JP7489836B2 - Harvesting Machine - Google Patents

Description

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

For example, the harvester disclosed in Patent Document 1 is equipped with a height detection unit (referred to in the document as a "cutting height sensor") that detects the unevenness of the field immediately after harvesting. The height of the harvesting unit (referred to in the document as a "cutting and conveying unit") above the ground is changed according to the unevenness of the field detected by the height detection unit.

JP 2019-180320 A

However, in the harvester disclosed in Patent Document 1, the height detection unit is installed directly below the harvesting unit, so the lifting and lowering control of the harvesting unit is performed based on the unevenness of the field after harvest. For this reason, the timing of the lifting and lowering control of the harvesting unit is delayed compared to a configuration that detects the unevenness of the field before harvest. Because of this, in places where the field is very uneven, the lifting and lowering control of the harvesting unit is delayed, and the tip of the harvesting unit may come into contact with the ground of the field, causing the harvesting unit to pick up soil from the ground along with the crops.

The objective of the present invention is to provide a harvester that can perform harvesting operations optimally depending on the field conditions after the operation.

The harvester according to the present invention is characterized in that it comprises a traveling device capable of traveling in a field, a harvesting unit supported on the body so as to be able to rise and fall and harvest crops in the field, an actuator for raising and lowering the harvesting unit, a non-contact height detection unit for detecting the ridge height, which is the height of the top surface of the ridge relative to the ground surface of the field in front of the harvesting unit, as the height of the unevenness in the field, and a harvest height control unit for determining the height of the harvesting unit above the ground based on the height of the unevenness and controlling the drive of the actuator to automatically change the height of the harvesting unit above the ground.

According to this configuration, the non-contact height detection unit detects the height of the unevenness of the field in front of the harvesting unit. Therefore, the timing of the lifting and lowering control of the harvesting unit can be made faster than in a configuration in which the height detection unit is provided directly below the harvesting unit to detect the unevenness of the field after harvesting. Therefore, even in a place where the unevenness of the field is severe, the lifting and lowering control of the harvesting unit is not delayed and the height of the harvesting unit above the ground can be automatically changed. In addition, since the height detection unit is non-contact type, there is no wear due to contact compared to when the height detection unit is contact type, and a long life is possible. In addition, when ridges are formed in the field, there is a risk that the tip of the harvesting unit will come into contact with the upper surface of the ridge, and the harvesting unit will pick up the soil of the ridge along with the crop. With this configuration, the harvest height control unit can automatically change the height of the harvesting unit above the ground so that the harvesting unit does not come into contact with the upper surface of the ridge. This improves the efficiency of harvesting work in a field where ridges are formed. This realizes a harvester that can perform suitable harvesting work according to the field condition after work.

In the present invention, it is preferable that the height detection unit detects the height of the unevenness based on an image captured by an imaging device.

With this configuration, a non-contact height detection unit can be realized that can detect the height of unevenness in a farm field by analyzing captured images.

In the present invention, it is preferable that the height detection unit detects the height of the unevenness based on distance information from an optical distance measuring device.

With this configuration, a non-contact height detection unit can be realized that can detect the height of unevenness in a farm field by analyzing distance information.

In the present invention, it is preferable that the harvesting section is provided with a harvesting header that receives the planted crop in front and a cutting blade that is supported by the harvesting header and cuts the planted crop, and that the height detection section detects the height of the unevenness in front of the cutting blade. Also, in the present invention, it is preferable that a divider is provided at the end position in the harvest width direction of the tip of the harvesting header, and that the height detection section detects the height of the unevenness in front of the divider.

This configuration makes it easy to realize a non-contact height detection unit that detects the height of unevenness in the field in front of the harvesting unit.

In the present invention, it is preferable that a plurality of the unevennesses are arranged in parallel across the working width of the harvesting section, the height detection unit is configured to be able to detect the height of the plurality of unevennesses, and the harvest height control unit determines the height of the harvesting section above the ground based on the highest unevenness among the plurality of unevennesses.

When multiple unevennesses are arranged in parallel across the working width of the harvesting unit, there is a high possibility that the harvesting unit will come into contact with one of the multiple unevennesses. Even if the harvesting unit comes into contact with only one unevenness, if the harvesting unit comes into contact with the unevenness of the field, there is a risk that the harvesting unit will pick up soil from the field along with the crop. With this configuration, the harvest height control unit can automatically change the height of the harvesting unit above the ground so that the harvesting unit does not come into contact with any of the multiple unevennesses. This improves the efficiency of harvesting work in the field.

In the present invention, a harvesting inclination change mechanism is provided that can change the left and right inclination of the harvesting unit by rolling the harvesting unit, and the harvest height control unit is preferably configured to cause the harvesting inclination change mechanism to change the left and right inclination of the harvesting unit so that the height of the part of the harvesting unit on the left or right side is higher than the height of the part of the harvesting unit on the other left or right side when the height of the unevenness of one of the multiple unevennesses on the left or right side is higher within the harvest width range of the harvesting unit.

When the heights of the multiple unevennesses vary within the harvesting width of the harvesting section, it is possible that the optimal harvest height for the planted crops may differ for each of the multiple unevennesses. In particular, when harvesting crops from the base of the plant, it is desirable for the distance between the bottom end of the harvesting section and each of the multiple unevennesses to be as short as possible. With this configuration, the left and right inclination of the harvesting section is changed by the harvesting inclination change mechanism according to the height of the unevenness, making it easy to adjust the distance between each of the multiple unevennesses and the bottom end of the harvesting section.

In the present invention, a harvesting tilt change mechanism is provided that can change the left and right tilt of the harvesting unit by rolling the harvesting unit, and the harvest height control unit preferably causes the harvesting tilt change mechanism to change the left and right tilt of the harvesting unit so that the harvesting unit is in a horizontal position.

This configuration keeps the harvesting section horizontal, so the position of the harvesting section is stable, for example in a field with a lot of bumps.

The harvester according to the present invention includes a traveling device capable of traveling in a field, a harvesting section supported on a machine body so as to be movable up and down and which harvests crops in the field, an actuator for raising and lowering the harvesting section, a non-contact height detection section for detecting the height of unevenness in the field in front of the harvesting section, a harvest height control section for determining the height of the harvesting section above the ground based on the height of the unevenness and for controlling the drive of the actuator to automatically change the height of the harvesting section above the ground, a positioning unit for outputting positioning data indicating the position of the machine body, and a memory section for storing the height of the unevenness in association with the positioning data, The detection unit is configured to detect a first height, which is the height of the unevenness in an unharvested area adjacent to the left and right outside the harvesting width of the harvesting unit when the traveling device travels in one direction, the memory unit stores the first height in association with the positioning data, and the harvest height control unit determines the height of the harvesting unit above the ground based on a second height, which is the height of the unevenness detected by the height detection unit when the traveling device travels in the direction opposite to the one direction with the unharvested area located within the harvesting width range , and the first height stored in the memory unit.

When the height detection unit detects the height of unevenness in the field in front of the harvesting unit, a blind spot area exists in the field that is hidden behind the crop when viewed from the front of the harvesting unit, and the height detection unit cannot detect the height of the unevenness in the blind spot area. For this reason, there is a risk that the harvest height control unit cannot suitably change the height of the harvesting unit above the ground. According to this configuration, before the harvester travels in one direction through an unharvested area where the blind spot area exists, the harvester travels in the opposite direction to the one direction through an area adjacent to the unharvested area. At this time, the height detection unit detects the height of the unevenness in the unharvested area from the opposite direction, and the detected height of the unevenness is stored as the first height, so that the height of the unevenness in the blind spot area is acquired as the first height. This allows the height detection unit to detect the height of the unevenness in the blind spot area, and the harvest height control unit can suitably change the height of the harvesting unit above the ground.

FIG. 2 is an overall side view of the harvester. FIG. 2 is a plan view of the main parts showing the state in which the harvesting device harvests crops. FIG. 2 is a front view showing a state in which the harvesting device is harvesting crops. FIG. 2 is a functional block diagram showing a control system of the harvester. FIG. 1 is a plan view showing a blind spot when measuring the height of unevenness in a farm field. FIG. 11 is a plan view showing a state in which the height of unevenness in an unharvested field is measured. FIG. 11 is a plan view showing a state in which the height of unevenness in an unharvested field is measured. FIG. 2 is a front view showing a state in which the harvesting device is harvesting crops. FIG. 2 is a front view showing a state in which the harvesting device is harvesting crops.

An embodiment of a combine harvester as an example of a harvester according to the present invention is described below with reference to the drawings. In this embodiment, the front-rear direction of the machine body 1 is defined along the machine body travel direction in the working state. The direction indicated by the symbol (F) in Figs. 1 and 2 is the front side of the machine body, and the direction indicated by the symbol (B) in Figs. 1 and 2 is the rear side of the machine body. The direction indicated by the symbol (U) in Figs. 1 and 3 is the upper side of the machine body, and the direction indicated by the symbol (D) in Figs. 1 and 3 is the lower side of the machine body. The direction indicated by the symbol (L) in Figs. 2 and 3 is the left side of the machine body, and the direction indicated by the symbol (R) in Figs. 2 and 3 is the right side of the machine body. When defining the left-right direction of the machine body 1, the left and right are defined as viewed in the machine body travel direction.

[Basic configuration of the harvester]
As shown in Figures 1 to 3, beans such as soybeans are planted in a field as crops, and a standard combine harvester, which is one type of harvester, harvests the beans. This standard combine harvester is equipped with a machine body 1, a pair of left and right crawler-type running devices 11, a riding section 12, a threshing device 13, a grain tank 14, a harvesting device 15 (the "harvesting section" of the present invention), a transport device 16, and a grain discharge device 18.

The traveling device 11 is provided at the bottom of the combine. The traveling device 11 has a pair of left and right crawler traveling mechanisms, and the combine can travel in a field using the traveling device 11. In addition, a lifting device is provided for each of the left and right crawler traveling mechanisms. The lifting device is commonly known as a "Monroe" and is configured to be able to change the height position of the machine body 1 relative to each of the left and right crawler traveling mechanisms. Therefore, the lifting device is configured to be able to change the height position of the machine body 1 relative to each of the left and right crawler traveling mechanisms. In other words, the lifting device of each of the left and right crawler traveling mechanisms is driven to lift and lower separately, causing the machine body 1 to roll (see Figure 9).

The riding section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11, and are configured as the upper part of the machine body 1. At least one of the rider of the combine and an observer who monitors the operation of the combine can ride on the riding section 12. Usually, the rider and observer are the same person. If the rider and observer are different people, the observer may monitor the operation of the combine from outside the combine. A drive 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 combine is capable of traveling on the traveling device 11 while harvesting crops in the field with the harvesting device 15. The transport device 16 is provided adjacent to and behind the harvesting device 15. The harvesting device 15 and the transport device 16 are supported on the front part of the machine body 1 so that they can be raised and lowered. The harvesting device 15 and the transport device 16 are raised and lowered (swinged) together by a header actuator 15H that can be extended and retracted. The header actuator 15H is the "actuator" of this invention.

As shown in Figures 1 to 3, multiple ridges R are formed in a field, and the upper surface of the ridges R is higher than the ground surface of the field by a ridge height H. The multiple ridges R are arranged in parallel in one direction, and beans are planted on the upper surface of each ridge R. The normal combine harvester harvests the beans with a harvesting device 15 while traveling along the longitudinal direction (extension direction) of the ridges R. The height of the harvesting device 15 above the ground is adjusted so that the cutting blade 15D cuts the base of the beans when the lower end of the harvesting device 15, i.e., the bottom surface of the harvesting header 15A, is positioned above the upper surface of the ridges R.

The height of the upper surface of the ridges R is not constant at ridge height H, but is uneven on the upper surface of the ridges R. In FIG. 1, this unevenness is shown as a vertical difference ΔH. For this reason, the height of the harvesting device 15 above the ground is adjusted according to the vertical difference ΔH. The adjustment of the height of the harvesting device 15 above the ground according to the vertical difference ΔH may be, for example, over a range of 10 centimeters or more, or may be a fine adjustment in the range of 2 to 3 centimeters.

The harvesting device 15 is equipped with a harvesting header 15A, a raking reel 15B, a lateral feed auger 15C, and a clipper-like cutting blade 15D. Dividers are provided at both ends (end positions) of the tip of the harvesting header 15A in the harvest width direction. The harvesting header 15A divides the planted crop in front into harvest targets and non-harvested targets using the dividers at both left and right ends, and receives the planted crop in front. The raking reel 15B is located above the harvesting header 15A. When harvesting the planted crop from the field, the raking reel 15B raks in the tip of the planted crop toward the rear. The cutting blade 15D is supported by the harvesting header 15A and cuts the base side portion of the planted crop raked in rearward by the raking reel 15B. The lateral feed auger 15C rotates on a lateral axis of the machine body, feeding the harvested crops cut by the cutting blades 15D laterally to the middle in the left-right direction, gathering them together, and sending them out toward the conveying device 16 at the rear.

The crops harvested by the harvesting device 15 are transported by the transport device 16 to the threshing device 13, where they are threshed. The grains obtained as the harvested product by the threshing process are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary. The grain discharge device 18 is configured to be able to swing around the vertical axis at the rear of the machine body. That is, the grain discharge device 18 is configured to be switchable between a discharge state in which the free end of the grain discharge device 18 extends outward from the machine body 1 to the side and allows the crops to be discharged, and a storage state in which the free end of the grain discharge device 18 is located within the width of the machine body 1.

In the harvester of this embodiment, optical distance measuring devices 21A, 21B are provided at the right front end and the left front end of the harvesting device 15, respectively, and the distance between the machine body 1 and an object in front (the ground of the field, crops, etc.) can be measured by the optical distance measuring devices 21A, 21B. In this embodiment, the optical distance measuring devices 21A, 21B are LIDAR (e.g., laser scanner or laser radar), and the LIDAR can scan three-dimensionally, up and down, in addition to forward and left and right. Therefore, the optical distance measuring devices 21A, 21B can have a wider measurement range than a type of LIDAR that scans two-dimensionally, and the distance can be measured with high accuracy.

A satellite positioning module 80 is provided on the ceiling of the riding section 12. The satellite positioning module 80 receives GNSS (Global Navigation Satellite System) signals (including GPS signals) from artificial satellites GS to obtain the vehicle's position. In order to complement the satellite navigation provided by the satellite positioning module 80, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic direction sensor is incorporated in the satellite positioning module 80. Of course, the inertial navigation unit may be located in a different location from the satellite positioning module 80 in the combine.

[Configuration of the control unit]
The control unit 30 shown in Fig. 4 is a core element of the control system of the combine harvester, and is shown as a collection of multiple ECUs. The control unit 30 is equipped with a ridge detection unit 31, a harvest height control unit 32, a memory unit 33, a travel control unit 35, and an operation control unit 36. The satellite positioning module 80 is the "positioning unit" of the present invention, and outputs positioning data indicating the position of the machine body 1. The positioning data output from the satellite positioning module 80, the distance data output from each of the optical distance measuring devices 21A, 21B, and the height position information output from the cutting height detection unit 23 are input to the control unit 30 through a wiring network.

During the work run, the optical distance measuring devices 21A and 21B measure the distance between the machine body 1 and an object in front of the machine body. The object in front of the machine body includes the shape of the crop and the shape of the field seen through the crop (the shape of the ridges R in Figures 1 to 3). In other words, the optical distance measuring devices 21A and 21B sequentially acquire distance data over time. Then, based on the distance data, the ridge detection unit 31 detects the shape of the field and the shape of the crop in front of the harvesting device 15 as specific object information. For example, the ridge detection unit 31 detects the shape of the ridges R and the ridge height H in the field by using a neural network that has been machine-learned (deep learning). The ridge detection unit 31 and the optical distance measuring devices 21A and 21B are the "height detection unit" of the present invention, and detect the ridge height H based on the distance information from the optical distance measuring devices 21A and 21B. The ridge detection unit 31 detects the ridge height H in front of the cutting blade 15D, and detects the ridge height H in front of the divider of the harvesting header 15A. The ridge height H is the "height of the unevenness" of the present invention. In other words, the height detection unit detects the ridge height H as the height of the unevenness.

The control unit 30 is provided with a memory unit 33, which is, for example, a semiconductor memory element such as an EEPROM. The shape of the ridge R and the ridge height H detected by the ridge detection unit 31 are stored over time in the memory unit 33 in association with the positioning data output from the satellite positioning module 80. In other words, the memory unit 33 is configured to be able to store the ridge height H in association with the positioning data. For this reason, the memory unit 33 stores the ridge height H for each positioning data.

The harvest height control unit 32 is configured to be able to read the ridge height H for each positioning data from the memory unit 33. The harvest height control unit 32 determines the target ground height of the harvesting device 15 based on the ridge height H of the ridge R acquired from the ridge detection unit 31 and the ridge height H at a predetermined position stored in the memory unit 33. The harvest height control unit 32 can also calculate the vertical difference ΔH of the ridge height H in a predetermined area based on the positioning data by reading multiple ridge heights H from the memory unit 33. For this reason, the harvest height control unit 32 adjusts the target ground height of the harvesting device 15 according to the vertical difference ΔH. The harvest height control unit 32 is also configured to be able to adjust the vehicle speed of the traveling device 11 and the height position of the vehicle body 1 relative to the traveling device 11 (the so-called "Monroe height") according to the ridge height H and the vertical difference ΔH.

The cutting height detection unit 23 is configured to detect the ground height of the harvesting device 15 by detecting the swing angle of the transport device 16 and the height position (Monroe height) of the machine body 1 relative to the traveling device 11. The ground height detected by the cutting height detection unit 23 is sent to the harvesting height control unit 32 as height data. The harvesting height control unit 32 outputs control signals to the traveling control unit 35 and the work control unit 36 based on the target ground height of the harvesting device 15 and the height data acquired from the cutting height detection unit 23.

The travel control unit 35 has engine control functions, steering control functions, vehicle speed control functions, vehicle height control functions, etc., and controls the travel device 11 with respect to steering, vehicle speed, and vehicle height (Monroe height). The travel control unit 35 has a vehicle speed control unit 35A and a vehicle height control unit 35B. Control signals related to vehicle speed and vehicle height are sent from the harvest height control unit 32 to the travel control unit 35. The vehicle speed control unit 35A controls the speed adjustment of the travel device 11 based on the control signal obtained from the harvest height control unit 32. The vehicle height control unit 35B controls the lifting mechanism of the travel device 11 based on the control signal obtained from the harvest height control unit 32.

The work control unit 36 controls the harvesting device 15, threshing device 13, and other devices related to harvesting and threshing crops in the field. The work control unit 36 has a header control unit 36A. The harvest height control unit 32 outputs a signal for controlling the lifting and lowering of the harvesting header 15A to the header control unit 36A based on the target ground height. The ground height of the harvesting device 15 is controlled by the header actuator 15H. In other words, the header control unit 36A drives and controls the header actuator 15H based on the lifting and lowering control signal acquired from the harvest height control unit 32. In this way, the harvest height control unit 32 determines the ground height of the harvesting device 15 based on the ridge height H, and automatically changes the ground height of the harvesting device 15 by controlling the drive of the header actuator 15H. In addition, for example, based on distance data measured by the optical distance measuring devices 21A and 21B, the work control unit 36 is configured to be able to control the front-rear and height positions of the raking reel 15B and the transmission for the harvesting device 15 (for example, a hydrostatic continuously variable transmission), etc.

The control unit 30 of this embodiment is configured to be connectable to a communications network. The control unit 30 is provided with a communications section 37, which is capable of communicating with the management computer 2 via a wired or wireless communications network. For example, information on the lodging of crops in the field and the unevenness of the ground of the field are transmitted to the management computer 2 of the field via a wireless communications network together with positioning data measured by the satellite positioning module 80, and are recorded in the map information of the field in the management computer 2. This allows the manager of the field to use the information on the lodging of crops in the field and the unevenness of the ground of the field in the agricultural planning for the next year.

[Regarding acquisition of ridge information]
The acquisition of ridge information will be described with reference to Figures 5 to 7. As described above, the optical distance measuring devices 21A and 21B are provided at the right front end and the left front end of the harvesting device 15, respectively, and the ridge detection unit 31 is configured to be able to detect ridge information of the field based on distance data from the optical distance measuring devices 21A and 21B. The distance data from the optical distance measuring devices 21A and 21B includes the distance between the optical distance measuring devices 21A and 21B and the ground of the field, and the distance between the optical distance measuring devices 21A and 21B and the crops in front. The ridge detection unit 31 extracts distance data indicating the distance between the optical distance measuring devices 21A and 21B and the ground of the field from the distance data, and detects unevenness of the ground. In Figures 5 to 7, multiple ridges R (unevenness) are arranged in parallel across the working width of the harvesting device 15, and the ridge detection unit 31 is configured to be able to detect the ridge height H of the multiple ridges R.

In FIG. 5, the area of the ground of the field that is located behind the crops in the field from the viewpoint of the optical distance measuring devices 21A and 21B is shown as a blind spot area DA1. The blind spot area DA1 is an area that is blocked by the crops in the field and cannot be measured when the optical distance measuring devices 21A and 21B measure the distance from the ground of the field. If the unevenness of the field in the blind spot area DA1 is not measured by the optical distance measuring devices 21A and 21B, the harvest height control unit 32 may not be able to accurately calculate the difference between the top and bottom ΔH, and may not be able to appropriately adjust the height of the harvesting device 15 above the ground. To avoid this inconvenience, in this embodiment, as shown in FIG. 6 and FIG. 7, the optical distance measuring devices 21A and 21B are configured to be able to measure distance data for the blind spot area DA1.

6 and 7 show working areas W1 and W2 that span the harvesting width of the harvesting device 15 and extend in the longitudinal direction of the ridges R. The harvester harvests beans in working areas W1 and W2 while traveling back and forth in the field. In this embodiment, traveling back and forth means that the harvester works along the longitudinal direction of the ridges R, moves to an adjacent unharvested ridge R on the left or right side by turning at the longitudinal end area of the ridges R, and harvests crops in the field while repeating the work travel again along the longitudinal direction of the unharvested ridges R. As shown in FIG. 6, the harvester harvests beans while traveling in the longitudinal direction of the ridges R through working area W1. Then, at the longitudinal end of the ridge R, the harvester turns in the opposite direction to the forward direction in the working area W1, and harvests the beans while traveling along the longitudinal direction of the ridge R in the working area W2 adjacent to the working area W1, as shown in FIG. 7.

While the harvester is harvesting beans in the working area W1, the optical distance measuring devices 21A, 21B acquire distance data ahead of the harvester 15, and the ridge detection unit 31 detects the shape of the ridges R and the ridge height H. At this time, the optical distance measuring devices 21A, 21B are configured to be able to acquire distance data laterally outboard of the machine body beyond the harvesting width of the harvester 15. As a result, the ridge detection unit 31 is configured to be able to detect the shape of the ridges R laterally outboard of the machine body beyond the harvesting width of the harvester 15.

In the example shown in FIG. 6, the working area W2 exists as an unharvested area to the left of the direction of travel of the harvester. Therefore, the optical distance measuring device 21A located on the left side of the machine body acquires distance data for the working area W2, and the ridge detection unit 31 detects the shape of the ridge R and the ridge height H of the working area W2. The ridge height H in the working area W2, which is the unharvested area, is referred to as the "first height". In other words, the ridge detection unit 31 is configured to detect the "first height", which is the ridge height H in the unharvested area adjacent to the left and right outer sides of the harvest width of the harvesting device 15, when the traveling device 11 travels in one direction. The ridge height H of the working area W2 measured during the work traveling in the working area W1 is associated with the positioning data measured by the satellite positioning module 80 and stored in the memory unit 33. In other words, the memory unit 33 stores the ridge height H as the "first height" in association with the positioning data. At this time, it is desirable that the positioning data stored in the memory unit 33 does not indicate the position of the satellite positioning module 80, but indicates the detected position of the ridges R in the work area W2. For this reason, the positioning data stored in the memory unit 33 may be data offset diagonally forward by a preset distance from the position of the satellite positioning module 80, i.e., data indicating the detected position of the ridges R in the work area W2.

In FIG. 6, the area of the ground in the work area W2 that is located behind the crops in the field from the viewpoint of the optical distance measuring device 21A is shown as blind area DA2. In other words, blind area DA2 is an area that cannot be detected by the optical distance measuring devices 21A and 21B while traveling to work in the work area W1.

As shown in FIG. 7, the harvester harvests beans in working area W2 while traveling in the opposite direction to the forward direction in working area W1. During this time, the optical distance measuring devices 21A, 21B acquire distance data ahead of the harvester 15, and the ridge detection unit 31 detects the shape of the ridge R and the ridge height H. At this time, the working area W2 is located within the harvesting width of the harvester 15, and the optical distance measuring devices 21A, 21B acquire distance data for the blind area DA2 reliably, and the ridge detection unit 31 detects the ridge height H in the blind area DA2 as the "second height."

5, the blind area DA1 is located behind the crops in the field from the viewpoint of the optical distance measuring devices 21A, 21B, and is an area where distance data cannot be measured by the optical distance measuring devices 21A, 21B during work travel in the work area W2. The ridge height H in this blind area DA1 has already been detected as the "first height" during work travel in the work area W1, and this first height is associated with the positioning data and stored in the memory unit 33. Of the ridge heights H (first heights) stored in the memory unit 33, the ridge height H (first height) of the area corresponding to the positioning data at the time of work travel in the work area W2 is read out by the harvest height control unit 32 as the ridge height H (first height) in the blind area DA1. In other words, the harvest height control unit 32 combines the ridge height H (second height) detected by the ridge detection unit 31 while working in the work area W2 and the ridge height H (first height) stored in the memory unit 33 while working in the work area W1.

The ridge height H of both blind areas DA1 and DA2 is detected, and the ridge height H in the working area W2 is detected without omission. This allows the harvest height control unit 32 to accurately calculate the difference between the top and bottom ΔH. Then, when the working area W2 as an unharvested area is located within the harvest width range of the harvesting device 15 and the traveling device 11 travels in the opposite direction to the above-mentioned one direction (the direction in which it advanced in the working area W1), the harvest height control unit 32 determines the ground height of the harvesting device 15 based on the second height, which is the ridge height H detected by the ridge detection unit 31, and the first height stored in the memory unit 33.

[Harvesting control when ridge heights are different]
As shown in FIG. 8, it is possible that within the range of the harvesting width of the harvesting device 15, each of the multiple ridges R has a different ridge height H. In the example shown in FIG. 8, there are three ridges R within the range of the harvesting width of the harvesting device 15, and the ridge height H of the ridge R1 on the left side of the machine body (right side of the paper) is higher by ΔH2 than the ridge height H of the ridge R3 on the right side of the machine body (left side of the paper). In addition, the ridge height H of the ridge R2 in the center of the left and right sides of the machine body (center of the paper) is higher by ΔH1 than the ridge height H of the ridge R3 on the right side of the machine body (left side of the paper). In this case, the harvest height control unit 32 determines the ground height of the harvesting device 15 based on the highest ridge R1 (unevenness) on the left side of the machine body (right side of the paper) among the multiple ridges R (unevenness). In other words, the height of the harvesting device 15 above the ground is adjusted so that the cutting blade 15D cuts the base of the beans when the lower end of the harvesting device 15, i.e., the bottom portion of the harvesting header 15A, is positioned above the upper portion of the ridge R1.

Because beans are planted on the upper surface of the ridges R, the field is uneven. When either the left or right crawler traveling mechanism of the traveling device 11 advances while crushing the ridges R, it is conceivable that the harvesting device 15 together with the machine body 1 will tilt to the left or right. For this reason, in order to keep the machine body 1 as horizontal as possible, the left and right lifting devices are configured to be independently driveable and controllable. For example, the tilt angle (pitch angle, roll angle, yaw angle) of the machine body 1 is detected by an inertial navigation unit (e.g., a gyro acceleration sensor or a magnetic orientation sensor) incorporated in the satellite positioning module 80. The harvest height control unit 32 may then be configured to control the horizontal position of the machine body 1 based on the tilt angle of the machine body 1.

In FIG. 8, the left (right side of the drawing) crawler traveling mechanism of the traveling device 11 climbs up on the ridge R1 and travels while crushing the ridge R1. For this reason, the harvest height control unit 32 outputs a control signal to the vehicle height control unit 35B of the traveling control unit 35 so that the set height of the lifting device of the left (right side of the drawing) crawler traveling mechanism that is crushing the ridge R1 is set lower than the set height of the lifting device of the right (left side of the drawing). In FIG. 8, the vehicle height (Monroe height) of the crawler traveling mechanism of the left (right side of the drawing) crawler traveling mechanism of the traveling device 11 is lower than the vehicle height (Monroe height) of the crawler traveling mechanism of the right (left side of the drawing) by a height difference ΔH3. In this case, the lifting devices of the left and right crawler traveling mechanisms of the traveling device 11 are the "harvest inclination change mechanism" of the present invention, and are configured to roll the harvesting device 15 to change the left and right inclination of the harvesting device 15. That is, the harvest height control unit 32 controls the lifting devices of the left and right crawler travel mechanisms to change the left and right inclination of the harvester 15 so that the harvester 15 is in a horizontal position. This keeps the harvester 15 horizontal without tilting.

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

(1) In the above-described embodiment, as shown in FIG. 8, the harvest height control unit 32 determines the height of the harvesting device 15 from the ground based on the highest ridge R (unevenness) among the multiple ridges R (unevenness), but is not limited to this embodiment. For example, the harvesting device 15 may be configured to roll as shown in FIG. 9. In FIG. 9, there are three ridges R within the harvest width range of the harvesting device 15, and the ridge height H of the ridge R1 on the left side of the machine body (right side of the paper) is higher by ΔH2 than the ridge height H of the ridge R3 on the right side of the machine body (left side of the paper). In addition, the ridge height H of the ridge R2 in the center of the left and right sides of the machine body (center of the paper) is higher by ΔH1 than the ridge height H of the ridge R3 on the right side of the machine body (left side of the paper). In this case, the harvest height control unit 32 calculates the angle at which the harvesting device 15 is rolled based on the difference in ridge height H between the ridges R1 and R3 and the distance between the ridges R1 and R3 in the lateral direction of the vehicle body. A control signal may be output to the vehicle height control unit 35B of the travel control unit 35 so that the ground height of one of the left and right sides of the harvesting device 15 is higher than the ground height of the other of the left and right sides. In FIG. 9, the harvesting device 15 is inclined, and the part of the harvesting device 15 located above the ridge R1 on the left side of the vehicle body (right side of the paper) is higher by ΔH2 than the part of the harvesting device 15 located above the ridge R3 on the right side of the vehicle body (left side of the paper). Also, the part of the harvesting device 15 located above the ridge R2 at the center of the vehicle body (center of the paper) is higher by ΔH1 than the part of the harvesting device 15 located above the ridge R3 on the right side of the vehicle body (left side of the paper). As a result, the cutting blade 15D cuts the base of the beans when the vertical distance between the lower end of the harvesting device 15, i.e., the bottom surface of the harvesting header 15A, and the upper surface of each of the ridges R1, R2, and R3 is equal. In this way, the harvest height control unit 32 may be configured to change the left and right inclination of the harvesting device 15 using the lifting devices of the left and right crawler traveling mechanisms.

(2) In the above-described embodiment, a neural network capable of learning using deep learning is constructed in the ridge detection unit 31, but a neural network does not have to be constructed in the ridge detection unit 31. In this case, the neural network may be constructed in another computer or terminal CT, and input and output in the neural network may be performed by communication between the ridge detection unit 31 and the other computer or terminal CT. In other words, the ridge detection unit 31 may be capable of detecting the height of unevenness in the field in front of the harvesting device 15.

(3) The height detection unit described above is the ridge detection unit 31 and the optical distance measuring devices 21A and 21B, but the height detection unit may be configured as an integrated unit of the optical distance measuring devices 21A and 21B and the ridge detection unit 31.

(4) The height detection unit does not necessarily have to be composed of optical distance measuring devices 21A, 21B (LIDAR). The height detection unit may be sonar or radar (millimeter waves). If the height detection unit is sonar, it is advantageous in terms of cost. If the height detection unit is a millimeter wave radar, it is possible to perform measurements that are less affected by weather, which is advantageous in terms of cost. If the millimeter wave radar is configured to be able to scan three-dimensionally, up and down in addition to forward and left and right, it is possible to make the measurement range wider than that of a millimeter wave radar that scans two-dimensionally. In short, it is sufficient to have a non-contact height detection unit that detects the height of unevenness in the field in front of the harvesting device 15.

(5) The height detection unit does not necessarily have to be configured with optical distance measuring devices 21A, 21B (LIDAR). The height detection unit may be provided with an imaging device, and the height detection unit may be configured to detect the ridge height H based on an image captured by the imaging device. The imaging device may be a monocular camera or a stereo camera.

(6) The ridge detection unit 31 detects the ridge height H as the height of unevenness in the field, but is not limited to this embodiment. For example, the ridge detection unit 31 may be configured to detect the unevenness of the field (upper and lower difference ΔH) in a field without ridges R where rice or wheat is planted.

The configurations disclosed in the above-mentioned embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, so long as no contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be modified as appropriate within the scope of the purpose of the present invention.

The harvester according to the present invention is not limited to a normal combine harvester, but may be a head-feeding combine harvester. Also, the harvester according to the present invention is not limited to a combine harvester, but may be any other harvester.

11: Traveling device 15: Harvesting device (harvesting section)
15A: Harvesting header 15D: Cutting blade 15H: Header actuator (actuator)
21A: Optical distance measuring device (height detection unit)
21B: Optical distance measuring device (height detection unit)
31: Ridge detection unit (height detection unit)
32: Harvest height control unit 33: Memory unit 80: Satellite positioning module (positioning unit)
H: Ridge height (height of unevenness)
W2: Working area (unharvested area)

Claims (8)

A traveling device capable of traveling in a field;
A harvesting unit that is supported on the machine body so as to be capable of ascending and descending and harvests crops in a field;
An actuator for lifting and lowering the harvesting unit;
A non-contact height detection unit that detects the height of unevenness of the field in front of the harvesting unit;
A harvest height control unit that determines the height of the harvesting unit from the ground based on the height of the unevenness and controls the drive of the actuator to automatically change the height of the harvesting unit from the ground;
a positioning unit that outputs positioning data indicating the position of the aircraft;
a storage unit capable of storing the height of the unevenness in association with the positioning data,
The height detection unit is configured to detect a first height, which is the height of the unevenness in an unharvested area adjacent to the left and right outer sides of the harvest width of the harvesting unit, when the traveling device travels in one direction;
The storage unit stores the first height in association with the positioning data,
The harvest height control unit of this harvester determines the height of the harvesting unit above the ground based on a second height, which is the height of the unevenness detected by the height detection unit when the traveling device travels in the direction opposite to the one direction with the unharvested area located within the harvest width range, and the first height stored in the memory unit. The harvester according to claim 1 , wherein the height detection unit detects the height of the unevenness based on an image captured by an imaging device. The harvester according to claim 1 , wherein the height detection unit detects the height of the unevenness based on distance information obtained by an optical distance measuring device. The harvesting section is provided with a harvesting header for receiving a planted crop in front, and a cutting blade supported by the harvesting header for cutting the planted crop,
The harvester according to claim 1 , wherein the height detection unit detects a height of the unevenness in front of the cutting blade. A divider is provided at an end position in the harvesting width direction of the tip of the harvesting header,
The harvester according to claim 4 , wherein the height detection unit detects a height of the unevenness on a front side of the divider. A plurality of the projections and recesses are arranged in parallel across the working width of the harvesting section,
The height detection unit is configured to be able to detect heights of the plurality of projections and recesses,
The harvester according to claim 1 , wherein the harvest height control unit determines the height of the harvesting unit from the ground based on the highest one of the plurality of unevennesses. A harvesting tilt changing mechanism is provided that can change the left and right tilt of the harvesting part by rolling the harvesting part,
The harvester described in claim 6, wherein when the height of the unevenness of one of the left and right regions of the multiple unevennesses is higher than the height of the unevenness of the other of the left and right regions of the multiple unevennesses within the harvesting width range of the harvesting section, the harvesting height control unit causes the harvesting tilt change mechanism to change the left and right tilt of the harvesting section so that the height of the one of the left and right portions of the harvesting section from the ground is higher than the height of the other of the left and right portions of the harvesting section from the ground . A harvesting tilt changing mechanism is provided that can change the left and right tilt of the harvesting part by rolling the harvesting part,
The harvester according to claim 1 , wherein the harvest height control unit controls the harvesting tilt change mechanism to change the left and right tilt of the harvesting unit so that the harvesting unit is in a horizontal position.

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