JP2023011183A - Combine and control method of combine - Google Patents

Abstract

To provide a combine capable of inhibiting grain culm from being left unreaped by lifting and lowering of a reaping part and suppressing thrust of the reaping part into a ground.SOLUTION: A combine includes a reaping part provided so as to be lifted and lowered with respect to a travelling machine body, a reaping height detection device for detecting a reaping height, which is a height of the reaping part, and a control device for controlling the height of the reaping part so that the reaping height (reaping height detection value R1) detected by the reaping height detection device becomes a reaping height target value R0 set beforehand. The control device controls the height of the reaping part so that the reaping height detected by the reaping height detection device becomes the reaping height target value R0 when the reaping height detection value R1 is greater than the reaping height target value R0 or the value is lower than the reaping height target value R0, and reduces a vehicle speed of the travelling machine body.SELECTED DRAWING: Figure 9

Description

The present invention relates to a combine having a height-adjustable reaping section and a method for controlling the combine.

In general, a combine harvester has a reaping part on the front side of a traveling machine body, and a threshing part on the traveling machine body. Conventionally, some combine harvesters are equipped with a cutting height detector for controlling the cutting height, which is the height of the cutting part from the ground, provided with a reaping part that can move up and down with respect to the traveling machine body. In such a configuration, the operation of a lifting device such as a hydraulic cylinder for raising and lowering the cutting portion is controlled based on the detection signal of the cutting height detection device, and automatic control of the cutting height is performed (for example, Patent Document 1). reference.).

Patent Literature 1 describes a technique of setting a control target value for the cutting height and automatically controlling the elevation of the reaping unit so that the cutting height reaches the control target value. Specifically, in Patent Document 1, in order to prevent uncutting, when the driving speed of the reaping unit is increased to perform reaping work, the control target value for the reaping height is set low. disclosed.

JP 2020-137424 A

As described above, in the automatic control of the cutting height, for example, when the vehicle speed of the traveling machine is set to a relatively high speed, when the reaping unit is raised or lowered, the fallen culms remain uncut. , there is a risk that the reaping part will plunge into the ground. Here, the plunging of the reaping part means that the weed dividing board or the like provided in the front part of the reaping part sticks into the ground. It can cause a decrease in efficiency.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and provides a combine harvester and a control method for a combine harvester that can suppress uncutting and plunging of the reaping unit into the ground due to the vertical movement of the reaping unit. for the purpose.

A combine harvester according to the present invention comprises a reaping unit that can move up and down with respect to a traveling machine body, a cutting height detection device for detecting a cutting height that is the height of the reaping unit, and a cutting height detection device. a control device for controlling the height of the reaping unit so that the detected cutting height reaches a preset target value, wherein the control device is detected by the cutting height detection device. When the measured cutting height exceeds the target value or falls below the target value, the height of the cutting unit is adjusted so that the cutting height detected by the cutting height detection device becomes the target value. In addition to controlling the speed, the vehicle speed of the traveling body is decelerated.

A combine according to another aspect of the present invention is the combine, wherein the control device controls the height of the reaping unit in a normal mode and a lodging mode in which the target value is smaller than that in the normal mode. and controlling the height of the reaping unit so that the reaping height detected by the reaping height detection device becomes the target value under the condition that the control mode is the lodging mode, and The vehicle speed of the traveling machine body is decelerated.

According to another aspect of the present invention, there is provided a combine harvester, wherein the control device controls a case where the cutting height detected by the cutting height detection device exceeds a value obtained by adding a predetermined value to the target value or the above The vehicle speed is decelerated when the target value is less than a value obtained by subtracting a predetermined value.

According to another aspect of the present invention, there is provided a combine harvester, wherein the control device controls the amount of the cutting height detected by the cutting height detection device that exceeds or falls below the target value. The degree of deceleration of the vehicle speed is increased as the time increases.

In the combine according to another aspect of the present invention, in the combine, the control device controls the vehicle speed when the vehicle speed exceeds a preset set speed when the reaping unit is lowered or raised. The vehicle speed is decelerated so as to reach the set speed.

According to another aspect of the present invention, in the combine harvester, the control device reduces the degree of deceleration of the vehicle speed as the difference between the vehicle speed and the set speed when lowering or raising the reaping unit increases. Make it bigger.

In the combine according to another aspect of the present invention, the set speed is large when the cutting height detected by the cutting height detection device exceeds or falls below the target value. is set to be as low as possible.

In the combine according to another aspect of the present invention, the control device increases the speed at which the reaping unit is lifted as the degree of deceleration of the vehicle speed increases.

In the combine according to another aspect of the present invention, the control device slows down the speed of lowering the reaping unit as the degree of deceleration of the vehicle speed increases.

A combine harvester control method according to the present invention detects a cutting height, which is the height of a reaping unit, and controls the height of the reaping unit so that the detected cutting height reaches a preset target value. wherein, when the detected cutting height exceeds the target value or falls below the target value, the cutting portion is adjusted so that the detected cutting height becomes the target value. It controls the height and decelerates the vehicle speed.

Advantageous Effects of Invention According to the present invention, it is possible to suppress uncutting and plunging of the reaping part into the ground due to the vertical movement of the reaping part.

It is a left view of the combine concerning one embodiment of the present invention. It is a right view of the combine which concerns on one Embodiment of this invention. It is a top view which shows the structure of the reaping part of the combine which concerns on one Embodiment of this invention. 1 is a left side view showing the configuration of a weed dividing unit and a cutting height detection device according to an embodiment of the present invention; FIG. 1 is a perspective view showing the configuration of a cutting height detection device according to an embodiment of the present invention; FIG. 1 is a left side view showing a cutting height detection device according to an embodiment of the present invention; FIG. 1 is a plan view showing a cutting height detection device according to an embodiment of the present invention; FIG. It is a block diagram which shows the control structure of the combine which concerns on one Embodiment of this invention. 4 is a flow chart showing a first control mode by the control device according to one embodiment of the present invention; 5 is a flow chart showing a second control mode by the control device according to one embodiment of the present invention; 9 is a flow chart showing a third control mode by the control device according to one embodiment of the present invention;

The present invention provides a combine harvester having a height-adjustable reaping unit, which controls the height of the reaping unit based on a detected value of the reaping height, which is the height of the reaping unit, and also controls the vehicle speed. It is intended to suppress uncutting and plunging of the cutting part that may occur due to the lifting and lowering of the mower. Embodiments of the present invention will be described below.

[Overall configuration of combine harvester]
First, the overall configuration of a combine harvester 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. In the following description, the left side and the right side of the combine 1 as viewed from the front (left side in FIG. 1) are referred to as the left side and the right side of the combine 1, respectively.

As shown in FIGS. 1 and 2, the combine 1 according to the present embodiment includes a traveling section 2 configured as a crawler-type traveling device having a pair of left and right crawler sections 3, 3, and a traveling section 2 supported by the traveling section 2. A traveling body 4 is provided. The traveling machine body 4 includes a frame-like structural portion of the body of the combine harvester 1 . The combine 1 is provided with an engine 11 as a drive source mounted on the traveling body 4 .

A reaping part 5 is provided at the front part of the traveling body 4 to take in the stalks of rice, wheat, etc. in the field while reaping them. A threshing unit 6 for threshing the culms harvested by the harvesting unit 5 and a grain tank 7 for storing the grains taken out from the threshing unit 6 are provided side by side on the traveling body 4. there is The threshing part 6 is arranged on the left side of the machine body, and the grain tank 7 is arranged on the right side of the machine body. The combine 1 performs harvesting of stalks by the harvesting unit 5 and threshing by the threshing unit 6 while traveling by the traveling unit 2 .

Each crawler part 3 constituting the traveling part 2 includes a track frame 3a extending in the front-rear direction below the traveling body 4, various rotating bodies such as a driving sprocket 3b supported by the track frame 3a, and rotating bodies of these. and a crawler belt 3c wrapped around the body. The crawler portion 3 is driven by receiving power transmitted from the engine 11 at the drive sprocket 3b.

The harvesting unit 5 is driven by the driving force from the engine 11, harvests grain culms, and conveys the harvested grain culms to the threshing unit 6 and the like. The reaping part 5 is provided on the front side of the traveling body 4 over substantially the entire body width of the combine harvester 1 . The reaping unit 5 is provided so as to be able to move up and down with respect to the traveling body 4 . 2 shows a state in which the reaping unit 5 is lowered with respect to the state shown in FIG.

The threshing section 6 has a threshing cylinder 6a whose rotational axis direction is the front-rear direction, and a culm supply device provided on the left side of the threshing cylinder 6a. The culm supply device holds the base of the culm harvested by the reaping unit 5 and transports the culm rearward in a recumbent position with the tip of the culm on the side of the handling drum 6a. The grain culm supply device includes a feed chain 6b wound around a plurality of sprockets whose rotational axis direction is the lateral direction, and a grain culm supply clamping body 6c that clamps the root of the grain culm in cooperation with the feed chain 6b. is composed of

Below the threshing unit 6 on the traveling body 4, a sorting unit 8 for sorting the processed material threshed by the threshing unit 6 is provided. The sorting unit 8 has a swing sorting device 8a, an air sorting device and a grain conveying device. The sorting unit 8 sorts the processed materials dropped from the threshing unit 6 by the rocking sorting device 8a, and wind sorts the processed materials after the rocking sorting by the wind sorting device. The sorting unit 8 transports the grains of the processed material after wind sorting to the right toward the grain tank 7 by the grain transport device, and blows straw scraps, dust, etc. backward by the wind sorter to the machine body. to the outside of the Grains conveyed toward the grain tank 7 by the grain conveying device are stored in the grain tank 7 .

A discharge auger 9 serving as a grain discharging device for discharging the grains in the grain tank 7 to the outside is rotatably provided at the right rear end portion of the traveling body 4 . The discharge auger 9 has a discharge port 9a at its tip, and discharges the grains stored in the grain tank 7 from the discharge port 9a. The grains discharged from the discharge port 9a are thrown into a truck bed, a container, or the like.

Behind the threshing unit 6 on the traveling machine body 4, a waste straw processing unit 10 for processing waste straw after threshing processing by the threshing unit 6 is provided. The waste straw processing unit 10 has a waste straw conveying device 10a and a waste straw cutting device 10b. The straw conveying device 10a conveys the threshed grain culm (extracted culm) rearward by the threshing unit 6 and discharges it to the outside of the machine body, or conveys it to the straw cutting device 10b. The straw cutting device 10b cuts the culm conveyed from the straw conveying device 10a and discharges it to the outside of the body.

An operation section 14 covered with a cabin 13 is provided on the traveling body 4 on the right side of the harvesting section 5 and in front of the grain tank 7 . A steering wheel portion 15 as a steering operation portion is provided in the front portion of the driving portion 14 , a driver's seat 16 is provided behind the steering wheel portion 15 , and a main transmission is provided on the side of the driver's seat 16 . Various operating tools including a lever 17 are arranged.

A prime mover section including the engine 11 is provided below the operating section 14 . The engine 11 is, for example, a diesel engine. The power of the engine 11 is transmitted to various devices provided in each part of the combine harvester 1 via a transmission or the like.

The reaping unit 5 will be described with reference to FIGS. 1 to 3. FIG. The reaping unit 5 has a reaping support machine frame 20 as a reaping frame. The reaping support machine frame 20 is equipped with a weed dividing plate 21, a lifting device 22, a raking device 23, a cutting blade device 24, and a grain culm conveying device 25. etc. is supported. Each device of the reaping unit 5 operates when power is transmitted from the engine 11 .

The weed dividing plate 21 constitutes the weed dividing unit 50 of the reaping unit 5. The weed dividing plate 21 is provided at the front end of the reaping unit 5, has a tapered shape, and divides grain stalks growing in the field. The raising device 22 is provided on the rear side of the dividing plate 21, and raises the fallen culms by operating a plurality of tines 22a connected by chains.

The raking device 23 is provided on the rear side of the raising device 22, and includes a transport mechanism 23a that drives chains, a rotating packer 23b, and the like, and rakes the culms. In addition, in FIG. 3, only the components provided at the left end portion of the raking device 23 are shown, and illustration of the other components is omitted.

The cutting blade device 24 is a hair clipper type device that cuts the root of the raised culm. The grain culm conveying device 25 is a device for conveying harvested grain culms, and merges a plurality of harvested grain culms, pinches and conveys them rearward and upward, and lays them sideways at the starting end of the feed chain 6 b of the threshing section 6 . to pass.

As shown in FIG. 1 , the reaping supporter frame 20 is supported by a support frame 26 that is arranged in a downwardly forward fashion on the front side of the traveling machine body 4 . The support frame 26 is provided substantially in the center in the lateral direction of the machine body, and the reaping support machine frame 20 is provided on the front side of the support frame 26 .

As shown in FIG. 3 , the reaping supporter frame 20 has a horizontal frame 31 extending in the lateral direction of the machine body and a plurality of dividing grass frames 32 extending forward from the horizontal frame 31 . The reaping supporter frame 20 is supported by the support frame 26 on the lateral frame 31 .

The horizontal frame 31 is a linear frame portion made of a rectangular pipe-shaped member. The branch frame 32 is a frame portion made of a round pipe-shaped member, has a predetermined bent shape or curved shape, and extends in the front-rear direction in a plan view. The split grass frame 32 is supported in a cantilever manner by fixing and supporting the rear end portion or rear portion of the frame 32 to the horizontal frame 31 .

The plurality of divided grass frames 32 are arranged in parallel with a predetermined interval in the left-right direction. The grass dividing frames 32 are provided in a number that is one more than the number of rows for harvesting of the combine 1. - 特許庁The combine 1 according to this embodiment is for 7-row cutting, and is provided with 8 dividing grass frames 32 . Of the eight divided grass frames 32 , the leftmost divided grass frame 32</b>A has a shape different from that of the other plurality of (seven) divided grass frames 32 .

The lifting devices 22 are arranged between the dividing grass frames 32 adjacent to each other on the left and right, and a total of seven lifting devices 22 are provided. The lower part of the lifting device 22 is connected to and supported by the front part of each dividing frame 32 via a support stay (not shown) or the like. A weeding plate 21 is attached to the front end of each weeding frame 32 . In addition, as the plurality of grass dividing boards 21, two types of grass dividing boards 21, one having a relatively large size and the other having a relatively small size, are provided in a predetermined arrangement.

The reaping unit 5 configured as described above is attached to the traveling body 4 so as to be rotatable about a predetermined axis via a reaping elevating cylinder 18 as an elevating device (see FIG. 1). . In other words, the reaping part 5 is provided so as to be able to move up and down with respect to the traveling body 4 by a pivoting motion caused by an expansion and contraction motion of the reaping elevating cylinder 18 . The reaping lifting cylinder 18 is a hydraulic cylinder and is provided between the traveling body 4 and the support frame 26 . A rear end portion of the support frame 26 is supported so as to be rotatable about an axis in the left-right direction with respect to the traveling body 4 as a rotation fulcrum for raising and lowering the reaping unit 5 by the reaping elevating cylinder 18 .

As described above, the combine harvester 1 is provided with the reaping unit 5 that can move up and down with respect to the traveling body 4 . The combine 1 includes a cutting height detection device 40 and a control device 200 (see FIG. 8) to control the cutting height (height above the ground) of the cutting portion 5 from the ground G1. In such a configuration, the control device 200 controls the operation of the reaping elevation cylinder 18 for elevating the reaping unit 5 based on the detection signal of the reaping height detection device 40, thereby automatically controlling the reaping height.

The operation of the reaping lifting cylinder 18 is controlled by controlling the operation of an electromagnetic valve, which is a control valve. The control device 200 controls the cutting height by controlling the operation of the control valve of the cutting lifting cylinder 18 based on the detection signal of the cutting height detection device 40 .

The automatic control of the cutting height controls the operation of the control valve of the reaping lift cylinder 18 based on the detection signal of the reaping height detector 40 so as to maintain the reaping height of the reaping unit 5 at the set value. It automatically controls the elevation of the unit 5 . The operation unit 14 is provided with an operation unit for adjusting the cutting height. For example, during automatic control of the cutting height, control is performed to prioritize the adjustment of the cutting height by operating the operation unit. .

In the automatic control of the cutting height, the control device 200 adjusts the cutting portion 5 so that the cutting height detected by the cutting height detection device 40 becomes a preset target value (hereinafter referred to as "target cutting height value"). to control the height of the That is, the control device 200 raises the reaping unit 5 when the detected cutting height is lower than the target cutting height value, and when the detected cutting height exceeds the target cutting height value, The reaping unit 5 is lowered, and elevation control of the reaping unit 5 is performed so that the height of the reaping unit 5 is maintained at a height corresponding to the target cutting height value.

As described above, the combine harvester 1 includes the weed dividing unit 50 including the weed dividing plate 21 and the reaping unit 5 provided so as to be able to move up and down with respect to the traveling body 4, and the reaping height, which is the height of the reaping unit 5. and a control device 200 for controlling the height of the reaping unit 5 so that the cutting height detected by the cutting height detection device 40 becomes the target cutting height value. In the present embodiment, the cutting height detection device 40 is arranged behind the weed dividing plate 21A positioned at the left end among the eight weed dividing plates 21 . The leftmost weeding plate 21A is supported by the leftmost weeding frame 32A. The leftmost weeding board 21A is a comparatively large weeding board 21 of the two types of weeding boards 21 .

[Configuration of Cutting Height Detector]
The configuration of the cutting height detection device 40 will be described with reference to FIGS. 4 to 7. FIG. As shown in FIGS. 4 to 7, the cutting height detection device 40 includes a device main body 41, a grounding body 42, a cutting height sensor 43, and a unit support 44 as a device main body support member. In the cutting height detection device 40 , the device main body 41 , the grounding member 42 and the cutting height sensor 43 constitute an integrated sensor unit 45 . It is supported so as to be rotatable about an axis. The unit support 44 is supported by the weed portion 50 so as to be rotatable about an axis in the front-rear direction.

The cutting height detection device 40 as a whole is rotatably supported with respect to the weed dividing section 50 about an axis in the front-rear direction, and the sensor unit 45 is supported with respect to the unit support 44 about an axis in the left-right direction. It is rotatably supported. The rotation of the cutting height detection device 40 about the longitudinal axis and the rotation of the sensor unit 45 about the lateral axis are performed according to the external force acting on the cutting height detection device 40 . Hereinafter, a state in which no external force is applied to the cutting height detection device 40 is taken as a reference state, and unless otherwise specified, the cutting height detection device 40 in the reference state will be described.

In the sensor unit 45, the apparatus main body 41 has a configuration in which various gears, springs, and the like are supported on predetermined shafts in a case 51 made of, for example, a metal casting. The case 51 has a left-right split structure consisting of a right case body 52 forming the main body of the case 51 and a left case body 53 covering the left side of the right case body 52 like a lid. The right case body 52 and the left case body 53 are fixed to each other by fixing bolts 55 at four points around the case 51 in a side view. The case 51 generally has a curved shape with a convex side on the upper side and a concave side on the lower side when viewed from the side (see FIG. 6).

In the sensor unit 45 , the grounding member 42 extends downward from the rear side of the rear end of the case 51 . The cutting height sensor 43 is attached to the right side surface of the case 51 .

The unit support 44 is a strip-shaped plate member that is bent in a predetermined shape in a plan view, and extends in the front-rear direction. The unit support body 44 includes a left side portion 44a elongated in the front-rear direction, a front portion 44b formed so as to form a right angle from the front end of the left side portion 44a toward the right, and a front portion 44b extending rearward from the right end of the front portion 44b. It has a right front side portion 44c formed so as to form a right angle and a rear side portion 44d formed so as to form a right angle rightward from the rear end of the left side portion 44a. The unit support body 44 is open at the top and bottom, and has a rectangular shape elongated in the front-rear direction in a plan view by a left side surface portion 44a, a front surface portion 44b, a right front surface portion 44c, and a rear surface portion 44d. has an open shape.

A sensor unit 45 is provided in such a unit support 44 so as to be positioned in front of the space surrounded by the unit support 44 . The substantially entire sensor unit 45 is positioned within a rectangular range along the contour of the unit support 44 in plan view.

The sensor unit 45 has the front end portion of the case 51 positioned immediately behind the front surface portion 44b and between the front end portion of the left side surface portion 44a and the right front side surface portion 44c. In addition, substantially the rear half of the left side portion 44 a is positioned rearward of the rear end of the case 51 in the front-rear direction.

Each part of the sensor unit 45 will be described. The device main body 41 is vertically rotatable on a front fixed shaft 61 that is a first shaft (see FIG. 7). The front fixed shaft 61 is a support shaft whose axial direction is the left-right direction, and supports the sensor unit 45 so as to be rotatable around the first axis P1.

The front fixed shaft 61 is located near the front end of the case 51 in the device body 41 . The front fixed shaft 61 extends leftward from the right front side surface 44c of the unit support 44 with its right end fixed to the right front side surface 44c. That is, the front fixed shaft 61 is a fixed shaft that is cantilevered with respect to the right front side surface portion 44c. Note that the front fixed shaft 61 may be a shaft that is fixed to the unit support 44 . The front fixed shaft 61 is rotatably supported relative to the case 51 . That is, the case 51 is rotatably supported with respect to the front fixed shaft 61 .

In this manner, the sensor unit 45 is provided so as to be able to rotate vertically in a cantilevered state with respect to the front fixed shaft 61, which is a fixed shaft fixed to the unit support 44, with the horizontal direction as the axial direction. (See FIG. 6, arrow A1). That is, the unit support member 44 supports the device main body 41 of the sensor unit 45 by the front fixed shaft 61 so as to be vertically rotatable.

Regarding the rotation of the sensor unit 45 about the first axis P1 with respect to the unit support 44, the sensor unit 45 is attached in the downward rotation direction by a case return member, which is an elastic member such as a spring provided in the case 51. are being forced. The case return member is, for example, a torsion spring having a coiled portion and extensions on both ends thereof. In this case, the case return member is such that the front fixed shaft 61 penetrates through the coiled portion, and one extending portion is engaged with the front fixed shaft 61 side and the other extending portion is engaged with the case 51 side. It is provided in a closed state, and exerts a force for pushing down the case 51 on the front side fixed shaft 61 side. As a result, the sensor unit 45 is urged in a direction to rotate downward about the front fixed shaft 61 .

On the other hand, regarding the rotation of the sensor unit 45 with respect to the unit support 44, the locking projection 53b provided on the case 51 restricts the downward rotation of the sensor unit 45 at the position of the reference state. The locking projection 53b is formed as a part of the left case body 53 at the upper end of the front-rear central portion of the left case body 53 so as to protrude leftward. In the reference state, the sensor unit 45 is prevented from rotating downward relative to the unit support 44 by bringing the locking projection 53b into contact with the upper edge of the left side surface 44a of the unit support 44 .

In this manner, the sensor unit 45 is urged in the downward rotation direction with respect to the rotation about the front fixed shaft 61, and downward rotation with respect to the unit support 44 from the reference state is restricted. Therefore, when an external force from the ground G1 that rotates the sensor unit 45 upward about the front fixed shaft 61 acts on the sensor unit 45, the sensor unit 45 moves upward against the biasing force of the case return member. When the external force is released, it automatically rotates downward by the biasing force of the case return member, and returns to the reference state position by the locking action of the locking projection 53b.

The grounding member 42 is rotatably supported by a rear rotation shaft 62 which is a second shaft located behind the front fixed shaft 61 with respect to the device main body 41 . The rear rotation shaft 62 is a support shaft whose axial direction is the left-right direction, and supports the grounding member 42 so as to be rotatable with respect to the case 51 of the device main body 41 about the second axis P2.

The rear rotation shaft 62 is positioned near the rear end of the case 51 and supported so as to be relatively rotatable with respect to the case 51 . A grounding member 42 is fixed to a portion of the rear rotating shaft 62 that projects rightward from the case 51 . The grounding member 42 has a grounding member main body portion 42 a that extends downward from the apparatus main body 41 and a support arm portion 42 b that supports the rear side rotation shaft 62 . Both the grounding member body portion 42a and the support arm portion 42b are plate-like portions having a predetermined shape.

The grounding member main body 42a is a spatula-like portion having a downwardly widening shape whose width (dimension in the left-right direction) is gradually increased from the upper side to the lower side. The grounding body main portion 42a has an obtuse-angled bent shape with the front side being convex in a side view. The support arm portion 42b is a vertical wall-like portion having an obtuse-angled bent shape, and extends from the upper end portion of the grounding body main portion 42a positioned right behind the case 51 to the right front side along the case 51. and fixed to the rear rotation shaft 62 (see FIG. 7). The support arm portion 42b has the right end portion of the rear side rotation shaft 62 passed through the front portion whose plate thickness direction is the left-right direction, and is fastened and fixed to the rear side rotation shaft 62 with a nut 68 or the like.

In this manner, the grounding member 42 is fixed to the rear rotation shaft 62 and rotates integrally with the rear rotation shaft 62 about the second axis P2. The grounding member 42 is provided so as not to interfere with the case 51 in its rotation range. Regarding the rotational position of the grounding member 42, the position of the grounding member 42 in the cutting height detecting device 40 in the standard state is defined as the reference position.

The grounding body 42 performs the following rotation as relative rotation about the rear side rotation shaft 62 with respect to the device main body 41 . That is, the grounding body 42 is rotated so that the tip thereof is moved rearward by drag resistance (ground sliding resistance) from the ground G1 caused by the forward movement of the combine 1 in a state in which the tip is in contact with the ground G1. (backward rotation) (see arrow C1 in FIG. 6). On the other hand, the grounding body 42 rotates (rotates forward) so as to move the front end thereof forward due to the ground sliding resistance caused by the backward movement of the combine 1 (see arrow C2 in FIG. 6).

The cutting height sensor 43 is a sensor that detects the amount of rotation of the grounding member 42 around the rear rotation shaft 62 . The cutting height sensor 43 is provided with respect to the intermediate rotary shaft 70 which is the third axis of the cutting height detection device 40 , and the amount of rotation of the intermediate rotary shaft 70 determines whether the grounding member 42 rotates around the rear rotary shaft 62 . Detects the amount of rotation of

The intermediate rotary shaft 70 is a support shaft whose axial direction is the left-right direction, and is supported so as to be relatively rotatable with respect to the case 51 of the device main body 41 about the third axis P3. The intermediate rotary shaft 70 is positioned midway between the front fixed shaft 61 and the rear rotary shaft 62 in the front-rear direction.

The cutting height sensor 43 is a rotary potentiometer and detects the rotational position of the grounding body 42 via the intermediate rotary shaft 70 and the rear rotary shaft 62 . The cutting height sensor 43 is positioned between the front fixed shaft 61 and the rear rotary shaft 62 in the front-rear direction. The cutting height sensor 43 is positioned on the right side surface of the right case body 52 and is fixed to the right case body 52 at two front and rear locations with bolts 73 .

The cutting height sensor 43 is connected to the right end of the intermediate rotary shaft 70 and directly detects the rotational position of the intermediate rotary shaft 70 about the third axis P3 using the intermediate rotary shaft 70 as a detection axis. do. The cutting height sensor 43 has a signal line 43 a extending upward from its main body and is connected to the control device 200 . It should be noted that the cutting height sensor 43 may be configured to have a connector portion for connecting the signal line in the main body instead of the signal line 43a.

The intermediate rotary shaft 70 rotates by receiving the rotational power of the rear rotary shaft 62 that accompanies the rotation of the grounding member 42 . The intermediate rotary shaft 70 receives transmission of the rotational power of the rear rotary shaft 62 via gears or the like provided for the respective axes of the rear rotary shaft 62 and the intermediate rotary shaft 70 . Rotation of the intermediate rotation shaft 70 is detected by the cutting height sensor 43 . As the grounding member 42, a grounding member returning member, which is an elastic member such as a spring provided in the case 51, is used. With respect to rotation about the rotation shaft 62, it is provided so as to be positioned at a predetermined reference position without being acted upon by an external force.

In the cutting height detection device 40 having the above configuration, when the grounding member 42 is located behind the reference position, the grounding member 42 is positioned relative to the device main body 41 in a state where rotation about the front fixed shaft 61 is stopped. , so as to rotate about the rear rotation shaft 62 . That is, when the combine 1 moves forward, for example, when the grounding member 42 is pushed from the front and is rotated rearward from the reference position, the device main body 41 is rotated around the front fixed shaft 61. Without doing so, only the grounding member 42 rotates relative to the apparatus main body 41 around the rear rotation shaft 62 .

The cutting height sensor 43 detects the amount of rearward rotation of the grounding member 42 from the reference position. That is, the rearward relative rotation of the grounding member 42 with respect to the device main body 41 from the state where the grounding member 42 is at the reference position is detected by the cutting height sensor 43 as the rotation for detecting the cutting height.

On the other hand, regarding the relative rotation of the grounding member 42 with respect to the apparatus main body 41 , the forward rotation of the grounding member 42 from the reference position is accompanied by the upward rotation of the case 51 . That is, when the grounding member 42 rotates forward from the reference position, the device body 41 as a whole rotates upward around the front fixed shaft 61 in conjunction with the rotation of the grounding member 42 . Here, when the grounding member 42 rotates forward relative to the apparatus main body 41 from the reference position, the intermediate rotary shaft 70 does not rotate, and the cutting height sensor 43 detects the rotation of the intermediate rotary shaft 70 . is not performed.

As described above, the cutting height detection device 40 is configured so that the cutting height sensor 43 detects the amount of rotation of the grounding member 42 when the grounding member 42 is rotated backward from the reference position with respect to the device main body 41. It is configured.

With the cutting height detection device 40 configured as described above, the combine harvester 1 detects the height (cutting height) of the cutting portion 5 based on the detection signal from the cutting height sensor 43 . As described above, the cutting height detection device 40 detects the rearward rotation of the grounding member 42, and therefore detects the cutting height mainly when the combine 1 moves forward.

In the cutting height detection device 40, the cutting height sensor 43 detects the rotation position of the intermediate rotation shaft 70 that rotates in conjunction with the rotation of the grounding member 42, thereby detecting the height of the weed dividing plate 21 from the ground G1. Height, that is, the cutting height is detected. A detection signal of the cutting height sensor 43 is sent to the control device 200 through the signal line 43a. The control device 200 receives a detection signal from the cutting height sensor 43 and operates the reaping lift cylinder 18 based on the detection signal so as to maintain the cutting height calculated from the detection result at the target cutting height value. and adjust the cutting height.

[Support structure of cutting height detection device]
The support structure of the cutting height detection device 40 will be described with reference to FIGS. 4 to 7. FIG. The cutting height detection device 40 is rotatably supported so as to swing left and right about an axis O1 extending in the front-rear direction due to the support structure of the unit support 44 for the weed dividing portion 50 .

As shown in FIGS. 4 to 7 , the weed dividing unit 50 includes a leftmost weed dividing frame 32 provided at the lower portion of the reaping unit 5 , a weed dividing plate 21 provided on the front side of the weed dividing frame 32 , and a weed dividing plate 21 . and a support frame 100 fixed to the frame 32 . Here, the weed dividing plate 21 and the weed dividing frame 32 related to the support of the cutting height detection device 40 are the weed dividing plate 21A and the weed dividing frame 32A located at the left end, respectively (see FIG. 3).

The divided grass frame 32 has, from the rear side to the front side, a rear slope portion 101 that is a slope portion that slopes forward downward, and an intermediate slope portion 102 that is a slope portion that slopes forward and forms an obtuse angle together with the rear slope portion 101 . , and a front inclined portion 103 which is a downward inclined portion forming an acute corner along with an intermediate inclined portion 102 . The dividing grass frame 32 is arranged such that the intermediate portion of the rear inclined portion 101 is positioned above the left end portion of the horizontal frame 31, and the rear inclined portion 101 is attached to the rear inclined portion 32 via a support member 105 fixed on the left end portion of the horizontal frame 31. 101 is fixed to the horizontal frame 31 that constitutes the reaping supporter frame 20 .

The support frame 100 is a frame portion made of a round pipe-shaped member and has a predetermined bent or curved shape. The support frame 100 includes, from the rear side to the front side, a rear slope portion 111 that slopes forward downward, a horizontal portion 112 that forms an obtuse corner together with the rear slope portion 111, and a horizontal portion 112 that forms an obtuse corner. It has a front sloping portion 113 that forms an obtuse angle with the portion 112 and is a forwardly rising sloping portion, and a standing portion 114 that rises diagonally rearward and upward so as to form an obtuse angle with the front side sloping portion 113 .

The rear end portion of the rear inclined portion 111 , which is the rear end portion of the support frame 100 , is fixed to the lower front side of the intermediate inclined portion 102 of the splitting frame 32 by welding or the like. The standing portion 114 has an inclination angle substantially parallel to the front inclined portion 103 of the dividing frame 32 in a side view, and is fixed to the front inclined portion 103 by welding or the like along the rear side of the front inclined portion 103 . ing. The support frame 100 has its front and rear sides fixed to the dividing frame 32 by welding or the like, and together with the dividing frame 32 constitutes a polygonal closed frame portion in a side view.

The weed dividing board 21 has a weed dividing board body 121 and a rib plate portion 122 provided on the rear side of the weed dividing board body 121 . The dividing plate main body 121 has a sharp shape that gradually narrows from the rear side to the front side in front view and plan view, and has a curved shape in which the front side is downward and the rear lower side is convex in side view. The rib plate portion 122 is a plate-like portion whose plate thickness direction is the left-right direction, and is provided as a portion integral with the weed dividing plate main body 121 on the rear side of the front plate portion of the weed dividing plate main body 121 .

Further, the weed dividing section 50 includes a hitch 125 as a weed dividing plate supporting member provided on the rear side of the weed dividing plate 21 . The hitch 125 is a longitudinal plate-like member, and is attached to the grass dividing plate 21 and fixed to the grass dividing frame 32 to support the grass dividing plate 21 in front of the grass dividing frame 32 . The hitch 125 is fastened and fixed to the rib plate portion 122 by bolts 126 or the like at two upper and lower positions. The hitch 125 has its upper rear side fixed to the front side of a cylindrical tip forming member 128 that forms the tip of the splitting frame 32 by welding or the like.

In contrast to the weeding portion 50 having the above configuration, the cutting height detection device 40 is configured by the front side shaft support portion 130A, which is the front side shaft support portion, and the rear side shaft support portion 130B, which is the rear side shaft support portion 130. , and is rotatably supported with an axis O1 extending in the front-rear direction as a rotation axis. The front side shaft support portion 130A is provided on the rear side of the dividing plate 21, and the rear side shaft support portion 130B is provided on the support frame 100. As shown in FIG.

The front side shaft support portion 130A includes a boss portion 132 which is a front support portion provided on the rear side of the dividing plate 21, and a front support shaft portion 131 provided at the front end portion of the unit support body 44 and supported by the boss portion 132. and The front side shaft support portion 130A has a configuration in which a boss portion 132 provided at the lower end portion of the hitch 125 supports a front support shaft portion 131 projecting forward from the front surface portion 44b of the unit support body 44 .

The front support shaft portion 131 is a portion integral with the unit support body 44, and has an axial center aligned with the axial center line O1. The boss portion 132 is a hollow cylindrical portion with an open rear side, and is fixed to the lower end portion of the hitch 125 by welding or the like. The front support shaft portion 131 is rotatably supported by the boss portion 132 via a bearing member such as a bush while the front portion thereof is inserted into the boss portion 132 . It is retained with respect to the portion 132 . In this manner, the front side shaft support portion 130A supports the front side of the cutting height detection device 40 with respect to the weed dividing portion 50 so as to be rotatable about the front-rear direction as a rotation axis.

The rear side shaft support portion 130B has a stay 142 which is a rear support portion provided on the support frame 100, and a rear support shaft portion 141 provided at the rear end portion of the unit support body 44 and supported by the stay 142. . The rear side shaft support portion 130B supports a rear support shaft portion 141 projecting rearward from the rear surface portion 44d of the unit support body 44 on a stay 142 provided via a support plate 143 with respect to the support frame 100. It has a configuration that

The rear support shaft portion 141 is a portion that is integral with the unit support body 44 , has its axis aligned with the axis O<b>1 , and is arranged coaxially with the front support shaft portion 131 . The support plate 143 is fixed to the lower left side of the front inclined portion 113 of the support frame 100 by welding or the like. The stay 142 is a member formed by bending an elongated rectangular plate-like member into a substantially "L" shape, and is fixed to the support plate 143 at two front and rear locations by bolts 145 or the like. The stay 142 has a front support surface portion 142b facing the rear side of the rear surface portion 44d of the unit support 44, and rotatably supports the rear support shaft portion 141. As shown in FIG. In this manner, the rear side shaft support portion 130B supports the rear side of the cutting height detection device 40 with respect to the weed dividing portion 50 so as to be rotatable about the front-rear direction as a rotation axis on the same axis as the front side shaft support portion 130A. ing.

As described above, the cutting height detection device 40 is supported by the unit support 44 by supporting the unit support 44 with respect to the weed portion 50 so as to be rotatable about the longitudinal axis O1. The sensor unit 45 is supported so as to be able to swing left and right.

The cutting height detection device 40 is elastically positioned so as to be positioned at a predetermined neutral position by a return spring 147 provided on the front side shaft support portion 130A with respect to rotation about the axis in the front-rear direction. The return spring 147 is a so-called torsion spring. The return spring 147 is passed through the front support shaft portion 131 projecting from the boss portion 132, and is locked forward from the front surface portion 44b of the unit support 44 above the front support shaft portion 131. It is locked on pin 148 .

[Operation of Cutting Height Detector]
The cutting height is controlled based on the cutting height detected by the cutting height detector 40 so that the cutting height is maintained at the set value during normal operation of the combine harvester 1, that is, during operation with the machine body forward. is done. The cutting height is detected in a state where the grounding member 42 is rotated with respect to the device main body 41 behind the reference position.

When the machine moves forward, the grounding body 42, which slides with its tip contacting the ground G1, is moved from the reference position around the rear rotation shaft 62 with respect to the case 51 of the device main body 41 by the ground sliding resistance. It rotates backward (see arrow C1 in FIG. 6). The grounding member 42 rotates integrally with the rear rotation shaft 62 around the second axis P2, and the rotation of the rear rotation shaft 62 is transmitted to the intermediate rotation shaft 70 via a gear or the like. The rotation of the intermediate rotary shaft 70 is detected by the cutting height sensor 43 , and the cutting height is detected based on the amount of rotation of the intermediate rotary shaft 70 .

Further, when an external force acts on the cutting height detection device 40 in the lateral direction, for example, when the machine body is steered while the grounding member 42 is in contact with the ground, the cutting height detection device 40 will move to the front shaft support portion 130A and the front shaft support portion 130A. By the rear side shaft support portion 130B, it rotates around the axis O1 in the front-rear direction and escapes. When the lateral external force acting on the cutting height detection device 40 is removed, the urging structure of the return spring 147 and locking pin 148 causes the cutting height detection device 40 to return to a predetermined neutral position.

[Combine control configuration]
A control configuration of the combine 1 will be described with reference to FIG. As shown in FIG. 8 , the combine 1 has a control device 200 . Control device 200 controls each part with which combine 1 is provided based on an input signal from various sensors with which combine 1 is provided. The control device 200 includes a CPU (Central Processing Unit) as an arithmetic processing device that executes various arithmetic processing and controls, a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and an input/output for data input/output. It has a configuration in which an input/output device (input/output circuit) such as an interface and peripheral circuits such as a clock circuit are connected by a bus or the like. The CPU of the control device 200 performs arithmetic processing according to various programs stored in the ROM or the like.

As shown in FIG. 8, the combine 1 is electrically connected to an input device (input circuit) of the control device 200, and includes a height-of-cutting sensor 43 of the height-of-cutting detector 40, a vehicle speed sensor 201, a height-of-cutting It has a target value setting operation unit 202 and a cutting height mode switch 203 . The control device 200 receives signals from these sensors, switches, etc., and generates control signals based on these signals.

The control device 200 has an engine control unit 211, a vehicle speed control unit 212, a vehicle speed setting unit 213, a cutting elevation control unit 214, and a cutting height target setting unit 215 as functional units.

The control device 200 performs the following control as output control of the engine 11 by the engine control section 211 . That is, the engine control unit 211 adjusts the engine speed so that the engine speed of the engine 11 (hereinafter referred to as "engine speed") becomes the set speed by an engine speed operation member (not shown) that is manually operated. It controls the operation of an actuator (not shown) that changes the .

The engine rotation speed operation member is an operation member such as an accelerator dial, and is provided in the operation section 14 . An actuator that changes the engine speed is, for example, a fuel injection device that the engine 11 has. The fuel injection device includes a fuel supply pump that sucks fuel from the fuel tank, a common rail that stores the fuel pressure-fed from the fuel supply pump in an accumulated state, and a plurality of injectors that inject the accumulated fuel in the common rail into each cylinder of the engine 11. and

The vehicle speed sensor 201 is a sensor that detects the vehicle speed, which is the running speed of the combine harvester 1 (running body 4). Control device 200 receives a detection signal from vehicle speed sensor 201 and detects the vehicle speed. The control device 200 controls the vehicle speed using the vehicle speed control section 212 based on the detection signal of the vehicle speed sensor 201 .

The combine harvester 1 has a running HST for performing running speed change as the drive unit 220 related to the vehicle speed. Here, "HST" is a hydraulic continuously variable transmission that employs a system in which hydraulic pressure generated by driving a hydraulic pump is converted back into rotational force by a hydraulic motor. The HST has a variable displacement pump and motor fluidly connected to each other, electromagnetic valves corresponding to the pump and motor, and an output shaft. In the HST, while receiving power from the engine 11, adjustment drive (running drive adjustment) of the pump is performed via an electromagnetic valve for the pump, and the drive of the motor by the adjustment drive is transmitted to the output shaft.

The output shaft of the HST for traveling is interlocked with a transmission mechanism for transmitting driving force to the left and right crawler portions 3, 3 that constitute the traveling portion 2. As shown in FIG. This transmission mechanism includes a group of planetary gears and the like, and has left and right output shafts for transmitting driving force to the drive sprockets 3b of the left and right crawler portions 3 .

The control device 200 receives an input of a detection signal regarding the front-rear rotation operation position (operation amount) of the main gearshift lever 17, generates control information based on the detection signal, and generates control information based on the generated control information. control the drive of The amount of operation of the main shift lever 17 is detected by, for example, a rotary encoder or a rotary potentiometer. The control device 200 controls the driving of the pump and the motor by controlling the electromagnetic valve of the HST, and controls the transmission of power from the output shaft to the transmission mechanism.

In such a configuration, the vehicle speed sensor 201 detects, for example, the rotational speed of the crawler unit 3 and the rotational speed of the output shaft of the HST for traveling as the vehicle speed. Control device 200 controls driving section 220 by means of vehicle speed control section 212 so that the vehicle speed detected by vehicle speed sensor 201 corresponds to the manual operation of main shift lever 17 or the like.

In the vehicle speed setting unit 213, set speeds and the like used for vehicle speed control by the vehicle speed control unit 212 are preset and stored. Regarding the setting of the set speed, a vehicle speed setting operation unit such as a switch or dial may be provided in the operation unit 14 so that the setting can be performed by an operator seated in the driver's seat 16 .

Based on the detection signal from the cutting height sensor 43, the control device 200 operates the reaping lifting cylinder 18 by the reaping elevation control unit 214 so that the cutting height is maintained at the target cutting height value. Perform up/down control. The control device 200 controls the telescopic motion of the reaping elevating cylinder 18 by controlling the operation of the solenoid valve 221 for hydraulic control of the reaping elevating cylinder 18 .

The target cutting height setting unit 215 sets and stores a target cutting height value used for the lifting control of the cutting unit 5 by the cutting lifting control unit 214 . The setting of the target cutting height value for the target cutting height setting unit 215 is performed by the target cutting height value setting operation unit 202 .

The cutting height target value setting operation unit 202 is provided around the driver's seat 16 in the operation unit 14 and is operated by an operator sitting in the driver's seat 16 . The target cutting height setting operation unit 202 is composed of operating tools such as switches and dials, and is provided as a target cutting height setting switch, a target cutting height setting dial, and the like. The cutting height target value is set to a value such as 3 cm or 5 cm, for example.

The control device 200 has, as modes for controlling the height of the reaping unit 5, a normal mode and a lodging mode in which the target value of the reaping height is smaller than that in the normal mode. The lodging mode is a mode used when the crops to be harvested are in a lodged state (lodged crops) due to factors such as the crop variety and growth conditions. It is done by height. Therefore, by changing the height control mode of the reaping unit 5 to the lodge mode, the target cutting height used for the elevation control of the reaping unit 5 by the reaping elevation control unit 214 becomes smaller than that in the normal mode.

Switching between the normal mode and the lying mode is performed by operating a cutting height mode switching switch 203 as a cutting height mode switching operation unit. The cutting height mode changeover switch 203 is provided around the driver's seat 16 in the operation unit 14 and is operated by an operator seated on the driver's seat 16 .

Although this is only an example, the target cutting height value in the normal mode is a value within the range of 2 to 5 cm, and the target cutting height value in the lodging mode is a value within the range of 0 to 1 cm. Also, the target cutting height value is set by operating the target cutting height value setting operation section 202 in each of the normal mode and the lodging mode.

Specifically, for example, it is assumed that the cutting height target value setting operation unit 202 is configured to be capable of setting the cutting height target value at intervals of 1 cm. In this case, if the above numerical range of the target cutting height value in each mode is adopted, for example, in the normal mode, the target cutting height value can be set to 2 cm, 3 cm, 4 cm, and 5 cm by operating the target cutting height value setting operation unit 202. , and in the lodging mode, the cutting height target value can be set to either 0 cm or 1 cm by operating the target cutting height setting operation unit 202 .

Further, as a mode of recognition of the control mode of the height of the reaping unit 5 in the control device 200, switching between the normal mode and the lodging mode is performed based on the indicated value of the target value of the reaping height by the operation of the target reaping value setting operation unit 202. may be done. Specifically, for example, it is assumed that the target cutting height value can be set in the range of 0 to 5 cm at N (N: integer) cm intervals of 1 cm by operating the target cutting height value setting operation unit 202 . In this case, when the target value of cutting height is set to any one of 2 cm, 3 cm, 4 cm, and 5 cm by operating the target value of cutting height setting operation unit 202, the normal mode is maintained and the value of the target value of cutting is maintained. is set to either 0 cm or 1 cm, lodging mode is activated.

[Reaping up/down/vehicle speed control]
In the combine harvester 1 configured as described above, the control device 200 controls the elevation control of the reaping unit 5, that is, the control that associates the reaping height control with the vehicle speed control (hereinafter referred to as "reaping elevation/vehicle speed control"). ) is performed. Reaping lifting/vehicle speed control will be described. In the description of the mowing elevation/vehicle speed control, for the sake of convenience, the cutting height target value related to the cutting height control will be referred to as the "cutting height target value R0", and the set speed related to the vehicle speed control will be referred to as the "set speed V0".

Reaping/lifting/vehicle speed control relates to vehicle speed control, and is performed with priority over vehicle speed control in response to manual operation such as operation of the main shift lever 17 . That is, according to the mowing elevation/vehicle speed control, the vehicle speed is automatically changed in relation to the mowing height control without operating the main shift lever 17 or the like.

In the cutting height/vehicle speed control, if the cutting height detected by the cutting height detection device 40 exceeds the target cutting height value R0 or is below the target cutting height value R0, the control device 200 adjusts the cutting height. The height of the reaping unit 5 is controlled so that the reaping height detected by the detection device 40 becomes the target reaping height value R0, and the vehicle speed of the traveling body 4 is reduced.

That is, the control device 200 is interlocked with the cutting height control based on the cutting height target value R0 based on the detection signal from the cutting height sensor 43 by the cutting height detection device 214, and is detected by the cutting height detection device 40. When the cutting height value (hereinafter referred to as "cutting height detection value R1") deviates from the cutting height target value R0, the vehicle speed control unit 212 performs control to reduce the vehicle speed. The target cutting height value R0 is preset and stored in a storage device such as a ROM in the control device 200. FIG.

Specifically, when the detected cutting height value R1 is smaller than the target cutting height value R0, the control device 200 raises the reaping unit 5 to set the cutting height to the target cutting height value R0, and decelerates the vehicle speed. Let Similarly, when the cutting height detection value R1 is greater than the cutting height target value R0, the control device 200 lowers the reaping unit 5 and decelerates the vehicle speed in order to bring the cutting height to the cutting height target value R0.

After decelerating the vehicle speed, the control device 200 causes the cutting height detection value R1 to become the cutting height target value R0. Control is performed to return the vehicle speed to the speed corresponding to the manual operation.

As described above, in the present embodiment, the cutting height is detected, and the height of the cutting unit 5 is adjusted so that the detected cutting height (detected cutting height R1) becomes the preset target cutting height value R0. As a method of controlling the combine 1 to be controlled, the following control is performed. That is, when the detected cutting height value R1 exceeds the target cutting height value R0 or falls below the target cutting height value R0, the cutting unit 5 is adjusted so that the detected cutting height becomes the target cutting height value R0. This is a control for controlling the height of the vehicle and reducing the vehicle speed.

By performing such control, the vehicle speed is reduced as the reaping unit 5 moves up and down, so it is possible to suppress uncutting and plunging of the reaping unit 5 into the ground G1 due to the ups and downs of the reaping unit 5. Here, the plunging of the reaping part 5 means that the weed dividing board 21 or the like provided at the front part of the reaping part 5 sticks into the ground G1. , clogging of the cutting blade device 24 and the like of the reaping unit 5 with soil, crops, etc., which may cause a reduction in work efficiency. Therefore, it is possible to improve working efficiency by suppressing the thrusting of the reaping part 5 .

The culms left uncut by the reaping unit 5 tend to occur due to insufficient lifting of the culms by the lifting device 22 when the reaping unit 5 is raised. Therefore, by decelerating the vehicle speed as the reaping unit 5 ascends, the effect of raising the culms by the raising device 22 can be improved, and unreaped stalks can be suppressed. Even in the case of cutting, it is possible to shorten the distance at which uncutting occurs.

In addition, the plunging of the reaping part 5 is likely to occur when the reaping part 5 is lowered. Therefore, by reducing the vehicle speed as the reaping part 5 descends, it is possible to suppress the reaping part 5 from thrusting into the vehicle. That is, since the vehicle speed is lowered, it is possible to obtain time to raise the reaping unit 5 before the reaping unit 5 is about to plunge into the ground G1. In addition, by reducing the vehicle speed, even if the reaping unit 5 plunges into the ground G1, the degree of plunge can be kept small (the distance of the plunge can be shortened), and the plunge of the reaping unit 5 into the work can be suppressed. can reduce the impact on

The reaping lifting/vehicle speed control is used, for example, in reaping lodged crops. In the harvesting operation of lodged crops, the target cutting height R0 is set lower than usual in order to reliably raise the culms by the raising device 22 . In the present embodiment, as control modes for the height of the reaping unit 5, there are a normal mode and a lodging mode in which the target cutting height value R0 is lower than that of the normal mode. .

That is, on the condition that the height control mode of the reaping unit 5 is the lodging mode, the control device 200 controls the reaping unit so that the cutting height detected by the cutting height detection device 40 becomes the target cutting height value R0. While controlling the height of 5, the vehicle speed is decelerated. In this manner, the reaping lifting/vehicle speed control is performed in a state where the lodging mode is selected by operating the reaping height mode changeover switch 203 . As described above, the lodging mode can also be activated by operating the cutting height target value setting operating section 202 .

In this way, the cutting height target value R0 is set relatively low for the lodged crop reaping work, that is, the reaping elevation and vehicle speed control are performed in the lodging mode, so that the reaping that tends to occur in the lodged crop reaping work is performed. It is possible to effectively suppress the sticking of the reaping part 5 and the reaping part 5 . In addition, as in the case of cutting crops in a non-lodged state, in the cutting work in the normal mode, if the vehicle speed is decelerated each time the cutting part 5 is raised or lowered, the working efficiency may be lowered. Conceivable. Therefore, by performing the reaping/lifting/vehicle speed control only in the lodging mode, it is possible to suppress the reduction in work efficiency in the normal mode.

In the normal mode, since the cutting height target value R0 is larger than that in the lodging mode, the possibility that the reaping unit 5 will plunge is low. Possibility of uncut lodged culms due to Therefore, in the normal mode, good workability can be obtained without decelerating the vehicle speed in favor of workability.

An example of control mode by the control device 200 will be described with reference to the flowchart shown in FIG. FIG. 9 is a flow chart showing a first control mode by the control device 200. As shown in FIG. The control described below is performed by the CPU of the control device 200 reading and executing a predetermined control program stored in a storage device such as a RAM.

As shown in FIG. 9, first, it is determined whether or not the height control mode of the reaping unit 5 is the lodging mode (S10). In this step, it is determined whether or not the lodge mode is selected based on the mode selected by the cutting height mode selector switch 203 or the cutting height target value indicated by the cutting height target value setting operation unit 202 .

In step S10, if it is not determined that the lodging mode is set (S10, NO), reaping/lifting/vehicle speed control is not performed. In this case, the control mode for the height of the reaping unit 5 is the normal mode, and vehicle speed deceleration control is not performed as the reaping unit 5 moves up and down. The control device 200 constantly determines whether or not the control mode for the height of the reaping unit 5 is the lodging mode when performing the reaping lifting/vehicle speed control.

On the other hand, in step S10, when it is determined that the lodging mode is set (S10, YES), reaping/lifting/vehicle speed control is performed. First, whether the detected cutting height value R1 exceeds the target cutting height value R0 or the detected cutting height value R1 is lower than the target cutting height value R0 is met. It is determined whether or not (S20).

In step S20, if it is determined that none of the above two conditions apply (S20, NO), the vehicle speed is not decelerated, that is, the vehicle speed corresponding to the manual operation of the main shift lever 17 or the like is maintained and processed. returns to step S10. On the other hand, if it is determined in step S20 that either of the two conditions is met (S20, YES), the vehicle speed is reduced (S30).

That is, when the cutting height detection value R1 exceeds the cutting height target value R0, the cutting unit 5 is controlled to descend and the vehicle speed is reduced, and when the cutting height detection value R1 is lower than the cutting height target value R0. , the reaping unit 5 is controlled to rise, and the vehicle speed is reduced. After the vehicle speed is decelerated, the cutting height detection value R1 becomes the cutting height target value R0.

According to the above-described reaping/lifting/vehicle speed control, the vehicle speed is automatically decelerated in accordance with the up/down state of the reaping unit 5 in the lodging mode. It is possible to reduce the vehicle speed at an earlier timing than when manually decelerating the vehicle speed, and it is possible to prevent the timing of decelerating the vehicle speed from being delayed. A delay in the timing of deceleration of the vehicle speed may cause uncutting by the reaper 5 or plunging of the reaper 5 . Therefore, according to the contents of the control according to the present embodiment, it is possible to suppress uncutting by the reaping unit 5 and plunging of the reaping unit 5 while reducing the burden on the operator.

In the reaping/lifting/vehicle speed control, the following control is performed as an example of a control mode when decelerating the vehicle speed. That is, when the detected cutting height value R1 exceeds a value obtained by adding a predetermined value to the target cutting height value R0 or is lower than a value obtained by subtracting a predetermined value from the target cutting height value R0, the control device 200 Decrease vehicle speed.

When the predetermined value on the ascending side of the reaping unit 5 is set to the first predetermined value ΔRa and the predetermined value on the descending side of the reaping unit 5 is set to the second predetermined value ΔRb, the control device 200 determines that the cutting height detection value R1 On the condition that the high target value R0 plus the first predetermined value .DELTA.Ra or the cutting height detection value R1 falls below the value obtained by subtracting the second predetermined value .DELTA.Rb from the cutting height target value R0, the vehicle speed to slow down. First predetermined value ΔRa and second predetermined value ΔRb are preset and stored in a storage device such as a ROM in control device 200 .

In other words, in the cutting height/vehicle speed control, the cutting height target value R0 to be compared with the cutting height detection value R1 is set as a numerical range having a range of the cutting height target value R0±a predetermined value with respect to the control for decelerating the vehicle speed. set. This numerical range is such that (target cutting height value R0-second predetermined value .DELTA.Rb) is the lower limit value (hereinafter referred to as "lower limit value (R0-.DELTA.Rb)"), and (target cutting height value R0+first predetermined value ΔRa) is the upper limit (hereinafter referred to as “upper limit (R0+ΔRa)”). That is, the control device 200 reduces the vehicle speed when the cutting height detection value R1 exceeds the upper limit value (R0+ΔRa), and reduces the vehicle speed when the cutting height detection value R1 falls below the lower limit value (R0-ΔRb).

Therefore, the relationship between the range of the cutting height detection value R1 and the control details corresponding to each range is as follows. When the cutting height detection value R1 is lower than the lower limit (R0-ΔRb), control to raise the cutting portion 5 and deceleration of the vehicle speed are performed. When the detected cutting height value R1 is within the range from the lower limit value (R0-ΔRb) to the target cutting height value R0, only the reaping unit 5 is controlled to rise. Further, when the detected cutting height value R1 is within the range from the target cutting height value R0 to the upper limit value (R0+ΔRa), only the lowering control of the reaping unit 5 is performed. Further, when the cutting height detection value R1 exceeds the upper limit value (R0+ΔRa), lowering control of the reaping unit 5 and deceleration of the vehicle speed are performed.

The values of the first predetermined value ΔRa and the second predetermined value ΔRb may be the same magnitude, or may be different values. Also, the values of the first predetermined value ΔRa and the second predetermined value ΔRb are set to 20 mm, for example. In this case, when the first predetermined value .DELTA.Ra and the second predetermined value .DELTA.Rb are the same, the vehicle speed is decelerated because the cutting height detection value R1 exceeds the range of the cutting height target value R0±20 mm. will be

An example of control mode by the control device 200 will be described using the flowchart shown in FIG. FIG. 10 is a flow chart showing a second control mode by the control device 200. As shown in FIG. It should be noted that the description of the content that overlaps with the above-described first control mode will be omitted as appropriate.

As shown in FIG. 10, first, it is determined whether or not the height control mode of the reaping unit 5 is the lodging mode (S110).

In step S110, if it is not determined that the lodging mode is set (S110, NO), reaping/lifting/vehicle speed control is not performed. On the other hand, if it is determined in step S110 that the lodging mode is selected (S110, YES), the cutting height detection value R1 exceeds the upper limit (R0+ΔRa) and the cutting height detection value R1 exceeds the lower limit (R0- ΔRb) is met (S120).

If it is determined in step S120 that neither of the above two conditions is satisfied (S120, NO), the vehicle speed is not decelerated, and the process returns to step S110. On the other hand, if it is determined in step S120 that either of the two conditions is met (S120, YES), the vehicle speed is reduced (S130).

In the series of controls described with reference to FIG. 10, the up-and-down control of the reaping unit 5 based on the target cutting height value R0 based on the detected cutting height value R1 is performed together with the control related to deceleration of the vehicle speed.

As described above, regarding vehicle speed control, a numerical range is set with the target cutting height value R0 as a reference value, and the range of the cutting height detection value R1 until the vehicle speed is decelerated is set with respect to the cutting height target value R0. control is performed. According to such control, in addition to the effects obtained by the first control mode, the vehicle speed can be reduced only when the vertical range of the reaping unit 5 is relatively large. In addition, it is possible to suppress the thrusting of the reaping part 5, and to prevent hunting when the lifting width of the reaping part 5 is relatively small.

Regarding steps S30 and S130 of the flowcharts shown in FIGS. 9 and 10, as an example of a control mode when decelerating the vehicle speed, the greater the amount of elevation and the amount of descent of the reaping unit 5, the greater the degree of deceleration of the vehicle speed. control is performed.

That is, the control device 200 increases the degree of deceleration of the vehicle speed as the amount by which the cutting height detection value R1 exceeds the cutting height target value R0 increases, and the amount by which the cutting height detection value R1 falls below the cutting height target value R0 increases. The larger is, the larger the degree of deceleration of the vehicle speed. The amount by which the cutting height detection value R1 exceeds the cutting height target value R0 is defined as an "increase amount T1", and the amount by which the cutting height detection value R1 is less than the cutting height target value R0 is defined as a "decrease amount T2".

Regarding vehicle speed deceleration control, when the upper limit value (R0+ΔRa) and the lower limit value (R0−ΔRb) are used for the object of comparison of the cutting height detection value R1 as described above, the upper limit value (R0+ΔRa) of the cutting height detection value R1 is used. The larger the exceeding amount, the greater the degree of deceleration of the vehicle speed.

In vehicle speed deceleration control, the "degree of deceleration" is a concept that includes deceleration (negative acceleration) and deceleration rate. Increasing the degree of deceleration as the amount of rise T1 and the amount of descent T2 increases includes, for example, the following control modes.

First, there is a control mode in which the deceleration is gradually increased in accordance with the increase in the amount of rise T1 and the amount of descent T2. In this control mode, for example, the deceleration is increased in proportion to the amount of increase in the amount of rise T1 and the amount of descent T2.

In addition, there is a control mode that changes the deceleration rate with respect to the vehicle speed at that time according to the increase in the amount of rise T1 and the amount of descent T2. Specifically, in this control mode, for example, the following control is performed.

The values of the amount of rise T1 and the amount of descent T2 are divided into a plurality of ranges within a predetermined numerical range (for example, 10 mm) according to the amount of increase, and the deceleration rate is set in advance according to each range. Assuming that these ranges are the first range, the second range, and the third range in order from the smaller value to the larger value for each of the amount of rise T1 and the amount of descent T2, the deceleration rate corresponding to each range The coefficients (N1, N2, N3) are preset and stored in the vehicle speed control unit 212 or the like.

For example, the coefficient N1 corresponding to the first range is set to 0.9, the coefficient N2 corresponding to the second range is set to 0.7, and the coefficient N3 corresponding to the third range is set to 0.5. In this case, assuming that the vehicle speed at the timing of decelerating the vehicle speed is V (m/s), the speed V (m/s) is 0.9 in the first range where the amount of rise T1 and the amount of descent T2 are relatively small. - decelerated to V (m/s) (to 90% speed); Further, in the second range in which the amount of rise T1 and the amount of descent T2 are medium, the speed V (m/s) is reduced to 0.7·V (m/s) (to 70% speed). Further, in the third range where the amount of rise T1 and the amount of descent T2 are relatively large, the speed V (m/s) is reduced to 0.5·V (m/s) (50% speed).

Thus, the deceleration rate according to this control mode corresponds to the reduction rate of the coefficient multiplied by the velocity V (m/s), and the smaller the value of this coefficient, the greater the degree of deceleration caused by the deceleration rate. Become. The vehicle speed during the harvesting work is, for example, about 1 to 2 (m/s).

In this way, by increasing the degree of deceleration of the vehicle speed as the amount of rise T1 and the amount of descent T2 increase, it is possible to suppress uncutting by the reaping unit 5 and plunging of the reaping unit 5 . That is, the greater the amount of rise T1 and the amount of descent T2, the higher the possibility that the reaping unit 5 will remain uncut or the reaping unit 5 will plunge. It is possible to effectively suppress uncutting and sticking.

Further, as an example of a control mode for decelerating the vehicle speed, a predetermined set speed V0 is set in advance, and when the vehicle speed detected by the vehicle speed sensor 201 exceeds the set speed V0, the vehicle speed becomes the set speed V0. Control is performed to decelerate as much as possible.

That is, when the vehicle speed when lowering or raising the reaping unit 5 exceeds the preset set speed V0, the control device 200 reduces the vehicle speed to the set speed V0. The set speed V0 is preset and stored in a storage device such as a ROM in the control device 200 .

In the vehicle speed deceleration control, the set speed V0 is set as the target value of the vehicle speed, and the vehicle speed detected by the vehicle speed sensor 201 (hereinafter referred to as "detected vehicle speed V1") is reduced to the set speed V0. That is, in the vehicle speed deceleration control, the set speed V0 is the lower limit of the vehicle speed. Therefore, when the detected vehicle speed V1 is equal to or lower than the set speed V0, the vehicle speed is not decelerated.

The set speed V0 is set as a sufficiently slow speed relative to the vehicle speed during the reaping work. Specifically, although this is only an example, the set speed V0 is approximately 0.5 (m/s).

In the deceleration control of the vehicle speed with the set speed V0 as the target value, control may be performed to increase the degree of deceleration as the amount exceeding the above-described amount of increase T1 and amount of decrease T2 increases. . In this case, the set speed V0 is, for example, set as a speed that is slower than the vehicle speed in the most decelerated state with respect to the general vehicle speed during the reaping work in the control that increases the degree of deceleration according to the amount of elevation of the reaping unit 5. be done.

In this way, by performing control to decelerate the vehicle speed with the set speed V0 as the target value, the vehicle speed in the decelerated state can be reliably set to a low vehicle speed, and the reaping unit 5 will remain uncut and the reaping unit 5 will not be cut. can be suppressed. In other words, if the vehicle speed in the decelerated state is not sufficiently low, there is a high possibility that the reaping unit 5 will remain uncut or the reaping unit 5 will plunge into the vehicle. By decelerating to V0, it is possible to effectively suppress uncutting and plunging.

Further, as an example of a control mode when decelerating the vehicle speed using the set speed V0, the greater the difference between the detected vehicle speed V1 and the set speed V0, the greater the degree of deceleration of the vehicle speed.

That is, the control device 200 increases the degree of deceleration of the vehicle speed as the difference between the vehicle speed (detected vehicle speed V1) and the set speed V0 when lowering or raising the reaping unit 5 increases. The difference between the detected vehicle speed V1 and the set speed V0 is defined as "speed difference ΔV".

In vehicle speed deceleration control, increasing the degree of deceleration as the speed difference ΔV increases includes, for example, the following control modes.

First, there is a control mode in which the deceleration is gradually increased as the speed difference ΔV increases. In this control mode, for example, the deceleration is proportionally increased with respect to the value of the speed difference ΔV.

In addition, there is a control mode that changes the deceleration rate with respect to the current vehicle speed as the speed difference ΔV increases. Specifically, in this control mode, for example, the following control is performed.

A value of the speed difference ΔV is divided into a plurality of ranges within a predetermined numerical range, and a deceleration rate corresponding to each range is set in advance. When these ranges are defined as the first range, the second range, and the third range in order from the smaller value to the larger value for the speed difference ΔV, the coefficients (N1, N2 , N3) are preset and stored in the vehicle speed control unit 212 or the like.

For example, the coefficient N1 corresponding to the first range is set to 0.9, the coefficient N2 corresponding to the second range is set to 0.7, and the coefficient N3 corresponding to the third range is set to 0.5. In this case, assuming that the vehicle speed at the timing of decelerating the vehicle speed is V (m/s), the speed V (m/s) is 0.9 V (m /s) (to 90% speed). Further, in the second range where the speed difference ΔV is medium, the speed V (m/s) is reduced to 0.7·V (m/s) (to 70% speed). Further, in the third range where the speed difference ΔV is relatively large, the speed V (m/s) is reduced to 0.5·V (m/s) (50% speed).

In this way, by increasing the degree of deceleration of the vehicle speed as the speed difference ΔV increases, it is possible to suppress uncutting by the reaping unit 5 and plunging of the reaping unit 5 . That is, when the speed difference ΔV is large, it means that the detected vehicle speed V1 is fast. By increasing the deceleration rate of the vehicle speed in response to such a situation, it is possible to effectively suppress uncutting and plunging.

An example of a control mode using the set speed V0 by the control device 200 will be described with reference to the flowchart shown in FIG. FIG. 11 is a flow chart showing a third control mode by the control device 200. As shown in FIG. It should be noted that the description of the content that overlaps with the above-described first and second control modes will be omitted as appropriate.

As shown in FIG. 11, first, it is determined whether or not the height control mode of the reaping unit 5 is the lodging mode (S210). If it is determined that the vehicle is in the lying down mode (S210, YES), step S220, which is the same as step S120 shown in FIG. 10, is performed.

If it is determined in step S220 that neither of the two conditions apply (S220, NO), the vehicle speed is not decelerated, and the process returns to step S210. On the other hand, if it is determined in step S220 that either of the two conditions is met (S220, YES), it is determined whether or not the detected vehicle speed V1 exceeds the set speed V0 (S230).

If it is not determined in step S230 that the detected vehicle speed V1 exceeds the set speed V0 (S230, NO), the vehicle speed is not decelerated. On the other hand, if it is determined in step S230 that the detected vehicle speed V1 exceeds the set speed V0 (S230, YES), the vehicle speed is reduced (S240).

In the vehicle speed deceleration control in step S240, the vehicle speed is decelerated until the detected vehicle speed V1 reaches the set speed V0. Further, in step S240, at least one of a control to increase the degree of deceleration of the vehicle speed as the amount of rise T1 and the amount of descent T2 increases, and a control to increase the degree of deceleration of the vehicle speed as the speed difference ΔV increases. control is performed.

In the series of controls described with reference to FIG. 11, the up/down control of the reaping unit 5 based on the target cutting height value R0 based on the detected cutting height value R1 is performed together with control related to deceleration of the vehicle speed.

According to the above-described reaping elevation/vehicle speed control, the vehicle speed is automatically decelerated in accordance with the elevation state of the reaping unit 5. Therefore, while reducing the burden on the operator, the reaping portion 5 is left unremoved and the reaping speed is reduced. The thrusting of the portion 5 can be effectively suppressed.

As an example of a control mode for decelerating the vehicle speed, a plurality of set speeds V0 are set according to the amount of rise T1 and the amount of descent T2, and the set speed V0 is set so that the larger the amount of rise T1 and the amount of descent T2, the lower the set speed V0. Control is performed to change V0. That is, in the vehicle speed control using the set speed V0, the set speed V0 is set to decrease as the amount of increase T1 or the amount of decrease T2 increases. Specifically, in this control mode, for example, the following control is performed.

The values of the amount of rise T1 and the amount of descent T2 are divided into a plurality of ranges within a predetermined numerical range (for example, 10 mm) according to the amount of increase, and the set speed V0 corresponding to each range is set in advance. Assuming that these ranges are the first range, the second range, and the third range in order from the smaller value to the larger value for each of the ascending amount T1 and descending amount T2, the set speed V0 corresponding to each range is It is preset and stored in the vehicle speed control unit 212 or the like.

For example, the first set speed V01, which is the set speed V0 corresponding to the first range, is set to 0.7 (m/s), and the second set speed V02, which is the set speed V0 corresponding to the second range, is set to 0.7 (m/s). 0.5 (m/s), and the third set speed, which is the set speed V0 corresponding to the third range, is set as 0.3 (m/s).

In this way, by changing the set speed V0 to the deceleration side according to the amount of increase in the amount of rise T1 and the amount of descent T2, it is possible to suppress uncutting by the reaping unit 5 and plunging of the reaping unit 5 . That is, the greater the amount of rise T1 and the amount of descent T2, the higher the possibility that the reaping unit 5 will remain uncut or the reaping unit 5 will plunge. By lowering the set speed V0, it is possible to effectively suppress uncutting and plunging.

Further, in the reaping elevation/vehicle speed control, control may be performed to change the elevation speed of the reaping unit 5 according to the degree of deceleration of the vehicle speed. Control of the up-and-down speed of the reaping part 5 is demonstrated.

As an example of control mode of the raising/lowering speed of the reaper 5, control is performed such that the raising speed of the reaper 5 increases as the degree of deceleration of the vehicle speed when decelerating the vehicle speed increases. That is, the control device 200 increases the speed at which the reaping unit 5 is lifted as the degree of deceleration of the vehicle speed increases.

The lifting speed of the reaping unit 5 is adjusted by controlling the speed of expansion and contraction of the reaping lifting cylinder 18 via an electromagnetic valve by the control device 200 . The speed of expansion and contraction of the reaping elevating cylinder 18 is adjusted by the supply and discharge amount of hydraulic oil supplied to the reaping elevating cylinder 18 via an electromagnetic valve controlled by the control device 200 .

The relationship between the degree of deceleration of the vehicle speed and the rising speed of the reaping unit 5 is not particularly limited. For example, when deceleration is used as the degree of deceleration of the vehicle speed, there is a control mode in which the rising speed of the reaping unit 5 is gradually increased in accordance with the increase in deceleration that increases as the amount of rise T1 and the amount of descent T2 increase. . In this control mode, for example, the rising speed of the reaping unit 5 is proportionally increased with respect to the increase in deceleration.

Further, as described above, when the deceleration rate set for each numerical range of the values of the amount of rise T1 and the amount of descent T2 is used as the degree of deceleration of the vehicle speed, each numerical value of the amount of rise T1 and the amount of descent T2 is used. The ascending speed of the reaping unit 5 corresponding to the range is preset and stored in the reaping elevation control unit 214 or the like.

Then, when the first range, the second range, and the third range are set according to the example described above as the numerical ranges of the amount of rise T1 and the amount of descent T2, the rising speed of the reaping unit 5 is set to the first A first rising speed corresponding to the range of , a second rising speed corresponding to the second range, and a third rising speed corresponding to the third range are set. Here, the second rising speed is faster than the first rising speed, and the third rising speed is faster than the second rising speed.

In this way, by increasing the rising speed of the reaping unit 5 as the degree of deceleration of the vehicle speed is greater, the reaping unit 5 can be quickly released to the rising side when the vehicle speed is decelerated. can be effectively suppressed.

In addition, the control may be such that the higher the degree of deceleration of the vehicle speed, the slower the rising speed of the reaping unit 5 . By slowing the rising speed of the reaper 5 as the degree of deceleration of the vehicle speed increases, the number of culms that pass under the reaper 5 can be reduced, and uncut by the reaper 5 can be suppressed. .

Further, as an example of control mode of the raising/lowering speed of the harvesting unit 5, the lowering speed of the harvesting unit 5 is controlled to be slower as the degree of deceleration of the vehicle speed is increased. That is, the control device 200 slows down the speed of lowering the reaping unit 5 as the degree of deceleration of the vehicle speed increases.

The relationship between the degree of deceleration of the vehicle speed and the descending speed of the reaping unit 5 is not particularly limited. For example, when deceleration is used as the degree of deceleration of the vehicle speed, there is a control mode in which the lowering speed of the reaping unit 5 is gradually reduced in accordance with the increase in deceleration that increases as the amount of rise T1 and the amount of descent T2 increase. . In this control mode, for example, the descending speed of the reaping unit 5 is reduced proportionally to the increase in deceleration.

Further, as described above, when the deceleration rate set for each numerical range of the values of the amount of rise T1 and the amount of descent T2 is used as the degree of deceleration of the vehicle speed, each numerical value of the amount of rise T1 and the amount of descent T2 is used. The lowering speed of the reaping unit 5 corresponding to the range is preset and stored in the reaping elevation control unit 214 or the like.

Then, when the first range, the second range, and the third range are set according to the example described above as the numerical ranges of the amount of rise T1 and the amount of descent T2, the descent speed of the reaping unit 5 is set to the first A first descending speed corresponding to the range of , a second descending speed corresponding to the second range, and a third descending speed corresponding to the third range are set. Here, the second descent speed is lower than the first descent speed, and the third descent speed is lower than the second descent speed.

In this way, by decreasing the lowering speed of the reaping unit 5 as the degree of deceleration of the vehicle speed increases, the reaping unit 5 can be lowered in a slow motion when the vehicle speed is decelerated. is deviated from the cutting height target value R0, the traveling distance can be shortened, and the plunge of the reaping part 5 can be effectively suppressed.

It should be noted that control may be such that the lowering speed of the reaping unit 5 is increased as the degree of deceleration of the vehicle speed increases. By increasing the lowering speed of the reaping unit 5 as the degree of deceleration of the vehicle speed is greater, the number of culms passing under the reaping unit 5 can be reduced, and uncutting by the reaping unit 5 can be suppressed. .

The above-described embodiments are examples of the present invention, and the present invention is not limited to the above-described embodiments. Therefore, it goes without saying that various modifications other than the above-described embodiments are possible according to the design and the like, as long as they do not deviate from the technical idea of the present invention. In addition, the effects described in the present disclosure are only examples and are not limited, and other effects may also occur. Also, the configurations and control aspects of the above-described embodiments can be appropriately combined.

In the above-described embodiment, the cutting height detection device 40 is provided at the left end of the reaping supporter frame 20 that constitutes the reaping unit 5, but the position of the cutting height detection device 40 is not particularly limited. The cutting height detection device 40 may be provided at the right end portion of the reaping supporter frame 20 by, for example, having a symmetrical configuration with the above-described embodiment. Moreover, the cutting height detection devices 40 may be provided at a plurality of locations, for example, by providing them at both the left and right ends of the reaping supporter frame 20 .

In the above-described embodiment, the reaping lifting/vehicle speed control is executed when the control mode of the reaping unit 5 is the lodging mode. Vehicle speed control may be performed.

In the above-described embodiment, regarding the control mode of the height of the reaping unit 5, switching between the normal mode and the lodging mode is performed by operating the cutting height mode switching switch 203 or by operating the cutting height target value setting operation unit 202. Values are based on set values. In this regard, a configuration may be adopted in which a detection device such as a camera or a sensor is used to automatically switch the control mode of the height of the reaping unit 5 .

Specifically, when a camera is used for switching control modes, a camera 204 for switching control modes is connected to the control device 200 as shown in FIG. The camera 204 is, for example, a CCD camera, and is connected to the control device 200 via a connection cable or the like.

The camera 204 is provided, for example, at a predetermined portion of the cabin 13 or the reaping unit 5, and captures an image of uncut culms in front of the reaping unit 5 in a field in a predetermined range during reaping work. An imaging signal obtained by the camera 204 is input to the control device 200 . The control device 200 performs predetermined signal processing based on the imaging signal from the camera 204 to determine whether or not the uncut culms are in a lodged state. Switch the height control mode to lodging mode.

When a sensor is used for switching the control mode, a culm height sensor 205 for switching the control mode is connected to the control device 200 as shown in FIG. The culm height sensor 205 is, for example, an ultrasonic sensor that uses ultrasonic waves having a frequency that exhibits characteristic reflection on grains, and is connected to the control device 200 via a connection cable or the like.

The culm height sensor 205 is provided, for example, at a predetermined portion in the cabin 13 or the reaping unit 5, and emits ultrasonic waves toward uncut stalks in a predetermined range in front of the reaping unit 5 in the field during reaping work. By transmitting and receiving the reflected wave, the vegetation height of the uncut culm is detected. A detection signal about the height of the culm obtained by the culm height sensor 205 is input to the control device 200 . Based on the detection signal from the grain culm height sensor 205, the control device 200 determines whether or not the uncut grain culms are in a lodged state. switch to lodging mode.

1 Combine harvester 4 Traveling unit 5 Reaping part 14 Operation part 18 Reaping lifting cylinder 40 Cutting height detector 43 Cutting height sensor 200 Control device R0 Cutting height target value R1 Cutting height detection value T1 Rising amount T2 Lowering amount V0 Set speed V1 Detected vehicle speed ΔRa First predetermined value ΔRb Second predetermined value ΔV Speed difference

Claims (10)

A reaping unit that can move up and down with respect to the traveling machine, a cutting height detection device for detecting a reaping height that is the height of the reaping unit, and a reaping height detected by the reaping height detection device. a control device for controlling the height of the reaping unit so as to achieve a preset target value,
When the cutting height detected by the cutting height detection device exceeds the target value or falls below the target value, the control device controls whether the cutting height detected by the cutting height detection device A combine, wherein the height of the reaping unit is controlled so as to achieve the target value, and the vehicle speed of the traveling machine body is decelerated. The control device is
As a control mode for the height of the reaping unit, a normal mode and a lodging mode in which the target value is smaller than the normal mode,
On the condition that the control mode is the lodging mode, the height of the reaping unit is controlled so that the reaping height detected by the reaping height detection device becomes the target value, and the vehicle speed of the traveling machine body is controlled. 2. The combine according to claim 1, characterized in that it decelerates the When the cutting height detected by the cutting height detection device exceeds a value obtained by adding a predetermined value to the target value or falls below a value obtained by subtracting a predetermined value from the target value, 3. The combine according to claim 1 or 2, wherein the vehicle speed is reduced. The control device increases the degree of deceleration of the vehicle speed as the amount by which the cutting height detected by the cutting height detection device exceeds or falls below the target value increases. The combine according to any one of claims 1 to 3. When the vehicle speed when lowering or raising the reaping unit exceeds a preset set speed, the control device reduces the vehicle speed so that the vehicle speed reaches the set speed. The combine according to any one of claims 1 to 4. The combine according to claim 5, wherein the control device increases the degree of deceleration of the vehicle speed as the difference between the vehicle speed and the set speed when lowering or raising the reaping unit increases. The set speed is set to be lower as the amount of the cutting height detected by the cutting height detection device that exceeds or falls below the target value increases. The combine according to claim 5 or claim 6. The combine harvester according to any one of claims 4 to 7, wherein the control device increases the speed of raising the reaping unit as the degree of deceleration of the vehicle speed increases. The combine harvester according to any one of claims 4 to 8, wherein the control device slows down the speed of lowering the reaping unit as the degree of deceleration of the vehicle speed increases. A control method for a combine harvester for detecting a cutting height, which is the height of a reaping unit, and controlling the height of the reaping unit so that the detected cutting height reaches a preset target value, comprising:
controlling the height of the reaping unit so that the detected reaping height is equal to the target value when the detected reaping height exceeds the target value or falls below the target value; A control method for a combine, characterized by decelerating a vehicle speed.

Images