JP7423441B2 - harvester - Google Patents

Description

The present invention relates to a harvester equipped with a harvesting device for harvesting crops in a field.

For example, the harvester disclosed in Patent Document 1 is equipped with a cutting height sensor that detects the uneven state of a field after work while traveling during work. The height of the harvesting device (referred to as the "reaping conveyance unit" in the literature) above the ground is changed depending on the unevenness of the field detected by the reaping height sensor.

JP2019-180320

The harvesting machine disclosed in Patent Document 1 has a configuration in which the height of the harvesting device from the ground is changed based on the uneven state of the field detected by a cutting height sensor. Since there are weeds, lodging crops, etc. in the field, it may not be possible to perform optimal harvesting by simply changing the height of the harvesting device above the ground depending on the unevenness of the field. Therefore, there is a need for a harvester that can change the overall state of the harvesting operation in accordance with not only the unevenness of the field but also various field conditions.

An object of the present invention is to provide a harvester that can perform suitable harvesting operations depending on the field condition after the operation.

The harvesting machine according to the present invention has a traveling device that can travel in a field, a cutting blade that cuts the base of the planted crops in front, and a harvesting device that harvests the crops in the field, and A field state detection unit that detects a field state; and a state change unit that can change the working state of at least one of the traveling device and the harvesting device according to the field state after the work, and the field state The detection unit is located between the cutting blade and the traveling device .

The state of the field after harvest can be various, such as the presence of leftover crops, and according to the present invention, the field state detection section detects the field state after various operations. Furthermore, since not only the harvesting device but also the traveling device is configured to be changeable depending on the field condition after work, it is possible to change the overall state of the harvesting work. As a result, a harvesting machine capable of performing suitable harvesting operations depending on the field condition after the operation is realized.

In the present invention, the field state detection section detects a harvest mark after the harvesting operation by the harvesting device, and the state change section determines that the height of the harvesting device from the ground is too high based on the harvest mark. , it is preferable to lower the height of the harvesting device above the ground.

Even in the same field, the height of crops varies depending on the condition of each crop, so if the height of the harvesting device from the ground is too high, the harvesting device may not be able to properly harvest the crops. According to this configuration, the condition of each crop can be detected based on the harvest marks, so even if the height of the harvesting device from the ground is too high, the harvesting device can appropriately harvest the crops. can.

A harvesting machine according to the present invention has a traveling device that can travel in a field, a harvest header that receives planted crops in front, and a raking reel that scrapes the planted crops, and the harvesting machine harvests the crops in the field. a field state detection unit that detects the field state after work while traveling; and a state change unit that can change the working state of at least one of the traveling device and the harvesting device depending on the field state after the work. and, the field state detection unit is configured to be able to detect leftover crops that remain unharvested after the harvesting operation by the harvesting device, and the state change unit is configured to detect leftover crops that are left unharvested after the harvesting operation by the harvesting device, and the state change unit is configured to detect the leftover crops that are left unharvested after the harvesting operation by the harvesting device. When detected by the section, the traveling device is moved backward by a preset distance, and the vertical position of the harvesting header is positioned at the lowest area, and the position of the raking reel is positioned at the lowest area and the lowest area. The present invention is characterized in that the traveling device is located in a front region, and after the backward movement is completed, the traveling device is moved forward while the vehicle speed of the traveling device is reduced compared to the vehicle speed before the leftover crops are detected.

The state of the field after harvest can be various, such as the presence of leftover crops, and according to the present invention, the field state detection section detects the field state after various operations. Furthermore, since not only the harvesting device but also the traveling device is configured to be changeable depending on the field condition after work, it is possible to change the overall state of the harvesting work. For example, if leftover crops such as lodging crops are left behind without being harvested by the harvesting device, there is a risk that the field condition detection section may erroneously detect that the ground of the field is raised by the thickness of the leftover crops. In this case, the harvesting device may be moved up unnecessarily depending on the thickness of the remaining crops, which may increase crop loss. With this configuration, since the field state detection unit can detect leftover crops, the state of the harvesting device is changed to be suitable for harvesting leftover crops. Moreover, with this configuration, after the traveling device moves backward, the state of the harvesting device is changed, and the traveling device moves forward again, so-called a retry of the harvesting operation is automatically performed. As a result, leftover crops can be harvested without being stepped on by the traveling device. As a result, a harvesting machine capable of performing suitable harvesting operations depending on the field condition after the operation is realized.

In the present invention, it is preferable that the field state detection unit detects the field state immediately after the harvesting device has worked, as the field state after the work.

With this configuration, by detecting the field state immediately after the harvesting device has worked, it is possible to confirm whether the harvesting device has properly harvested the crops. Thereby, the state changing unit can quickly change the working state of at least one of the traveling device and the harvesting device based on the field state immediately after the work.

The harvesting machine according to the present invention includes a traveling device that can travel in a field, a harvesting device that harvests crops in the field, and a dust valve that guides the treated crops harvested by the harvesting device backward, and a threshing section for threshing the grain; and a threshing section provided below the threshing section, which receives the threshed processed crop and shakes and conveys it rearward, sorting the processed crop into harvested and non-harvested crops. a sorting processing section; a winnowing machine that supplies sorting air to the sorting processing section for sorting the processed crops into the harvested crops and the non-harvested crops; and a field condition that detects the field condition after the operation while running the operation. a detection unit; and a state change unit capable of changing the working state of at least one of the traveling device and the harvesting device according to the field state after the work, and the field state detection unit is configured to and the sorting processing section, and when the harvested material is detected by the field state detection section, the state changing section detects the harvest discharged from at least one of the threshing section and the sorting section. The present invention is characterized in that it controls at least one of a processing section and the winnowing device, and also controls the vehicle speed of the traveling device.

The state of the field after harvest can be various, such as the presence of leftover crops, and according to the present invention, the field state detection section detects the field state after various operations. Furthermore, since not only the harvesting device but also the traveling device is configured to be changeable depending on the field condition after work, it is possible to change the overall state of the harvesting work. Furthermore, according to this configuration, the field condition detection section can detect the harvest discharged from at least one of the threshing section and the sorting processing section, and therefore calculates the crop loss rate based on the discharged harvest. The configuration to be evaluated becomes possible. In other words, with this configuration, the state changing section changes the state of the threshing section based on the detection of the field state detection section so that the crop loss in the harvest discharged from at least one of the threshing section and the sorting processing section is reduced. It becomes possible to change the respective states of the sorting processing section and the winnowing machine, and the vehicle speed. This reduces crop losses caused by the respective operating states of the traveling device, the threshing section, the sorting section, and the winnowing machine. As a result, a harvesting machine capable of performing suitable harvesting operations depending on the field condition after the operation is realized.

In the present invention, it is preferable that the field state detection section is an imaging device that images the field state after the work.

With this configuration, it is possible to detect field conditions after various operations based on image data captured by the imaging device.

FIG. 2 is an overall side view of the harvesting machine. FIG. 2 is an overall plan view of the harvesting machine. It is a functional block diagram showing a control system of a harvester. FIG. 3 is an explanatory diagram schematically showing the flow of generation of recognition output data by a recognition unit. FIG. 3 is a side view of main parts showing the working state of the harvesting device. FIG. 3 is a side view of main parts showing the working state of the harvesting device. It is a flowchart figure which shows the state change process of a state determination part. FIG. 3 is a schematic plan view showing imaging of a field by a second imaging device. It is an explanatory view showing that a working state is changed when a lodging crop is detected. It is an explanatory view showing that a working state is changed when a lodging crop is detected.

An embodiment of a combine harvester as an example of a harvester according to the invention is described below based on the drawings. In this embodiment, when defining the longitudinal direction of the machine body 1, it is defined along the direction of movement of the machine body in the working state. The direction indicated by the symbol (F) in FIGS. 1 and 2 is the front side of the fuselage, and the direction indicated by the symbol (B) in FIGS. 1 and 2 is the rear side of the fuselage. The direction indicated by the symbol (U) in FIG. 1 is the upper side of the fuselage, and the direction indicated by the symbol (D) in FIG. 1 is the lower side of the fuselage. The direction indicated by the symbol (L) in FIG. 2 is the left side of the body, and the direction indicated by the symbol (R) in FIG. 2 is the right side of the body. When defining the left and right directions of the aircraft 1, the left and right are defined as viewed from the direction of movement of the aircraft.

[Basic configuration of harvester]
As shown in FIGS. 1 and 2, a conventional combine harvester, which is one form of a harvester, includes a body 1 and a pair of left and right crawler-type traveling devices 11. The fuselage 1 is equipped with a riding section 12, a threshing device 13, a grain tank 14, a harvesting device 15, a conveying device 16, and a grain discharging device 18.

The traveling device 11 is provided at the lower part of the combine harvester. The traveling device 11 has a pair of left and right crawler traveling mechanisms, and the combine harvester can travel in the field using the traveling device 11. Furthermore, a lifting device is provided for each of the left and right crawler traveling mechanisms. The elevating device is also commonly called "Monroe" and is configured to be able to change the height position of the aircraft body 1 with respect to each of the left and right crawler traveling mechanisms. For this reason, the elevating device is configured to be able to roll the aircraft body 1 by changing the height position of the aircraft body 1 with respect to each of the left and right crawler traveling mechanisms.

The riding section 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and are configured as the upper part of the machine body 1. A rider of the combine harvester and a supervisor who monitors the work of the combine harvester can board the boarding section 12. Normally, the person serves as both a passenger and a supervisor. Note that when the passenger and the supervisor are different people, the supervisor may monitor the work of the combine harvester from outside the combine harvester. A driving engine (not shown) is provided below the riding section 12. The grain discharge device 18 is connected to the rear lower part of the grain tank 14.

The harvesting device 15 harvests crops in the field. The crops are, for example, planted grain culms such as rice, but may also be soybeans, corn, etc. The combine harvester is capable of traveling while harvesting crops in the field with the harvesting device 15 and traveling with the traveling device 11. The conveying device 16 is provided adjacent to the rear side of the harvesting device 15. The harvesting device 15 and the conveying device 16 are supported at the front part of the machine body 1 so as to be movable up and down. The harvesting device 15 and the conveying device 16 are vertically swung together by being vertically moved up and down by a header actuator 15H that can be expanded and contracted.

The harvesting device 15 is equipped with a harvesting header 15A, a scraping reel 15B, a lateral feed auger 15C, and a clipper-shaped cutting blade 15D. The harvest header 15A divides the planted crops in front into harvest targets and non-harvest targets, and receives the harvest targets from among the front planted crops.

The raking reel 15B is located above the harvesting header 15A. A reel support arm 15K is swingably supported by the harvesting header 15A, and the reel support arm 15K is swingably operated by a reel actuator 15J that can extend and contract. The rotation axis of the scraping reel 15B is supported by the free end region of the reel support arm 15K. For this reason, the scraping reel 15B is configured to be able to swing up and down by the expansion and contraction operations of the reel actuator 15J.

The scraping reel 15B is supported by the reel support arm 15K and is configured to be rotatable about the horizontal axis of the machine body. Further, the rotation axis of the scraping reel 15B is configured to be slidable in the front-rear direction at the free end region of the reel support arm 15K. That is, the raking reel 15B is configured to be able to swing up and down relative to the harvesting header 15A, and to be able to change its position forward and backward relative to the harvesting header 15A.

The raking reel 15B is equipped with a plurality of tines 15T, and the tines 15T act to rak the planted crops. The raking reel 15B uses tines 15T to rak a portion of the planted crop toward the rear when harvesting the planted crop from the field.

The cutting blade 15D cuts the base side of the planted crop that has been raked backward by the raking reel 15B. The transverse feed auger 15C is rotatably driven around the transverse axis of the machine body, and transversely feeds the harvested crop after cutting by the cutting blade 15D to the middle side in the left-right direction, collects it, and sends it out toward the rear conveyance device 16. Although details will be described later, the lateral feed auger 15C is configured to be able to change its position in the vertical direction.

In order to reduce the threshing load on the threshing device 13, the height H1 (see FIG. 5) of the harvesting header 15A from the ground is set high, and only the ear side of the planted crop may be harvested. At this time, in order to prevent the remaining culms from remaining tall in the field after harvesting, it is necessary to cut off the remaining culms. For this reason, a residual culm processing section 19 is provided behind the harvesting device 15. The residual culm processing unit 19 has a horizontally long clipper-shaped cutting blade extending in the left-right direction of the machine body, and the residual culm is cut by reciprocating the cutting blade from side to side.

The crops (for example, cut grain culms) harvested by the harvesting device 15 are conveyed to the threshing device 13 by the conveying device 16. The harvested crops are threshed by a threshing device 13. The threshing device 13 includes a threshing section 13A, a sorting section 13B, and a winnow 13C. In FIG. 1, the threshing section 13A is shown as a handling drum, but there is a handling chamber that stores the handling drum, a dust feeding valve arranged in the upper part of the handling chamber, and a space around the lower area of the handling drum. The receiving net located therein is also included in the threshing section 13A.
The dust valve guides the processed crops harvested by the harvesting device 15 to the rear. The threshing unit 13A threshes the crops transported by the transport device 16, that is, the crops to be processed by the threshing device 13. The sorting processing section 13B is provided below the threshing section 13A, and receives the processed crops threshed by the threshing section 13A and sieves the processed crops into harvested items and non-harvested items while swinging and conveying them rearward. do.

Although not shown because it is a known technique, the sorting processing section 13B is equipped with a chaff sieve, and the chaff sieve has a plurality of chaff flips. Each chaflip extends laterally of the fuselage. The plurality of chaff flips are arranged along the conveyance direction (back and forth direction) in which the treated crop is conveyed, and each of the plurality of chaff flips is arranged in an inclined posture toward the rear end side diagonally upward. The leakage opening degree of each chaflip is configured to be changeable. The fact that the leakage opening degree can be changed means that the inclination posture can be changed. Specifically, the closer the chaflip becomes parallel to the front-rear direction, the smaller the leakage opening becomes, and the closer the chaflip becomes parallel to the up-down direction, the larger the leakage opening becomes. The treated crop is conveyed backward on the chaff flips, and the grains as the harvested product leak downward through the gaps between the chaff flips. The sorting processing unit 13B has a chaff sieve which has a plurality of chaflips arranged along the conveyance direction of the threshed material and whose leakage opening degree can be changed by changing the posture of the plurality of chaflips.
The winnower 13C supplies sorting air to the sorting processing section 13B.

Grain obtained by the threshing process is stored in a grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by a grain discharge device 18 as necessary. The grain discharge device 18 is configured to be swingable around a vertical axis at the rear of the machine body. In other words, there is a discharge state in which the free end of the grain discharging device 18 extends outward from the machine body 1 to allow the crop to be discharged, and a discharge state in which the free end of the grain discharging device 18 is within the width of the machine body 1. The grain discharging device 18 is configured to be able to switch between the stored state and the stored state. When the grain discharging device 18 is in the stored state, the free end of the grain discharging device 18 is located in front of the riding section 12 and above the harvesting device 15.

A first imaging device 21A and a distance measurement sensor 22 are provided at the front upper part of the riding section 12. The first imaging device 21A is a color camera capable of imaging visible light, and is, for example, a CCD camera or a CMOS camera. The first imaging device 21A is provided at the front of the machine body 1 and at a higher position than the harvesting device 15 so as to look down on the unharvested crops in front of the harvesting device 15. That is, the first imaging device 21A can take an image from a viewpoint looking down from above in the forward direction of travel. The imaging field of view of the first imaging device 21A in the front-rear direction is, for example, 15 meters or 25 meters.

The imaging data acquired by the first imaging device 21A is converted into imaging data and sent to the control system of the combine. The first imaging device 21A images the field during harvesting work. Various objects exist in the field to be imaged. The control system of the combine has a function of identifying a specific object from the imaging data sent from the first imaging device 21A. As such specific objects, in FIGS. 1 and 2, a normal planted grain culm group indicated by the symbol Z0, a weed group indicated by the symbol Z1, and a lodging crop group indicated by the symbol Z2. , is shown schematically.

The distance measuring sensor 22 is configured to be able to measure the distance between the aircraft 1 and an object to be imaged in a field located in front of the aircraft 1. The distance measurement sensor 22 may be a sonar, a radar (millimeter wave), or a LIDAR (for example, a laser scanner or a laser radar). If the distance measuring sensor 22 is a sonar sensor, it is advantageous in terms of cost. If the distance measuring sensor 22 is a millimeter wave radar, it is possible to perform measurements that are not easily influenced by the weather, which is advantageous in terms of cost. If a millimeter-wave radar is configured to be able to scan in three dimensions, not only forward, left and right, but also up and down, it will be able to measure a wider range than a millimeter-wave radar that scans in two dimensions. If the distance measurement sensor 22 is a LIDAR, the separation distance can be measured with high accuracy. In addition, if the LIDAR is configured to be able to three-dimensionally scan in the vertical direction as well as the front, left and right, it will be possible to make the distance measurement range wider than that of a type of LIDAR that scans in two dimensions. Moreover, the ranging sensor 22 may be configured by a combination of sonar, radar, and LIDAR.

In this embodiment, a second imaging device 21B is provided at the lower rear of the harvesting device 15. The second imaging device 21B is a color camera capable of imaging visible light, and is, for example, a CCD camera or a CMOS camera. The second imaging device 21B can image the harvest trace area S (see FIG. 8) behind the harvesting device 15. Therefore, the second imaging device 21B is configured to be able to detect the state of the field after work while traveling. The second imaging device 21B is the "imaging device" of the present invention.

A satellite positioning module 80 is provided on the ceiling of the boarding section 12. The satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal (including a GPS signal) from an artificial satellite GS, and acquires the vehicle position. Note that, in order to supplement the satellite navigation by the satellite positioning module 80, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic azimuth sensor is incorporated in the satellite positioning module 80. Of course, the inertial navigation unit may be located at a different location from the satellite positioning module 80 in the combine.

[Control unit configuration]
The control unit 30 shown in FIG. 3 is a core element of the control system of the combine, and is shown as a collection of a plurality of ECUs. The control unit 30 includes a first crop detection section 31A, a second crop detection section 31B, a state determination section 32, a storage section 33, a notification section 34, a travel control section 35, and a work control section 36. It is equipped. The second crop detection section 31B is the "field state detection section" of the present invention. The state determining section 32 is the "state changing section" of the present invention.

Positioning data output from the satellite positioning module 80, imaging data from the first imaging device 21A, imaging data from the second imaging device 21B, distance data output from the ranging sensor 22, and cutting height detection. The height position information outputted from the section 23, the height position information outputted from the reel height detection section 24, and the height position information outputted from the auger height detection section 25 are transmitted to the control unit through a wiring network. 30 is input. As described above, the harvesting device 15 and the conveyance device 16 (see FIG. 1, etc.) are configured to be able to swing up and down, and the cutting height detection section 23 is provided at the center of the swing axis of the conveyance device 16. The cutting height detection unit 23 is configured to be able to detect the height H1 above the ground at the lower end of the harvesting device 15 (see FIGS. 5 and 6) by detecting the swing angle of the conveying device 16. The reel height detection unit 24 can detect the height position H2 (see FIGS. 5 and 6) of the scraping reel 15B with respect to the harvesting header 15A by detecting the swing angle of the reel support arm 15K with respect to the harvesting header 15A. It is composed of The auger height detection unit 25 can detect the height position H3 (see FIGS. 5 and 6) of the cross-feed auger 15C by detecting the vertical position of an actuator (not shown) that raises and lowers the cross-feed auger 15C. It is composed of

The first crop detecting unit 31A detects the planted crops based on the imaging data sequentially acquired by the first imaging device 21A and the distance data sequentially acquired sequentially by the distance measuring sensor 22. In addition to detecting the area where crops exist, the height of the planted crops is also detected. Further, the first crop detection unit 31A determines the type of crop by using, for example, a machine learning (deep learning) neural network. In other words, the first crop detection unit 31A is configured to be able to acquire the type of crop to be harvested by the harvesting device 15. Examples of the types of crops include rice, wheat (barley, wheat, buckwheat), beans (soybeans, adzuki beans, black beans), rapeseed, corn, and the like. Moreover, the first crop detection unit 31A is configured to be able to detect the size and length of the ear tip of the crop based on the imaging data.

In this embodiment, the first crop detection unit 31A is configured to be able to detect lodging crops (for example, lodging grain culms) based on the height of the planted crops. The flow of generation of recognition output data by the first crop detection unit 31A is shown in FIG. The RGB pixel values of the imaging data are input as input values to the first crop detection unit 31A from the first imaging device 21A. This imaging data and the distance data acquired by the distance measuring sensor 22 are associated, and a lodging crop is detected based on the crop height in the area where the planted crop exists. The first crop detection unit 31A is configured to detect a lodging crop based on the crop height of the planted crop and the width of the area where the planted crop spreads at the same crop height. The size of the area where planted crops spread at the same crop height may be calculated by area calculation based on at least one of imaging data and distance data, or in addition, the area size may be calculated based on at least one of imaging data and distance data. It may be calculated from the shape. Alternatively, the size of the area in which the planted crops spread at the same crop height may be calculated from at least one of the shape of the area image-recognized from the imaging data and the relative size.

In addition, the first crop detection unit 31A is configured to detect a weed area where weeds exist mixed with the crops in front of the harvesting device 15, and can obtain the type of weed (including the size of the weed) in the weed area. It is composed of

In the example of FIG. 4, a lodging crop and weeds are shown in a normal planted grain culm. A weed area where weeds exist is indicated by a rectangular frame labeled F1, and an area where lodging crops exist is indicated by a rectangular frame labeled F2. Moreover, the first crop detection unit 31A is configured to be able to obtain a weed rate, which is the amount of weeds per unit area in the weed area. In this way, the first crop detection unit 31A is configured to be able to identify lodging of crops and weeds in the field. The first imaging device 21A acquires imaging data at predetermined time intervals, for example, at intervals of 0.1 to 0.5 seconds, and inputs the imaging data to the first crop detection unit 31A, so that the first crop detection unit 31A also , output recognition output data at the same time interval.

During automatic driving, the first imaging device 21A captures an image of the front of the aircraft, and the distance sensor 22 measures the distance between the aircraft 1 and an object in front of the aircraft. Then, based on the image data captured by the first imaging device 21A and the distance data in front of the aircraft measured by the distance sensor 22, the first crop detection unit 31A detects the crops in the field as a specific object. At the same time, the height of the crops in the field is detected.

The second crop detection unit 31B is capable of detecting leftover crops that are not harvested, such as lodging crops, for example, based on the image data of the image data sequentially acquired by the second imaging device 21B. be. Further, the second crop detection unit 31B determines the type of leftover crop by using, for example, a machine learning (deep learning) neural network. Examples of the types of leftover crops include rice, wheat (barley, wheat, buckwheat), beans (soybeans, adzuki beans, black beans), rapeseed, corn, and the like.

The control unit 30 is equipped with a storage section 33, and the storage section 33 is equipped with a plurality of harvest control patterns and a plurality of travel control patterns. The storage unit 33 is, for example, a semiconductor storage element such as an EEPROM.

The harvest control pattern is based on, for example, the height H1 of the harvesting header 15A above the ground, the height position H2 of the raking reel 15B, and the height position H3 of the cross-feeding auger 15C, depending on at least one of the type of crop and the height of the crop. and is stored in the storage unit 33 as a lookup table for adjusting . That is, the state determination unit 32 selects a harvest control pattern and a traveling control pattern that correspond to the type of crop and the height of the crop. Then, the target value is output from the state determining section 32 to the work control section 36 according to the selected harvest control pattern and traveling control pattern.

The travel control pattern is stored in the storage unit 33 as a look-up table for adjusting the vehicle speed and height of the travel device 11, for example, depending on at least one of the type of crop and the height of the crop. That is, the state determining unit 32 selects a travel control pattern that corresponds to at least one of the type of crop and the height of the crop. Then, a target value is output from the state determining section 32 to the traveling control section 35 according to the selected traveling control pattern.

The travel control section 35 includes a vehicle speed control section 35A and a vehicle height control section 35B. Based on the travel control pattern selected by the state determining unit 32, a target value for vehicle speed and a target value for vehicle height are determined. The vehicle speed control unit 35A performs speed adjustment control of the traveling device 11 based on the target value of the vehicle speed. The vehicle height control unit 35B controls the lifting mechanism of the traveling device 11 based on the target value of the vehicle height.

That is, the travel control section 35 has an engine control function, a steering control function, a vehicle speed control function, a vehicle height control function, etc., and provides a travel control signal to the travel device 11. In the case of manual steering, the travel control unit 35 generates a control signal based on the operation by the passenger, and controls the travel device 11. In the case of automatic steering, the driving control unit 35 controls the steering and vehicle speed based on the automatic driving command given by the automatic driving control module of the control unit 30 and the positioning data from the satellite positioning module 80. Performed against.

The work control section 36 includes a header control section 36A, a reel control section 36B, and an auger control section 36C. Based on the harvest control pattern selected by the state determining unit 32, the target value of the height above the ground H1, the target value of the height position H2, the target value of the front and rear positions of the raking reel 15B, and the target value of the height position H3 are determined. The value and are determined. The header control unit 36A controls the raising and lowering of the harvesting header 15A based on the target value of the height H1 above the ground. The reel control unit 36B adjusts and controls the vertical and longitudinal positions of the scraping reel 15B based on the target value of the height position H2 and the target value of the front and rear positions of the scraping reel 15B. Furthermore, the auger control unit 36C adjusts and controls the vertical position of the lateral feed auger 15C with reference to the target value of the height position H3.

That is, the work control unit 36 has a function of controlling devices related to harvesting and threshing of crops in the field, such as the harvesting device 15 and the threshing device 13. In the case of manual steering, the work control unit 36 generates a control signal based on the operation by the rider to control the harvesting device 15 and the like. In the case of automatic steering, the work control unit 36 adjusts the height H1 of the harvesting device 15 above the ground and the height of the raking reel 15B based on the imaging data from the first imaging device 21A and the distance information from the ranging sensor 22. The height position H2, the front-rear position of the scraping reel 15B, the height position H3 of the cross-feeding auger 15C, etc. are controlled.
In addition, the harvesting control pattern also includes parameters regarding the operating speed of the harvesting device 15, and the work control unit 36 controls the speed change device (for example, static It is configured to be able to control the speed change of the hydraulic continuously variable transmission (hydraulic continuously variable transmission).

The control unit 30 of this embodiment is configured to be connectable to a communication network. The control unit 30 is equipped with a communication section 37, and the communication section 37 can communicate with the management computer 2 via a wired or wireless communication network. For example, information on lodging of crops, information on weeds, etc. in a field is transmitted to the management computer 2 of the field via a wireless communication network, along with position information measured by the satellite positioning module 80, and map information of the field is provided in the management computer 2. recorded in This allows field managers to utilize information on crop lodging, weeds, etc. in the field for next year's agricultural planning.

[About the working status of the harvesting device]
The harvest control pattern will be explained based on FIGS. 3, 5, and 6. The parameters of the harvesting control pattern include a target value for the height H1 of the harvesting header 15A above the ground, a target value for the height position H2 of the raking reel 15B, and a target value for the longitudinal position of the raking reel 15B. If the height H2 of the raking reel 15B is too high, it becomes difficult for the raking reel 15B to rak the crop. Moreover, if the height position H2 of the raking reel 15B is too low, crops will easily become entangled with the raking reel 15B. As shown in FIGS. 5 and 6, when crops in the field are harvested by the harvesting device 15, the rotational trajectory of the tines 15T is such that the tines 15T of the raking reel 15B scrape the ears from the upper front to the rear. It is desirable that the area overlaps with the crop tip area.

In each of the plurality of harvest control patterns, the height above the ground H1 and the height position H2 are set as different parameters for each harvest control pattern. An appropriate harvest control pattern is selected by the state determination unit 32 from among the plurality of harvest control patterns based on the type of crop, the height of the crop, the vertical height of the tip region of the crop, the surface area of the tip region, etc. be done. Then, the target values of the height above the ground H1 and the height position H2 are read out from the selected harvest control pattern, and control signals for adjusting the height above the ground H1 and the height position H2 are sent from the state determining section 32 to the work control section. Sent to 36. For example, if the type of crop is legumes, the height above the ground H1 is set to the lowest area. Further, if the type of crop is buckwheat or rapeseed, the height above the ground H1 is set lower than that of rice and higher than that of beans.

In this way, the state determining unit 32 is configured to be able to change the working state of the harvesting device 15 by operating the header actuator 15H according to the height of the planted crop.
At this time, the working state of the harvesting device 15 includes the height H1 of the harvesting device 15 above the ground, the height position H2 of the raking reel 15B, the longitudinal position of the raking reel 15B, and the rotational speed of the raking reel 15B. The rotation locus of the tine 15T is included. Further, the state determining unit 32 is configured to be able to change the vehicle speed of the traveling device 11 in addition to the working state of the harvesting device 15. The height H1 of the harvesting device 15 above the ground is the "harvesting height" and is also the "working height" of the harvesting header 15A. In other words, the state determining unit 32 is configured to be able to change the harvesting height of the harvesting device 15 according to at least one of the type of crop and the crop height by operating the header actuator 15H. Further, the state determining unit 32 is configured to be able to change the height position H2 of the raking reel 15B according to at least one of the type of crop and the height of the crop by operating the reel actuator 15J.

When crops in the field are harvested by the harvesting device 15, a harvest control pattern is selected by the state determining unit 32 so that the tines 15T of the raking reel 15B rak the ears from the upper front to the rear, and the height above the ground H1 and the height position H2 is adjusted. When the height above the ground H1 is adjusted, the lower end portion of the harvesting header 15A (the portion where the cutting blade is located) is located below the ear region of the crop. Moreover, when the height position H2 is adjusted, the front end position of the raking reel 15B is located above the tip of the crop. As a result, the raking reel 15B rakes the tip region of the crop backwards from top to bottom. That is, based on the crop height and crop type detected by the first crop detection unit 31A, only the crop tip region is efficiently harvested by the harvesting device 15, and the crop tip region is transported by the rear conveyance device 16. The grains are then threshed by a threshing device 13. Therefore, compared to a configuration in which crops are harvested by the harvesting device 15 up to the base area of the crops, the transport load of the transport device 16 and the threshing load of the threshing device 13 are reduced, and the harvesting efficiency of the harvesting device 15 is improved.

The horizontal feed auger 15C is configured to be able to change its position in the vertical direction depending on the type of crop. Although not shown in the drawings, the harvesting header 15A is equipped with an actuator that can raise and lower the cross-feeding auger 15C in the vertical direction. The actuator may be hydraulic or electric. A harvest control pattern having an appropriate target value of the height position H3 according to the type of crop is selected by the state determining unit 32. Then, based on the selected harvest control pattern, the target value of the height position H3 is sent from the state determining section 32 to the work control section 36, and the horizontal feed auger 15C is controlled to rise and fall.

The harvested crop whose stock has been cut by the cutting blade 15D is laterally fed to the side where the conveying device 16 is located by the lateral feed auger 15C on the bottom plate 15u of the harvest header 15A. At this time, when the height position H3 of the cross-feeding auger 15C is changed along the vertical direction, the vertical gap between the lower end of the cross-feeding auger 15C and the bottom plate 15u of the harvesting header 15A changes.

When the type of crop is rice or wheat, the shape of the crop is vertically elongated and the grains are small granules. Therefore, in the harvest control pattern when the type of crop is rice or wheat, the target value of the height position H3 is set to a lower height position H31. Therefore, when harvesting rice or wheat, the cross-feeding auger 15C is located low relative to the harvesting header 15A, and the lower end of the cross-feeding auger 15C and the bottom plate 15u of the harvesting header 15A are connected in the vertical direction. The gap becomes narrower.
As a result, the tip portion of rice or wheat is efficiently transversely fed by the transversely feeding auger 15C.

When the type of crop is beans, the tips of the beans have larger grains than the tips of rice or wheat. Therefore, when the tips of beans are fed horizontally by the horizontal feeding auger 15C, if the vertical gap between the lower end of the horizontal feeding auger 15C and the bottom plate 15u of the harvesting header 15A is too narrow, beans, etc. There is a risk of crushing or damage. Therefore, in the harvest control pattern when the type of crop is legumes, the target value of the height position H3 is set to a higher height position H32. Therefore, when harvesting beans, the cross-feeding auger 15C is positioned higher than when harvesting rice or wheat. For this reason, the vertical gap between the lower end of the cross-feeding auger 15C and the bottom plate 15u of the harvesting header 15A is wider than when the type of crop is rice or wheat. This makes it difficult for the beans and the like to be damaged when the tips of the beans are fed laterally by the cross-feeding auger 15C.

In this way, the state determining unit 32 changes the vertical width of the conveyance path in the harvesting device 15 by changing the height position H3 according to the type of crop. That is, the state determining unit 32 operates an actuator that can move the cross-feeding auger 15C up and down in the vertical direction, thereby determining the vertical width of the conveyance path between the lower end of the cross-feeding auger 15C and the bottom plate 15u of the harvesting header 15A. , change the vertical width of the gap.

[Status change processing of the status determination unit]
The processing of the state determination unit 32 is performed based on the flowchart shown in FIG. 7, and the processing from the start to the end in the flowchart of FIG. 7 is periodically executed. As described above, the first crop detection unit 31A is configured to be able to detect not only the type of crops to be harvested, but also weeds and lodging crops. Therefore, the state determining unit 32 performs different processing depending on whether a crop to be harvested is detected, a lodging crop is detected, or a weed is detected.

First, the state determination unit 32 determines the detection result of the second crop detection unit 31B (step #01). The second crop detection unit 31B detects harvest marks after the harvesting operation by the harvesting device 15. As shown in FIG. 8, the second imaging device 21B images a harvest trace area S which is a region behind the harvesting device 15 and in front of the traveling device 11, that is, an area between the harvesting device 15 and the traveling device 11. do. In addition, in FIG. 8, in order to simply show how the second imaging device 21B images the harvest trace area S, the residual culm processing unit 19 is omitted. When the second crop detection section 31B detects a leftover crop in the harvest trace area S based on the image data captured by the second image pickup device 21B, "detection of uncut crop" is determined in step #01. That is, the rear of the harvesting device 15 is imaged by the second imaging device 21B, and the second crop detection unit 31B determines whether the imaged data of the second imaging device 21B includes a crop (for example, a lodging crop).

When there is no detection result by the second crop detection section 31B (step #01: no detection result), the state determining section 32 determines the detection result of the first crop detection section 31A (step #03). When a crop to be harvested is detected by the first crop detection unit 31A (step #03: crop to be harvested), the state determination unit 32 performs the following steps so that the harvesting device 15 can efficiently harvest the tip region of the crop. A harvest control pattern is selected depending on at least one of the type of crop and the height of the crop (step #04). Then, the state determining section 32 outputs a control signal to the travel control section 35 and the work control section 36 based on the selected harvest control pattern. That is, the ground height H1 of the harvesting header 15A, the height position H2 of the raking reel 15B, and the cross-feeding auger 15C are adjusted so that the tines 15T of the raking reel 15B are in a state where the ears are raked from the upper front to the rear. The height position H3 of is adjusted.

When the second crop detection unit 31B detects uncut areas (step #01: detection of uncut areas), the state determining unit 32 selects a harvest control pattern for when uncut areas are detected, and selects this harvest control pattern. A control signal based on this is output to the travel control section 35 and the work control section 36 (step #02). In step #02, a retry process for harvesting in the uncut area is performed.

The second imaging device 21B is configured to be able to detect residual crops that remain unharvested after the harvesting operation by the harvesting device 15. As shown in FIG. 9, when the lodging crop is not harvested by the harvesting device 15 and the harvesting device 15 passes above the lodging crop, the lodging crop is is imaged, and the presence of a lodging crop is determined by the second crop detection unit 31B (step #01: detection of uncut crops). Then, based on the process in step #02, the traveling device 11 performs a reverse rotation operation, and the aircraft body 1 moves backward by a preset distance. That is, when the leftover crops are detected by the second imaging device 21B, the state determining unit 32 causes the traveling device 11 to move backward by a preset distance. Since the process of the flowchart shown in FIG. 7 is performed periodically, in a state where the harvesting device 15 has moved away from above the lodging crop and the detected lodging crop is located in front of the harvesting device 15, in step #01, "Detection" is performed. The judgment changes to "No results." In this way, the state determining unit 32 is configured to be able to change the respective working states of the traveling device 11 and the harvesting device 15 depending on the field state after the work. Then, a lodging crop is detected by the first crop detection unit 31A (step #03: lodging crop), and the process of step #05, which will be described later, is performed. In other words, if the state determining unit 32 determines that the height H1 of the harvesting device 15 above the ground is too high based on the harvest marks, it is configured to lower the height H1 of the harvesting device 15 above the ground.

If a lodging crop is detected by the first crop detection unit 31A (step #03: lodging crop), the state determining unit 32 selects a harvest control pattern for harvesting the lodging crop, and based on this harvest control pattern, A control signal is output to the travel control section 35 and the work control section 36 (step #05). As shown in FIG. 10, by the process of step #05, the height H1 of the harvesting header 15A above the ground is adjusted to the lowest area, and the height position H2 of the raking reel 15B is adjusted to the lowest area. Then, the position of the scraping reel 15B in the front-rear direction is adjusted to the frontmost region. Further, by the process of step #05, the transmission for the harvesting device 15 (for example, a hydrostatic continuously variable transmission) is controlled to a high speed side, and the rotational speed of the raking reel 15B is increased. In addition, the vehicle speed of the traveling device 11 is reduced by the process of step #05.

That is, when the first crop detection unit 31A detects a crop in a lodging state, the state determining unit 32 switches to a harvest control pattern for harvesting the lodging crop, and the height H1 of the harvest header 15A from the ground and the raking reel 15B are changed. The height position H2 becomes lower. In the lodging area of crops in the field, the harvester moves forward at a low speed while the raking reel 15B rotates at a higher speed than in normal harvesting work, and the raking reel 15B rakes the crops in the lodging state into the harvesting header 15A. .
In other words, when a lodging crop is detected, the state determining unit 32 positions the raking reel 15B in the lowermost region and the most front region, increases the rotational speed of the raking reel 15B, and The vehicle speed of the traveling device 11 is reduced. As a result, the combine harvester gradually moves forward and reaps the remaining lodging crops.

Since the process of the flowchart shown in FIG. 7 is performed periodically, when the first crop detection unit 31A stops detecting a lodging crop (step #03: ≠ lodging crop), step #04 or step # described below 06 processing is performed. If the determination in step #03 is that the crop is to be harvested, the process in step #04 is performed again, and at this time the vehicle speed of the traveling device 11 is increased compared to when harvesting a crop in a lying state.

A case where a weed is detected by the first crop detection unit 31A (step #03: weed) will be described. Crops are planted in the field, but there are cases where weeds are mixed in with the crops. In this case, when the planted crops are harvested by the harvesting device 15, the weeds are also removed by the raking reel 15B. The grains are scraped together and sent to the rear threshing device 13 by the conveying device 16. Therefore, the state determining unit 32 classifies the degree of influence of weeds on the harvesting work into three levels: "small," "medium," and "large," based on the type of crop to be harvested and the type of weed. Determine (step #06).

In cases where there are few weeds, cases where weeds are small, cases where even if weeds enter the threshing device 13, it does not affect the threshing load or sorting accuracy, the state determining unit 32 selects “small” in step #06. select. In this case, similarly to step #04, the state determining unit 32 selects a harvest control pattern according to at least one of the type of crop and the height of the crop so that the harvesting device 15 can efficiently harvest the ear region of the crop. (Step #07). Then, the state determining section 32 outputs a control signal to the travel control section 35 and the work control section 36 based on the selected harvest control pattern.

If weeds enter the threshing device 13, it will affect the threshing load and sorting accuracy, but if the vehicle speed decreases, the degree of influence on the threshing load and sorting accuracy will be reduced, the state determining unit 32 determines in step #06. Select "Medium". In this case, it is determined whether the type of crop to be harvested is legumes (step #08).

If the type of crop to be harvested is other than legumes (step #08: other than legumes), the state determining unit 32 reduces the vehicle speed and so that the harvesting device 15 can efficiently harvest the ear region of the crop. A harvest control pattern for executing the harvesting operation by the harvesting device 15 is selected according to at least one of the type of crop and the height of the crop (step #09). Then, the state determining section 32 outputs a control signal to the travel control section 35 and the work control section 36 based on the selected harvest control pattern. That is, the state determining unit 32 changes the vehicle speed of the traveling device 11 in the weed area to a lower speed than the vehicle speed when traveling outside the weed area.

In step #09, if a weed area is detected in front of the harvesting device 15 and the type of crop is other than legumes, the state determining unit 32 determines the degree of change in the vehicle speed of the traveling device 11 according to the type of weed. do. Specifically, the state determining unit 32 determines the degree of change in the vehicle speed of the traveling device 11 according to the weed rate, which is the amount of weeds per unit area in the weed area. As the weed rate increases, the state determining unit 32 changes the vehicle speed of the traveling device 11 to a lower speed side. Further, the state determination unit 32 may be configured to prioritize the determination factors according to the type of crops, the type of weeds, the weed rate, etc., and gradually change the vehicle speed to the lower speed side.

Further, in step #09, the state determining section 32 reduces the leakage opening degree of the chaff sieve provided in the sorting processing section 13B. The chaff sheave is provided with a plurality of chaflips, and by changing the inclination posture (inclination angle) of the chaflips, the gap between the plurality of chaflips is narrowed. Weeds, etc. are often larger than grains, and by narrowing the leakage opening of the chaff sieve, it becomes difficult for weeds, etc. to leak through the gaps between the chaff sieves, reducing the impact on sorting accuracy. Ru. That is, the state determination unit 32 is configured to reduce the leakage opening degree of the chaff sieve depending on at least one of the type of crop and the type of weed when selecting crops harvested in a weed area. .

In this embodiment, if a weed area is detected in front of the harvesting device 15 and the type of crop is legumes (step #08: legumes), the state determining unit 32 stops the traveling device 11 (step #10). ). Some beans have high commercial value, so if the beans are threshed together with weeds, there is a risk that the beans will get dirty and their commercial value will drop due to factors such as weeds adhering to the beans. When the type of crop is legumes, such inconvenience can be avoided by stopping the traveling device 11.

For example, if the stems of weeds are thick, there is a risk that the cross-feeding auger 15C, the conveying device 16, and the threshing device 13 may become clogged. Further, if weeds with thick stems enter the threshing device 13, there is a possibility that the sorting accuracy in the threshing device 13 will be reduced. If there is a high possibility that these inconveniences will occur, the state determining unit 32 determines "large" in step #06, selects a harvest control pattern that stops the traveling device 11, and the aircraft 1 stops (step #10). . Then, after the operator manually removes the weeds, the harvesting operation by the harvesting device 15 is restarted. Further, the state determination unit 32 may be configured to prioritize the determination factors according to the type of weeds, the weed rate, etc., and gradually reduce the vehicle speed to stop the traveling device 11.

In this way, the state determining unit 32 is configured to be able to determine the degree of change in the vehicle speed of the traveling device 11 depending on the type of weed.

[Another embodiment]
The present invention is not limited to the configurations illustrated in the above-described embodiments, and other representative embodiments of the present invention will be illustrated below.

(1) In the above embodiment, the residual culm processing section 19 is provided at the rear of the harvesting device 15, but the harvesting machine may not be provided with the residual culm processing section 19.

(2) In the above embodiment, a neural network that can learn using deep learning is constructed in the second crop detection section 31B, but it is not necessary to construct a neural network in the second crop detection section 31B. . In this case, the neural network is constructed in the management computer 2 or other terminals, and input/output in the neural network is performed by communication between the second crop detection section 31B and the management computer 2 or other terminals. It's okay to have one. That is, the second crop detection unit 31B may be configured to detect the state of the field after work while traveling during work.

(3) In the above embodiment, the traveling device 11 is configured as a crawler type, but the traveling device 11 may be configured as a wheel type.

(4) In the above-described embodiment, the state determining unit 32 causes the traveling device 11 to retreat when the second crop detecting unit 31B detects a lodging crop. Further, when the first crop detection unit 31A detects a lodging crop after the traveling device 11 has completed retreating, the state determination unit 32 positions the harvest header 15A in the lowermost region and Although the reel 15B is located in the lowermost region and the most front region, the present invention is not limited to this embodiment. When a lodging crop is detected by the second crop detection unit 31B alone, the state determination unit 32 moves the traveling device 11 backward, and then moves the harvesting header 15A to the lower region and moves the raking reel 15B. may be located in the lower region and the front region. In this case, the configuration may be such that the first crop detection section 31A is not provided. Further, when a lodging crop is detected and the retreat of the traveling device 11 is completed, the state determining unit 32 controls the vertical position of the harvesting header 15A to be located in the lower region, and the position of the raking reel 15B to the lower region. The configuration may be such that at least one of the control to move the reel 15B to the front area and the control to position the scraping reel 15B to the front area can be performed.

(5) In the above-described embodiment, the second imaging device 21B is provided at the rear lower part of the harvesting device 15, but the second imaging device 21B is not limited to this embodiment. For example, the second imaging device 21B may be provided at at least one of the rear end of the threshing device 13 and the rear end of the grain tank 14. In this case, the second crop detection section 31B may be configured to be able to detect the harvest discharged from at least one of the threshing section 13A and the sorting section 13B. Then, based on the amount or proportion of crop loss contained in the discharged harvest, the state determining unit 32 controls at least one of the threshing unit 13A, the sorting unit 13B, and the winnowing machine 13C, and further controls the The configuration may be such that the device 11 controls the vehicle speed. That is, when the harvested product is detected by the second crop detection section 31B, the state determination section 32 controls at least one of the threshing section 13A, the sorting processing section 13B, and the winnowing machine 13C, and also controls the vehicle speed of the traveling device 11. It may be configured to control. When the state determining section 32 controls the threshing section 13A, the rotational speed of the handling drum may be controlled, or the angle of the dust feeding valve may be adjusted.

(6) In the above-described embodiment, the second crop detection unit 31B detects the harvest marks after the harvesting operation by the harvesting device 15 based on the imaging data acquired by the second imaging device 21B, but in this embodiment but not limited to. For example, the configuration may be such that the second imaging device 21B is not provided. In this case, the second crop detection unit 31B may be configured to detect harvest marks after harvesting work based on distance data acquired by a sensor such as the distance measurement sensor 22, for example. As the internal processing of the second crop detection unit 31B, for example, Fourier transform processing is performed on the distance data, and lodging crops etc. are determined from the harvest marks based on the distribution of frequency components obtained by the Fourier transform processing. It's okay.

(7) In FIGS. 8 to 10, the lodging crop is lying down with the tip of the lodging crop located on the side where the harvesting device 15 is located, but the tip of the lodging crop is located on the side where the harvesting device 15 is located. A lodging crop may be lodged while being located on the opposite side.

Note that the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as no contradiction occurs.
Further, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the purpose of the present invention.

The present invention is applicable not only to ordinary combine harvesters but also to all harvesting machines for harvesting crops (for example, corn harvesters and carrot harvesters), such as self-retracting combine harvesters.

11: Traveling device 13: Threshing device 13A: Threshing section 13B: Sorting processing section 13C: Winnower 15: Harvesting device 15A: Harvesting header 15B: Raking reel 21B: Second imaging device (imaging device)
31B: Second crop detection section (field condition detection section)
32: Status determining unit (status changing unit)
H1: Height above ground

Claims (6)

A traveling device that can travel in the field,
a harvesting device that has a cutting blade that cuts the base of the planted crop in front and harvests the crop in the field;
a field state detection unit that detects the field state after work while traveling;
a state changing unit capable of changing the working state of at least one of the traveling device and the harvesting device according to the field state after the work ,
The field state detection section is a harvester located between a cutting blade and the traveling device . A traveling device that can travel in the field,
A harvesting device for harvesting crops in a field, the harvesting device having a harvesting header for receiving the planted crops in front, and a raking reel for raking the planted crops;
a field state detection unit that detects the field state after work while traveling;
a state changing unit capable of changing the working state of at least one of the traveling device and the harvesting device according to the field state after the work,
The field state detection unit is configured to be able to detect residual crops left unharvested after the harvesting operation by the harvesting device,
When the leftover crop is detected by the field state detection unit, the state changing unit moves the traveling device backward by a preset distance, and positions the harvest header in the lowermost area. The raking reel is located in the lowest area and the most front area, and after the backward movement is completed, the vehicle speed of the traveling device is reduced from the vehicle speed before the residual crops are detected. A harvester that moves the traveling device forward. A traveling device that can travel in the field,
A harvesting device for harvesting crops in the field;
a threshing unit that has a dust sending valve that guides the treated crop harvested by the harvesting device rearward, and threshes the treated crop;
a sorting processing section that is provided below the threshing section and that receives the threshed processed crops and sorts the processed crops into harvested items and non-harvested items while swinging and conveying the processed crops to the rear;
a winnow that supplies sorting air to the sorting processing section for sorting the treated crops into the harvested crops and the non-harvested crops;
a field state detection unit that detects the field state after work while traveling;
a state changing unit capable of changing the working state of at least one of the traveling device and the harvesting device according to the field state after the work,
The field state detection unit is configured to be able to detect the harvest discharged from at least one of the threshing unit and the sorting unit,
When the harvest is detected by the field state detection unit, the state change unit controls at least one of the threshing unit, the sorting unit, and the winnowing unit, and controls the vehicle speed of the traveling device. Harvesting machine. The field state detection unit detects harvest marks after harvesting work by the harvesting device,
4. The state changing unit changes the height of the harvesting device from the ground to be lower when determining that the height of the harvesting device from the ground is too high based on the harvest marks. harvesting machine. The harvesting machine according to any one of claims 1 to 4 , wherein the field state detection unit detects a field state immediately after the harvesting device has worked, as the field state after the work. The harvester according to any one of claims 1 to 5, wherein the field state detection section is an imaging device that images the field state after the work.

Images