 and a decrease ratio that is a value smaller than 1. The speed management unit has a reference line setting unit that sets a reference line that defines the speed relationship as a reference, and an adjustment cutting speed by adding an adjustment value to the cutting speed calculated using the reference line. Equipped with a cutting speed adjustment unit to calculate
The combine according to claim 1, wherein the adjustment value is determined based on the change signal. The combine according to claim 5, wherein a plurality of different change signals are output by the operation of the change operation tool, and different adjustment values are determined based on the respective change signals. The combine according to claim 5 or 6, wherein the adjusted value includes a positive value and a negative value. A plurality of adjustment lines adjusted to the reference line are preset.
Based on the change signal, the adjustment line corresponding to the change signal is selected from the plurality of adjustment lines, and the cutting speed adjustment unit calculates the adjustment cutting speed using the selected adjustment line. The combine according to any one of claims 2 to 7. The combine according to any one of claims 2 to 8, wherein the adjusted cutting speed is limited so as not to exceed a preset upper limit value. As the reference line, a first reference line and at least one second reference line in which the cutting speed having a value different from the cutting speed of the first reference line is related to the vehicle speed are set.
Either the first mode using the first reference line or the second mode using the second reference line is based on the selection signal output by the operation of the selection operation tool different from the change operation tool. Selected,
Claims 2 to 9 where the speed control unit gives the control command to the harvest control unit and the travel control unit when the change operation tool is operated in both the first mode and the second mode. The combine described in any one of the above. The speed control unit is calculated by using the relationship between the cutting speed and the adjusted cutting speed calculated by using the first reference line in the first mode and the second reference line in the second mode. The combine according to claim 10, wherein the control command is determined so that the relationship between the cutting speed and the adjusted cutting speed has the same value. The speed control unit is calculated by using the relationship between the cutting speed and the adjusted cutting speed calculated by using the first reference line in the first mode and the second reference line in the second mode. The combine according to claim 10, wherein the control command is determined so that the relationship between the cutting speed and the adjusted cutting speed has different values. As the reference line, a first reference line and at least one second reference line in which the cutting speed having a value different from the cutting speed of the first reference line is related to the vehicle speed are set.
Either the first mode using the first reference line or the second mode using the second reference line is based on the selection signal output by the operation of the selection operation tool different from the change operation tool. Selected,
Claims 2 to 9 where the speed control unit gives the control command to the harvest control unit and the travel control unit when the change operation tool is operated in one of the first mode and the second mode. The combine described in any one of the above.

Images