JP7113727B2 - harvester - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatically traveling harvester equipped with a harvesting device for harvesting planted grain culms.

As a harvester as described above, for example, the one described in Patent Document 1 is already known. In harvesting work using this harvester (“combine” in Patent Document 1), the operator manually operates the combine at the beginning of the harvesting work, and performs reaping travel so as to go around the outer peripheral portion of the field.

The direction in which the harvester should travel is recorded during travel on this perimeter. Then, automatic traveling based on the recorded orientation is performed to reap and travel in an uncut area in the field.

Japanese Utility Model Laid-Open No. 2-107911

Japanese Patent Laid-Open No. 2004-100003 does not describe in detail the up-and-down control of the harvesting device at the time of entering the harvested area from the uncut area. Here, in the harvester described in Patent Literature 1, it is conceivable to configure the harvesting device to automatically rise when entering the harvested area from the uncut area. With this configuration, it is easy to prevent the harvester from interfering with the ridge when the harvester turns in the already harvested area.

However, when the harvesting device is lifted, it is conceivable that harvested grain culms may fall from the harvesting device. Harvest losses increase when the harvested culms fall off the harvesting device.

An object of the present invention is to provide a harvester capable of suppressing an increase in harvest loss.

A feature of the present invention is a harvester capable of automatically traveling, comprising: a reel for raking planted grain culms while being rotationally driven around a reel axis along the left-right direction of the machine body; a harvesting device for harvesting the planted grain culms; An automatic reel control unit that automatically controls the elevation of the reel with respect to the reaper during automatic travel, and an automatic reaper controller that automatically controls the elevation of the reaper with respect to the fuselage during automatic travel. a control unit, wherein the automatic control unit executes a mowing-through control that raises the reaper and lowers the reel when entering from an uncut area to an already cut area , wherein the automatic control unit and, before entering the uncut area from the already cut area, a start of cutting control, which is a control for lowering the reaper and simultaneously raising the reel, is executed, and the automatic control unit performs the start of cutting control. Before the execution, preparatory lowering control is executed to lower the reaper to a position lower than the height after the control at the time of cutting through and higher than the height after the control at the time of beginning of cutting without raising or lowering the reel. In addition, the height of the reaping device is maintained after the preparatory lowering control until the start of reaping control is executed .

According to the present invention, the reaping device is lifted and the reel is lowered when entering the cut area from the uncut area. As a result, the reaping grain culms are held between the reaping device and the reel. As a result, the harvested grain culms are less likely to fall off the harvesting device when the harvesting device is raised.

Therefore, according to the present invention, it is possible to suppress an increase in harvest loss.
According to this configuration, compared to the configuration in which the reel starts to rise after the reaping device has completed the descent, the time required for the reaper and the reel to reach the reaping position after the reaper starts to descend. becomes shorter. Therefore, it is easy to avoid a situation in which the harvester enters an uncut area before the harvesting device and the reel reach the positions for harvesting.
According to this configuration, the reaping device is lowered by the preparatory lowering control prior to the start-of-rearing control. Therefore, the height of the reaper at the time of execution of the start-of-reaping control is lower than in a configuration in which the preparatory lowering control is not executed. As a result, the width required to lower the reaping device in the reaping start control is reduced. Therefore, the time required from the start to the end of the start-of-cutting control is shortened. Therefore, it is easy to avoid a situation in which the harvester enters the uncut area before the start-of-cutting control ends.

Furthermore, in the present invention, it is preferable that the automatic control section starts to raise the reaper after starting to lower the reel in the control at the time of cutting.

According to this configuration, the harvested grain culms are easily sandwiched between the harvesting device and the reel before the harvesting device is raised. As a result, the harvested grain culms are less likely to fall off the harvesting device when the harvesting device is raised, compared to the case where the harvested grain culms are sandwiched between the harvesting device and the reel after the harvesting device is raised.

Further, in the present invention, it is preferable that the automatic control section starts lowering the reel before entering the cut area from the uncut area in the cut-out control.

Generally, the reaping device is raised after entering a cut area from an uncut area. Therefore, according to the above configuration, the reaper starts to rise after the reel starts to descend.

As a result, the reaping grain stalks are likely to be clamped between the reaping device and the reel before the reaping device is raised. As a result, the harvested grain culms are less likely to fall off the harvesting device when the harvesting device is raised, compared to the case where the harvested grain culms are sandwiched between the harvesting device and the reel after the harvesting device is raised.

Further, in the present invention, a reaping clutch for intermittently transmitting power to the reel and the reaping device, and a clutch control section for controlling the reaping clutch, the clutch control section controls the reaping power by the automatic control section. It is preferable to control the reaping clutch to the on state before the start-up control is executed.

In a configuration in which the reaping clutch is electronically controlled by the clutch control unit, there is a time lag from when the clutch control unit transmits a signal for controlling the reaping clutch to the on state to when the reaping clutch actually enters the on state. do.

Therefore, if the clutch control section is configured to control the reaping clutch to be in the on state after the automatic control section executes the reaping start control, the harvester may be turned on before the reaping clutch is actually in the on state. It is assumed that the tree may enter an uncut area.

Here, according to the above configuration, the clutch control unit controls the reaping clutch to be in the on state before the reaping start control is executed by the automatic control unit. This makes it easier to avoid a situation in which the harvester enters an uncut area before the reaping clutch is actually engaged.

Further, in the present invention, when the height of the reaping device reaches a predetermined height while the reaping device is being raised under the control of the automatic reaping device control unit, the clutch control unit is configured to disengage the reaping clutch. is preferably controlled to be off.

After the reaping device is lifted when entering from the uncut area to the already cut area, no reaping is performed during the period until re-entering the uncut area. Therefore, it is not necessary to drive the reel and reaping device during this period.

Here, according to the above configuration, the reaping clutch is automatically disengaged as the reaping device is lifted. This reduces the time the reel and reaping gear are driven. As a result, the fuel efficiency of the harvester is improved.

Further, in the present invention, the automatic control unit executes height maintenance control for maintaining neither the reaping device nor the reel in a state of being raised or lowered after execution of the control at the time of reaping. It is preferable to end the height maintenance control and lower the reaper before entering the reaping area.

According to this configuration, the harvester turns while the height maintenance control is being executed, so that the harvester turns while the harvesting device is positioned at a relatively high position. As a result, when the harvester turns, it is possible to more reliably avoid interference of the reaper with the ridge.

Further, in the present invention, a first operation unit that is manually operated, and a manual reel control unit that controls lifting and lowering of the reel with respect to the harvesting device according to the manual operation of the first operation unit, Preferably, when the operation unit is manually operated, the manual reel control unit controls the lifting and lowering of the reel with respect to the harvesting device, prior to the automatic reel control unit.

When the automatic reel control section is configured to control the elevation of the reels in preference to the manual reel control section, the operator can voluntarily operate the reels while the elevation of the reels is automatically controlled. Can not do it. Therefore, if the automatic lifting and lowering of the reel does not meet the operator's intention, it tends to be difficult for the operator to proceed with the work as expected.

Here, according to the above configuration, when the automatic lifting and lowering of the reel is not in accordance with the operator's intention, the operator can operate the reel at his or her own will by operating the first operation section. can. This makes it easier for the operator to proceed with the work as expected.

Further, in the present invention, when the first operation unit is manually operated while the automatic reel control unit is controlling the lifting of the reel with respect to the harvesting device, the automatic reel control unit controls the harvesting device. It is preferable that the control of the lifting and lowering of the reel is stopped.

According to this configuration, when the first operation unit is manually operated while the automatic reel control unit is controlling the elevation of the reel with respect to the harvesting device, the automatic reel control unit resumes reel operation after the manual operation ends. It does not control the elevation of the Therefore, it is possible to avoid a situation in which the reels are moved up and down unintentionally by the automatic reel control section again after the manual operation of the first operating section is finished.

Further, in the present invention, a second operation unit that is manually operated, and a manual reaping device control unit that controls elevation of the reaping device with respect to the machine body according to the human operation of the second operation unit, If the second operation unit is manually operated while the device control unit is controlling the elevation of the reaper with respect to the fuselage, the automatic reaper control unit gives priority to the manual reaper control unit. It is preferable to control the raising and lowering of the reaper with respect to.

According to this configuration, while the automatic reaper control unit is controlling the elevation of the reaper with respect to the machine body, a part of the operator's body or the like erroneously touches the second operation unit, and the second operation unit is erroneously operated. Inappropriate vertical movement of the harvesting device can be avoided even in such a case.

It is a left view of a combine. It is a figure which shows the go-around driving|running|working in an agricultural field. FIG. 4 shows a reaping run along a reaping run path; 4 is a block diagram showing the configuration of a control unit; FIG. FIG. 10 is a diagram showing an example of up-and-down control of the reel and the reaper at the time of cutting through; FIG. 10 is a diagram showing an example of up-and-down control of the reel and the reaper at the start of reaping; FIG. 10 is a diagram showing an example of up-and-down control of the reel and the reaper at the start of reaping;

A mode for carrying out the present invention will be described based on the drawings. In the following description, the direction of arrow F shown in FIG. 1 is defined as "front" and the direction of arrow B is defined as "rear" unless otherwise specified. The direction of arrow U shown in FIG. 1 is defined as "up", and the direction of arrow D is defined as "down".

[Overall configuration of combine harvester]
As shown in FIG. 1, a normal type combine 1 (corresponding to the "harvester" according to the present invention) includes a crawler type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a harvesting device H, A conveying device 16, a grain discharging device 18, a satellite positioning module 80, and an engine E are provided.

The travel device 11 is provided in the lower portion of the combine harvester 1 . Further, the travel device 11 is driven by power from the engine E. As shown in FIG. The combine 1 can be self-propelled by the travel device 11 .

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

The grain discharging device 18 is provided above the grain tank 14 . Also, the satellite positioning module 80 is attached to the upper surface of the operating section 12 .

A harvesting device H is provided at the front of the combine 1 . The conveying device 16 is provided behind the harvesting device H. As shown in FIG. The harvesting device H also has a harvesting device 15 and a reel 17 .

The reaping device 15 reaps planted grain culms in a field. Further, the reel 17 rakes the planted grain culms to be harvested while being rotationally driven around the reel axis 17b along the left-right direction of the machine body. With this configuration, the harvesting device H harvests the grain in the field. The combine 1 is capable of reaping travel in which the traveling device 11 travels while the reaping device 15 reaps planted grain stalks in a field.

The harvested culms harvested by the harvesting device 15 are conveyed to the threshing device 13 by the conveying device 16 . In the threshing device 13, harvested grain culms are threshed. Grains obtained by the threshing process are stored in the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.

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

Here, as shown in FIG. 2, the combine harvester 1 travels around while harvesting grain in the outer peripheral area of the field, and then travels for reaping in the inner area of the field as shown in FIG. , configured to harvest grain in the field.

In the present embodiment, the circular travel shown in FIG. 2 is performed manually. Further, the reaping travel in the inner area shown in FIG. 3 is performed by automatic travel. That is, the combine 1 is capable of automatic travel.

Note that the present invention is not limited to this, and the circuit running shown in FIG. 2 may be performed by automatic running.

Moreover, as shown in FIG. The main shift lever 19 is manually operated. When the combine harvester 1 is manually traveling, the vehicle speed of the combine harvester 1 changes when the operator operates the main shift lever 19 . That is, when the combine harvester 1 is manually traveling, the operator can change the vehicle speed of the combine harvester 1 by operating the main shift lever 19 .

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

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

[Structure related to control unit]
As shown in FIG. 4 , the combine 1 includes a reaping clutch C<b>1 and a control section 20 .
Power output from the engine E is distributed to the reaping clutch C<b>1 and the travel device 11 . The travel device 11 is driven by power from the engine E. As shown in FIG.

Further, the reaping clutch C1 is configured to be changeable between an ON state in which power is transmitted and an OFF state in which power is not transmitted.

When the reaping clutch C<b>1 is in the disengaged state, the power output from the engine E is not transmitted to the reaping device 15 and the reel 17 . At this time, the harvesting device 15 and the reel 17 are in a non-driving state.

When the reaping clutch C<b>1 is in the engaged state, the power output from the engine E is transmitted to the reaping device 15 and the reel 17 . At this time, the reaper 15 and the reel 17 are driven by the power from the engine E.

That is, the reaping clutch C<b>1 interrupts power transmission to the reel 17 and the reaping device 15 .

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

As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from satellites GS used in GPS (Global Positioning System). Then, as shown in FIG. 4, the satellite positioning module 80 sends positioning data indicating the position of the combine 1 to the position calculator 21 based on the received GPS signal.

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

Based on the temporal position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21, the area calculation unit 22 calculates the outer peripheral area SA (corresponding to the "already harvested area" according to the present invention) as shown in FIG. and the work target area CA (corresponding to the "uncut area" according to the present invention) is calculated.

More specifically, the area calculation unit 22 calculates the travel locus of the combine harvester 1 in the circular travel on the outer circumference side of the field based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21. . Then, based on the calculated travel locus of the combine 1, the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine 1 traveled around while harvesting the grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

For example, in FIG. 2, arrows indicate the traveling route of the combine 1 for traveling around the outer circumference of the field. In the example shown in FIG. 2, the combine 1 travels three rounds. Then, when the reaping travel along this travel route is completed, the field is in the state shown in FIG.

As shown in FIG. 3 , the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine harvester 1 traveled around while harvesting grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

Then, as shown in FIG. 4 , the calculation result by the area calculation unit 22 is sent to the route calculation unit 23 .

Based on the calculation results received from the area calculation unit 22, the route calculation unit 23 calculates a reaping travel route LI, which is a travel route for reaping travel in the work target area CA, as shown in FIG. As shown in FIG. 3, in the present embodiment, the reaping travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Also, the plurality of mesh lines may not be straight, and may be curved.

As shown in FIG. 4 , the reaping travel route LI calculated by the route calculation unit 23 is sent to the travel control unit 24 .

The travel control unit 24 is configured to be able to control the travel device 11 . Then, the travel control unit 24 controls automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23 . More specifically, as shown in FIG. 3, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI.

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

First, the operator manually operates the combine harvester 1, and as shown in FIG. In the example shown in FIG. 2, the combine 1 travels three rounds. When this round trip is completed, the field will be in the state shown in FIG.

Based on the temporal positional coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21, the area calculation unit 22 calculates the running locus of the combine harvester 1 in the circuit running shown in FIG. Then, as shown in FIG. 3, based on the calculated running locus of the combine harvester 1, the area calculating unit 22 determines the area on the outer peripheral side of the farm field where the combine harvester 1 traveled around while reaping planted grain culms as an outer peripheral area SA. Calculate as Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

Next, based on the calculation result received from the area calculation unit 22, the route calculation unit 23 sets the reaping travel route LI in the work target area CA as shown in FIG.

When the operator presses an automatic travel start button (not shown), automatic travel along the reaping travel route LI is started as shown in FIG. At this time, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI.

When the automatic traveling in the work area CA is started, as shown in FIG. 3, the combine harvester 1 reaps and travels along the outline of the work area CA in the outer peripheral portion of the work area CA. . Then, the combine 1 repeats traveling along the reaping travel route LI and changing direction by an α-turn, thereby performing reaping travel so as to cover the entire work target area CA.

In this embodiment, as shown in FIGS. 2 and 3, the transport vehicle CV is parked outside the field. A stop position PP is set in the vicinity of the transport vehicle CV in the outer peripheral area SA.

The transport vehicle CV can collect and transport the grains discharged from the grain discharging device 18 by the combine harvester 1 . When discharging the grain, the combine 1 stops at the stop position PP, and the grain discharging device 18 discharges the grain to the transport vehicle CV.

When the reaping travel along all the reaping travel routes LI in the work target area CA is completed, the entire field is harvested.

In the present embodiment, as shown in FIG. 5, in the target work area CA, the part where the reaping travel is completed becomes the outer peripheral area SA.

[Construction for Lifting Control of Reel and Reaping Device]
As shown in FIG. 4, the combine 1 includes a reel up button 41 (corresponding to the "first operating section" according to the present invention) and a reel lowering button 42 (corresponding to the "first operating section" according to the present invention). ing. Moreover, as shown in FIGS. 1 and 4, the combine harvester 1 includes an operating lever 40 (corresponding to the "second operating section" according to the present invention), a reaping cylinder 15A, and a reel cylinder 17A.

Both the reel up button 41 and the reel down button 42 are provided above the operating lever 40 . The operation lever 40, the reel up button 41, and the reel down button 42 are all manually operated.

Further, as shown in FIG. 4, the control section 20 has a clutch control section 25, an automatic control section 26, a manual reel control section 27, and a manual reaping device control section . The automatic control section 26 also has an automatic reel control section 26a and an automatic harvesting device control section 26b.

When the operator presses the reel up button 41 while the combine 1 is running manually, a signal corresponding to the operation is sent to the manual reel control unit 27 . The manual reel control section 27 controls the reel cylinder 17A in the extension direction in response to this signal. This causes the reel 17 to rise relative to the reaping device 15 .

Further, when the operator presses the reel lowering button 42 while the combine 1 is manually traveling, a signal corresponding to the operation is sent to the manual reel control section 27 . The manual reel control section 27 controls the reel cylinder 17A in the contraction direction in response to this signal. Thereby, the reel 17 is lowered with respect to the reaping device 15 .

In this manner, the manual reel control section 27 controls the elevation of the reel 17 with respect to the harvesting device 15 in accordance with the manual operation of the reel up button 41 and the reel down button 42 .

Further, when the operator swings the operation lever 40 backward while the combine 1 is manually traveling, a signal corresponding to the operation is sent to the manual reaping device control section 28 . The manual reaping device control unit 28 controls the reaping cylinder 15A in the extension direction in response to this signal. As a result, the harvesting device 15 rises with respect to the machine body.

Further, when the operator swings the operation lever 40 forward while the combine 1 is manually traveling, a signal corresponding to the operation is sent to the manual reaping device control section 28 . The manual reaping device control unit 28 controls the reaping cylinder 15A in the contraction direction in response to this signal. As a result, the harvesting device 15 descends with respect to the machine body.

In this manner, the manual reaping device control unit 28 controls the elevation of the reaping device 15 with respect to the machine body in accordance with the manual operation of the operating lever 40 .

As shown in FIG. 4 , the position coordinates of the combine harvester 1 calculated by the own vehicle position calculator 21 are sent to the automatic controller 26 . Also, the reaping travel route LI calculated by the route calculation unit 23 is sent to the automatic control unit 26 .

Then, the automatic reel control unit 26a controls the reel cylinder 17A based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23 during automatic travel. automatically control the

As a result, the automatic reel control unit 26a automatically controls the lifting and lowering of the reel 17 with respect to the harvesting device 15 during automatic travel.

Further, the automatic reaping device control unit 26b, during automatic travel, based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23, 15A automatically.

As a result, the automatic harvesting device control unit 26b automatically controls the elevation of the harvesting device 15 with respect to the machine body during automatic travel.

With this configuration, the automatic control unit 26 automatically controls the lifting and lowering of the reel 17 and the harvesting device 15 during automatic travel.

The automatic control unit 26 executes a mowing-through control that raises the harvesting device 15 and lowers the reel 17 when entering the peripheral area SA from the work target area CA. Then, in the mowing-out control, the automatic control unit 26 starts to raise the reaper 15 after starting to lower the reel 17 . Further, in the mowing-through control, the automatic control unit 26 starts lowering the reel 17 before entering the outer peripheral area SA from the work target area CA.

Further, the automatic control unit 26 sends a signal indicating the amount of control of the reaping cylinder 15A to the clutch control unit 25 in the mowing-out control. The clutch control section 25 controls the reaping clutch C1 based on this signal.

More specifically, the clutch control unit 25 determines whether or not the height of the harvesting device 15 has reached the predetermined height H1 based on this signal. Then, when it is determined that the height of the reaping device 15 has reached the predetermined height H1, the clutch control section 25 controls the reaping clutch C1 to be in a disengaged state.

That is, the clutch control unit 25 disengages the reaping clutch C1 when the height of the reaping device 15 reaches a predetermined height H1 while the reaping device 15 is being raised under the control of the automatic reaping device control unit 26b. to control.

Further, the automatic control unit 26 executes height maintenance control in which neither the reaping device 15 nor the reel 17 are raised or lowered after execution of the mowing-through control. Then, the automatic control unit 26 ends the height maintenance control and executes the preparatory lowering control before entering the work target area CA from the outer peripheral area SA. Note that the preparatory lowering control is control for lowering the harvesting device 15 relative to the machine body without raising or lowering the reel 17 relative to the harvesting device 15 .

That is, the automatic control unit 26 executes height maintenance control in which neither the reaper 15 nor the reel 17 is moved up and down after execution of the mowing-through control, and the automatic control unit 26 enters the work area CA from the outer peripheral area SA. , the height maintenance control is terminated and the harvesting device 15 is lowered.

The automatic control unit 26 maintains the height of the harvesting device 15 for a predetermined period of time after executing the preparatory lowering control. Then, when a predetermined time has passed after the preparatory lowering control, the automatic control unit 26 executes the reaping start control.

The control at the beginning of reaping is control for lowering the reaping device 15 and raising the reel 17 at the same time. The automatic control unit 26 executes the start-of-mowing control before entering the work target area CA from the outer peripheral area SA.

That is, the automatic control unit 26 executes preparatory lowering control for lowering the reaper 15 without raising or lowering the reel 17 before executing the reaping start control, and executes the reaping start control after the preparatory lowering control. The height of the reaping device 15 is maintained until a point in time.

Further, the position coordinates of the combine harvester 1 calculated by the vehicle position calculator 21 are sent to the clutch controller 25 . Also, the reaping travel route LI calculated by the route calculation unit 23 is sent to the clutch control unit 25 .

During automatic travel, the clutch control unit 25 operates the reaping clutch C1 based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23. control to the ON state.

More specifically, when the distance between the combine harvester 1 and the starting point of the reaping travel path LI becomes equal to or less than a predetermined distance, the clutch control unit 25 controls the reaping clutch C1 to be in the ON state. In this embodiment, this predetermined distance is set so that the reaping clutch C1 is controlled to be in the ON state during execution of height maintenance control. That is, the reaping clutch C1 is turned on while the height maintenance control is being executed.

With this configuration, the clutch control unit 25 controls the reaping clutch C<b>1 to be in the ON state before the automatic control unit 26 executes the reaping start control.

Further, as shown in FIG. 4, when the operator operates the reel up button 41 or the reel down button 42 while the automatic reel control unit 26a is controlling the elevation of the reel 17 with respect to the harvesting device 15, the manual reel control unit 27 sends a predetermined signal to the automatic reel control section 26a.

This signal is a signal that causes the automatic reel control section 26a to stop controlling the lifting of the reel 17 with respect to the harvesting device 15 . That is, upon receiving this signal, the automatic reel control section 26a stops controlling the lifting of the reel 17 with respect to the harvesting device 15 by the automatic reel control section 26a.

As a result, the manual reel control section 27 controls the elevation of the reel 17 relative to the harvesting device 15 prior to the automatic reel control section 26a.

In this manner, when the reel up button 41 or the reel down button 42 is manually operated, the manual reel control section 27 controls the lifting and lowering of the reel 17 with respect to the harvesting device 15 prior to the automatic reel control section 26a.

Further, when the reel up button 41 or the reel down button 42 is manually operated while the automatic reel control unit 26a is controlling the elevation of the reel 17 relative to the harvesting device 15, the automatic reel control unit 26a moves the reel relative to the harvesting device 15. 17 up/down control is stopped.

Further, in this embodiment, when the automatic reaping device control unit 26b is controlling the vertical movement of the reaping device 15 with respect to the machine body, the swinging operation of the operating lever 40 in the front-rear direction is disabled.

That is, if the operation lever 40 is manually operated while the automatic reaper control unit 26b is controlling the elevation of the reaper 15 with respect to the machine body, the automatic reaper control unit 26b takes precedence over the manual reaper control unit 28. to control the elevation of the harvesting device 15 with respect to the machine body.

[Up-and-down control of the reel and reaper at the time of mowing through and at the start of mowing]
A case where the combine 1 travels as shown in FIGS.

In the examples shown in FIGS. 5 and 6, neither the reel up button 41 nor the reel down button 42 is manually operated. 5 and 6, the reaping travel path LI is omitted.

In the example shown in FIG. 5, the automatic control unit 26 is executing the control during mowing. In this mowing-through control, the reel 17 begins to descend before the combine harvester 1 enters the outer peripheral area SA from the work target area CA. Then, when the combine harvester 1 enters the outer peripheral area SA from the work target area CA, the automatic control unit 26 starts raising the harvesting device 15 .

That is, from the time the reaper 15 begins to rise relative to the machine body until the reel 17 reaches the lowest position with respect to the reaper 15, the reaper 15 rises relative to the machine body and the reel 17 moves relative to the reaper 15. descent and are performed at the same time.

Thereafter, after the reel 17 reaches the lowest position with respect to the reaper 15, the height of the reel 17 with respect to the reaper 15 is maintained. Then, when the height of the reaping device 15 reaches the height H1, the clutch control unit 25 controls the reaping clutch C1 to be in a disengaged state.

After that, height maintenance control is executed from the point in time when the height of the harvesting device 15 reaches the height H2. Note that the height H2 is higher than the height H1.

Here, as described above, the reaping clutch C1 is in the ON state during execution of the height maintenance control. After the reaping clutch C1 is turned on, the preparatory lowering control is executed as shown in FIG. Due to this preparatory lowering control, the height of the harvesting device 15 becomes height H3. Note that the height H3 is lower than the height H2.

Then, after the preparatory lowering control is completed and the height of the reaping device 15 is maintained at H3, reaping start time control is executed. The height of the reaping device 15 becomes height H4 by this reaping start control.
Incidentally, the height H4 is lower than the height H3.

Here, as shown in FIG. 6, the combine 1 passes over a rut formed by traveling of the combine 1 before entering the target work area CA from the outer peripheral area SA. The height H4 is set so that the harvesting device 15 does not interfere with the rut.

As shown in FIGS. 5 and 6, after the reel 17 reaches the lowest position with respect to the reaping device 15 in the reaping control, the height of the reel 17 with respect to the reaping device 15 is adjusted to the height of the reaping start time control. maintained up to the point

Then, as shown in FIG. 6, the reel 17 rises relative to the reaping device 15 in the reaping start control.

Further, after the end of the reaping start time control, the reaping device 15 is lowered to the height for reaping after the height of the reaping device 15 is maintained at H4. At this time, the automatic control unit 26 starts lowering the reaper 15 after the reaper 15 passes above the rut.

Also, FIG. 7 shows an example in which the operator presses the reel up button 41 during execution of the height maintenance control. In this example, neither the reel up button 41 nor the reel down button 42 is manually operated after the operator presses the reel up button 41 once.

In this case, the reel 17 is lifted under the control of the manual reel control section 27 in response to the pushing operation of the reel lift button 41 . Further, the control of the lifting of the reel 17 with respect to the harvesting device 15 by the automatic reel control section 26a is stopped.

Therefore, as shown in FIG. 7, after the reel 17 is lifted under the control of the manual reel control unit 27, the height of the reel 17 with respect to the harvesting device 15 remains unchanged until the combine harvester 1 enters the work target area CA from the outer peripheral area SA. is maintained.

It should be noted that the up-and-down control of the harvesting device 15 in this case is the same as the example shown in FIG.

With the configuration described above, the harvesting device 15 ascends and the reel 17 descends when entering the outer peripheral area SA from the work target area CA. As a result, the reaping grain culms are clamped between the reaping device 15 and the reel 17 . As a result, harvested grain culms are less likely to fall off the harvesting device 15 when the harvesting device 15 is raised.

Therefore, with the configuration described above, it is possible to suppress an increase in harvest loss.

It should be noted that the embodiment described above is merely an example, and the present invention is not limited to this, and can be modified as appropriate.

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

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

(3) In the above embodiment, the operator manually operates the combine harvester 1, and as shown in FIG. However, the present invention is not limited to this, and the combine 1 may be configured to automatically travel and perform reaping travel along the boundary line of the field in the outer peripheral portion of the field. Also, the number of turns at this time may be a number other than three. For example, the number of rounds at this time may be two rounds.

(4) Among the vehicle position calculation unit 21, the area calculation unit 22, the route calculation unit 23, the travel control unit 24, the clutch control unit 25, the automatic control unit 26, the manual reel control unit 27, and the manual harvesting device control unit 28, A part or all of them may be provided outside the combine harvester 1, and may be provided in a management server provided outside the combine harvester 1, for example.

(5) The execution start timing and end timing of the mowing-through control may be determined based on the position of the combine harvester 1, or may be determined based on other information.

(6) The execution start timing and end timing of the reaping start control may be determined based on the position of the combine harvester 1, or may be determined based on other information.

(7) The execution start timing and end timing of the preparation descending control may be determined based on the position of the combine harvester 1, or may be determined based on other information.

(8) The timing at which the clutch control unit 25 controls the reaping clutch C1 to the on state and the timing to control the reaping clutch C1 to the off state may be determined based on the position of the combine harvester 1, or determined based on other information. can be

(9) The execution start timing and end timing of the height maintenance control may be determined based on the position of the combine harvester 1, or may be determined based on other information.

(10) The manual reaping device control unit 28 gives priority to the automatic reaping device control unit 26b when the operation lever 40 is manually operated while the automatic reaping device control unit 26b is controlling the elevation of the reaping device 15 with respect to the machine body. Then, it may be configured to control the elevation of the harvesting device 15 with respect to the machine body.

(11) When the reel up button 41 or the reel down button 42 is manually operated while the automatic reel control unit 26a is controlling the lifting of the reel 17 with respect to the harvesting device 15, the automatic reel control unit 26a controls the harvesting device 15 Control of the up-and-down movement of the reel 17 does not have to be stopped.

(12) The automatic reel control unit 26a performs manual reel control when the reel up button 41 or the reel down button 42 is manually operated while the automatic reel control unit 26a is controlling the elevation of the reel 17 with respect to the harvesting device 15. It may be configured to control the elevation of the reel 17 relative to the harvesting device 15 prior to the portion 27 .

(13) The automatic control unit 26 may be configured so as not to execute the height maintenance control after execution of the mowing-through control.

(14) The clutch control section 25 may be configured to control the reaping clutch C1 to the disengaged state based on information other than the height of the reaping device 15 .

(15) The clutch control section 25 may be configured to control the reaping clutch C1 to the ON state after the automatic control section 26 executes the reaping start control.

(16) The automatic control unit 26 may be configured not to execute preparatory descent control.

(17) The automatic control unit 26 may be configured not to execute the control at the start of mowing.

(18) In the mowing-through control, the automatic control unit 26 may start lowering the reel 17 at the same time as the reel 17 enters the outer peripheral area SA from the target work area CA, or after entering the outer peripheral area SA from the target work area CA. 17 may begin to descend.

(19) In the mowing-out control, the automatic control unit 26 may start raising the reaper 15 at the same time as it starts lowering the reel 17, or may start raising the reaper 15 before it starts lowering the reel 17. good.

INDUSTRIAL APPLICABILITY The present invention includes a harvesting device for harvesting planted grain culms and can be used for a harvester capable of automatically traveling.

1 combine (harvester)
15 reaping device 17 reel 17b reel axis 25 clutch control unit 26 automatic control unit 26a automatic reel control unit 26b automatic reaping device control unit 27 manual reel control unit 28 manual reaping device control unit 40 operation lever (second operation unit)
41 reel up button (first operation unit)
42 reel down button (first operation part)
C1 Reaping clutch CA Work target area (unreaped area)
H1 Predetermined height SA Outer peripheral area (already cut area)

Claims (9)

An automatically traveling harvester,
A reel that picks up the planted culms while being driven to rotate around the reel axis along the left-right direction of the machine body;
a reaping device for reaping planted grain culms;
An automatic reel control unit that automatically controls the elevation of the reel with respect to the reaper during automatic travel, and an automatic reaper controller that automatically controls the elevation of the reaper with respect to the fuselage during automatic travel. a control unit;
The automatic control unit executes a mowing-through control that raises the reaping device and lowers the reel when entering the reaping area from the unreaped area ,
The automatic control unit executes a reaping start time control, which is a control for lowering the reaping device and simultaneously raising the reel, before entering an unreaped area from a reaping area,
Before executing the start-of-rearing control, the automatic control section moves the reaper to a height lower than the height after the control at the time of reaping and above the height after the control at the time of start-of-rearing without moving the reel up and down. a harvester that executes preparatory descent control to lower the reaper to a higher position, and maintains the height of the reaper after the preparatory descent control until the start of reed control is executed . 2. The harvester according to claim 1, wherein the automatic control unit starts to raise the reaper after starting to lower the reel in the control at the time of cutting. 3. The harvester according to claim 1, wherein the automatic control unit starts lowering the reel before entering the harvested area from the uncut area in the cut-out control. a reaping clutch that interrupts power transmission to the reel and the reaping device;
and a clutch control unit that controls the reaping clutch,
The harvester according to any one of claims 1 to 3, wherein the clutch control unit controls the reaping clutch to be in an on state before the reaping start control is executed by the automatic control unit. The clutch control section controls the reaping clutch to be disengaged when the height of the reaping apparatus reaches a predetermined height while the reaping apparatus is being raised under the control of the automatic reaping apparatus control section. A harvester according to claim 4 . The automatic control unit executes height maintenance control in which neither the reaping device nor the reel is raised or lowered after execution of the control at the time of mowing, and before entering the non-removing area from the reaping area. 6. The harvester according to any one of claims 1 to 5 , further comprising: ending the height maintenance control and lowering the harvesting device. a first operating unit that is manually operated;
a manual reel control unit that controls lifting and lowering of the reel with respect to the harvesting device according to the manual operation of the first operation unit;
7. The manual reel control unit controls lifting and lowering of the reel with respect to the harvesting device prior to the automatic reel control unit when the first operation unit is manually operated. Harvester according to . When the first operation unit is manually operated while the automatic reel control unit is controlling the elevation of the reel with respect to the harvesting device, the automatic reel control unit does not control the elevation of the reel with respect to the harvesting device. 8. Harvester according to claim 7 , wherein the harvester is discontinued. a second operating unit that is manually operated;
a manual reaping device control unit that controls the lifting and lowering of the reaping device with respect to the machine body in accordance with the manual operation of the second operation unit;
When the second operation unit is manually operated while the automatic reaper control unit is controlling the elevation of the reaper with respect to the machine body, the automatic reaper control unit takes precedence over the manual reaper control unit. 9. The harvesting machine according to any one of claims 1 to 8 , wherein the reaping device is controlled up and down with respect to the machine body.

Images