WO2020110920A1 - Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement comprenant un programme de commande de machine de travail agricole enregistré sur ce dernier, procédé de commande de machine de travail agricole, machine de récolte, programme de commande de machine de récolte, support d'enregistrement comprenant un programme de commande de machine de récolte enregistré sur ce dernier, et procédé de commande de machine de récolte - Google Patents

Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement comprenant un programme de commande de machine de travail agricole enregistré sur ce dernier, procédé de commande de machine de travail agricole, machine de récolte, programme de commande de machine de récolte, support d'enregistrement comprenant un programme de commande de machine de récolte enregistré sur ce dernier, et procédé de commande de machine de récolte Download PDF

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Publication number
WO2020110920A1
WO2020110920A1 PCT/JP2019/045720 JP2019045720W WO2020110920A1 WO 2020110920 A1 WO2020110920 A1 WO 2020110920A1 JP 2019045720 W JP2019045720 W JP 2019045720W WO 2020110920 A1 WO2020110920 A1 WO 2020110920A1
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WO
WIPO (PCT)
Prior art keywords
vehicle speed
state
reel
control
control unit
Prior art date
Application number
PCT/JP2019/045720
Other languages
English (en)
Japanese (ja)
Inventor
中林隆志
佐野友彦
吉田脩
川畑翔太郎
堀内真幸
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2018220468A external-priority patent/JP7113726B2/ja
Priority claimed from JP2018220467A external-priority patent/JP7117980B2/ja
Priority claimed from JP2018221154A external-priority patent/JP7113727B2/ja
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to KR1020217013338A priority Critical patent/KR20210093873A/ko
Priority to CN201980074233.7A priority patent/CN113079691B/zh
Publication of WO2020110920A1 publication Critical patent/WO2020110920A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
    • A01D34/24—Lifting devices for the cutter-bar
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/14—Mowing tables
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D57/00—Delivering mechanisms for harvesters or mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/08—Clutches
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • B60Y2200/222—Harvesters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
    • F02D2200/501—Vehicle speed

Definitions

  • the present invention relates to an agricultural work machine capable of automatic traveling.
  • the present invention also relates to a harvester equipped with a mowing device for mowing the planted grain culm and capable of automatic traveling.
  • the direction in which the agricultural work machine should travel is recorded. Then, by the automatic traveling based on the recorded azimuth, the mowing traveling in the uncut area in the field is performed.
  • Patent Document 1 does not describe in detail how to set the target vehicle speed during automatic traveling.
  • a vehicle speed setting unit capable of setting an individual target vehicle speed for each state of the machine body during automatic traveling.
  • the vehicle speed is configured to be controlled based on the target vehicle speed set by the vehicle speed setting unit, the vehicle speed is controlled to the target vehicle speed corresponding to the changed state of the aircraft when the state of the aircraft changes. It will be.
  • An object of the present invention is to provide an agricultural work machine that can avoid giving anxiety to an operator who is on board the agricultural work machine or a monitor outside the agricultural work machine.
  • Patent Document 1 does not describe in detail how to set the target vehicle speed during automatic traveling.
  • a vehicle speed setting unit capable of setting an individual target vehicle speed for each state of the machine body during automatic traveling.
  • the vehicle speed setting unit can set the work forward vehicle speed that is the target vehicle speed in the work forward state during automatic traveling, the agricultural work machine can be caused to perform work traveling at the set target vehicle speed.
  • the vehicle speed setting unit is configured to be able to set the work forward vehicle speed only while the vehicle is stopped, if it is necessary to change the setting of the work forward vehicle speed during automatic traveling, the operator , The working forward vehicle speed setting must be changed after stopping the agricultural work machine.
  • An object of the present invention is to provide an agricultural work machine capable of avoiding a decrease in work efficiency.
  • Patent Document 1 does not describe in detail the elevation control of the mowing device when the uncut area enters the already cut area.
  • the harvester described in Patent Document 1 it is conceivable to configure the harvesting device to automatically move up when entering the uncut area to the already cut area. With this configuration, when the harvester turns in the already-cut area, it is easy to avoid the cutting device from interfering with the ridge.
  • An object of the present invention is to provide a harvester that can suppress an increase in harvest loss.
  • a feature of the present invention is an agricultural work machine capable of automatic traveling, based on a vehicle speed setting unit capable of setting an individual target vehicle speed for each state of the machine during automatic traveling, and a target vehicle speed set by the vehicle speed setting unit. And a vehicle speed control unit for controlling the vehicle speed by means of the vehicle speed control unit, wherein the vehicle speed control unit asymptotically approximates the vehicle speed to the changed vehicle speed, which is a target vehicle speed corresponding to the changed vehicle state when the vehicle state changes during automatic traveling. Is to let.
  • the vehicle speed gradually approaches the changed vehicle speed. Therefore, when the state of the aircraft changes, even if the target vehicle speed corresponding to the state of the aircraft before the change and the target vehicle speed corresponding to the state of the aircraft after the change differ significantly, the vehicle speed suddenly changes. There is nothing to do.
  • the vehicle speed control unit can start asymptotically approaching the vehicle speed to the post-change vehicle speed before changing the state of the machine body during automatic traveling, and change the state of the machine body during automatic traveling. After the change, it is preferable that the vehicle speed can be made to gradually approach the post-change vehicle speed.
  • the vehicle speed can be controlled so that the vehicle speed reaches the post-change vehicle speed by the time the airframe state changes by starting to gradually bring the vehicle speed to the post-change vehicle speed before the change of the airframe state. Further, after the state of the machine body is changed, the vehicle speed can be controlled so that the vehicle speed is maintained until the time when the state of the machine body is changed by making the vehicle speed gradually approach the changed vehicle speed.
  • the vehicle speed control that the vehicle speed reaches the vehicle speed after the change by the state of the machine body and the vehicle speed control that the vehicle speed is maintained until the time when the state of the machine body changes are performed. It is possible to use them properly according to the situation.
  • the vehicle speed control unit when the state of the machine body changes from the first state, which is a state of traveling in the unworked area, to the second state, which is a state of traveling in the already-worked area, the vehicle speed control unit is When the vehicle speed starts to gradually approach the target vehicle speed corresponding to the second state after the change from the first state to the second state and the state of the aircraft changes from the second state to the first state, the vehicle speed control unit It is preferable that, before the change from the second state to the first state, the vehicle speed starts to gradually approach the target vehicle speed corresponding to the first state.
  • the vehicle speed when the agricultural work machine goes out of the unwork area, the vehicle speed is maintained at the target vehicle speed corresponding to the first state until the agricultural work machine goes out of the unwork area. Further, when the agricultural work machine enters the unworked area, the vehicle speed can be controlled so that the vehicle speed reaches the target vehicle speed corresponding to the first state before the agricultural work machine enters the unworked area.
  • the vehicle speed when the agricultural work machine is traveling in the unworked area is always the target vehicle speed corresponding to the first state. Therefore, it becomes possible to make the working speed uniform in the unworked area.
  • the vehicle speed control unit when the vehicle speed is lower than the post-change vehicle speed, changes the vehicle speed at the first change rate to make the vehicle speed asymptotic to the post-change vehicle speed. If it is higher than the above, it is preferable that the vehicle speed control unit gradually changes the vehicle speed to the post-change vehicle speed by changing the vehicle speed at a second change rate different from the first change rate.
  • the vehicle speed change rate when the vehicle speed control unit gradually approximates the vehicle speed to the changed vehicle speed is different depending on the change pattern of the state of the aircraft.
  • Another feature of the present invention is an agricultural work machine control program for controlling an agricultural machine that is capable of automatic travel, including a vehicle speed setting function for setting an individual target vehicle speed for each state of the machine during automatic travel, and the vehicle speed.
  • a vehicle speed control function for controlling the vehicle speed based on the target vehicle speed set by the setting function, and the vehicle speed control function, when the state of the machine body changes during automatic traveling, the state of the machine body after the change This is to make the vehicle speed asymptotic to the changed target vehicle speed, which is the corresponding target vehicle speed.
  • Another feature of the present invention is a recording medium in which an agricultural machine control program for controlling an agricultural machine that is capable of automatic traveling is recorded, and a vehicle speed setting that sets an individual target vehicle speed for each state of the machine during automatic traveling.
  • a farm work machine control program that causes a computer to realize a function and a vehicle speed control function that controls the vehicle speed based on the target vehicle speed set by the vehicle speed setting function is recorded.
  • the agricultural work machine control program that makes the vehicle speed asymptotically approach the vehicle speed after change, which is the target vehicle speed corresponding to the changed state of the machine body, is recorded.
  • Another feature of the present invention is a farm work machine control method for controlling a farm work machine that is capable of automatic traveling, and a vehicle speed setting step for setting an individual target vehicle speed for each state of the machine during automatic travel, and the vehicle speed.
  • a feature of the present invention is to include a vehicle speed setting unit capable of setting an individual target vehicle speed for each state of an aircraft during automatic traveling, and a first operation unit manually operated, wherein the vehicle speed setting unit is in automatic traveling. It is possible to set a work forward vehicle speed that is a target vehicle speed in the work forward state in FIG. 3, and during automatic traveling, the vehicle speed setting unit sets the work forward vehicle speed in accordance with a manual operation of the first operation unit. ..
  • the setting of the work forward vehicle speed is changed when the operator operates the first operation unit during the automatic traveling. Therefore, when it is necessary to change the setting of the work forward vehicle speed during automatic traveling, it is not necessary to stop the agricultural work machine. Therefore, it is possible to avoid a situation where the working efficiency is reduced by stopping the agricultural work machine every time it is necessary to change the setting of the work forward vehicle speed during the automatic traveling.
  • the first operation section can be operated steplessly, and the vehicle speed setting section sets the work forward vehicle speed steplessly.
  • the operator can set the work forward vehicle speed infinitely. Therefore, it is easier to finely adjust the work forward vehicle speed than in the case where the vehicle speed setting unit sets the work forward vehicle speed in a plurality of stages.
  • a second operation section that is manually operated is provided, and the vehicle speed setting section is a target in a state other than a work forward state during automatic traveling in accordance with the manual operation of the second operation section while the vehicle is stopped. It is preferable to set the vehicle speed.
  • the operator can set the target vehicle speed for each state of the machine by operating the first operation unit and the second operation unit.
  • the first operation unit is operated while the vehicle is traveling automatically, and the second operation unit is operated while the vehicle is stopped.
  • the operation timings of the first operation unit and the second operation unit do not overlap. Therefore, it is possible to avoid a situation in which the operation is complicated by overlapping the operation timings of the first operation unit and the second operation unit.
  • the second operation unit can be operated in a plurality of stages, and the vehicle speed setting unit sets a target vehicle speed in a state other than a work forward state during automatic traveling in a plurality of stages.
  • the operator can set the target vehicle speed in a state other than the work forward state during automatic traveling in multiple stages. Therefore, compared to the case where the vehicle speed setting unit sets the target vehicle speed in a state other than the work forward state during automatic traveling steplessly, the setting operation by the second operation unit is likely to be simple and easy.
  • the vehicle speed setting unit sets a target vehicle speed in a turning state during automatic traveling in accordance with a manual operation of the second operation unit while the vehicle is stopped.
  • the operator can individually set the work forward vehicle speed and the target vehicle speed in the turning state during automatic traveling.
  • the vehicle speed setting unit sets a target vehicle speed in a reverse drive state during automatic traveling in accordance with a manual operation of the second operation unit while the vehicle is stopped.
  • the operator can individually set the work forward vehicle speed and the target vehicle speed in the reverse traveling state during automatic traveling.
  • the vehicle speed setting unit sets a target vehicle speed in a non-working state during automatic traveling in accordance with a manual operation of the second operation unit while the vehicle is stopped.
  • the operator can individually set the work forward vehicle speed and the target vehicle speed in the non-working state during automatic traveling.
  • Another feature of the present invention is an agricultural work machine control program for controlling an agricultural work machine including a first operation section that is manually operated, and a vehicle speed for setting an individual target vehicle speed for each state of the machine body during automatic traveling.
  • a setting function is realized by a computer, the vehicle speed setting function sets a work forward vehicle speed that is a target vehicle speed in a work forward state during automatic traveling, and during automatic traveling, the vehicle speed setting function is performed by the first operation unit.
  • the work forward vehicle speed is set according to a manual operation.
  • Another feature of the present invention is a recording medium in which an agricultural work machine control program for controlling an agricultural work machine including a first operation section that is manually operated is recorded, and an individual target is set for each state of the machine body during automatic traveling.
  • a farm work machine control program that causes a computer to realize a vehicle speed setting function for setting a vehicle speed is recorded, and the vehicle speed setting function sets a work forward vehicle speed that is a target vehicle speed in a work forward state during automatic traveling, and the vehicle is running automatically.
  • the agricultural work machine control program for setting the work forward vehicle speed according to the manual operation of the first operation unit is recorded.
  • Another feature of the present invention is an agricultural work machine control method for controlling an agricultural work machine including a first operation section that is manually operated, and a vehicle speed for setting an individual target vehicle speed for each state of the machine body during automatic traveling.
  • a setting step is provided, and in the vehicle speed setting step, a work forward vehicle speed that is a target vehicle speed in a work forward state during automatic traveling is set, and during the automatic traveling, in the vehicle speed setting step, manual operation of the first operation unit is performed.
  • the work forward vehicle speed is set accordingly.
  • the feature of the present invention is a harvester capable of automatic traveling, a reel for scraping the planted grain culm while rotationally driving around a reel axis along the horizontal direction of the machine body, and a mowing device for mowing the planted grain culm,
  • An automatic reel control unit that automatically controls the raising and lowering of the reel with respect to the reaper during automatic traveling, and an automatic reaper controller that automatically controls the raising and lowering of the reaper with respect to the machine during automatic traveling
  • a control unit wherein the automatic control unit performs mowing control in which the mowing device is raised and the reel is lowered when the uncut region is entered into the already-cut region.
  • the mowing device ascends and the reel descends.
  • the harvested grain culm is sandwiched between the harvesting device and the reel.
  • the reaping device rises, the cut culm is less likely to spill from the reaping device.
  • the automatic control section starts to raise the reeling device and then raises the mowing device.
  • the reaper and the reel are likely to pinch the stalks. This makes it more difficult for the harvesting culm to spill out of the harvesting device when the harvesting device is raised, as compared to the case where the harvesting device and the reel sandwich the harvesting culm after the harvesting device is raised.
  • the automatic control unit starts lowering the reel before entering the uncut area from the uncut area in the cut-through control.
  • the mowing device is raised after entering the uncut area and the already-cut area. Therefore, according to the above configuration, the reaping device starts to move up after the reel starts to move down.
  • the automatic control unit executes a cutting start time control which is a control for lowering the mowing device and simultaneously raising the reel before entering the uncut area from the already cut area. is there.
  • the automatic control unit performs a preparatory lowering control for lowering the mowing device without raising and lowering the reel, and after the preparatory lowering control, before performing the mowing start control. It is preferable that the height of the mowing device is maintained until the time of executing the mowing start control.
  • the cutting device is lowered by the preparation lowering control prior to the control at the start of cutting. Therefore, the height of the mowing device at the time of executing the mowing start control is lower than that in the configuration in which the preparation lowering control is not executed. As a result, the width at which the mowing device needs to be lowered in the control at the start of mowing becomes small. Therefore, the time required from the start to the end of the mowing start control is shortened. Therefore, it is easy to avoid the situation where the harvester enters the uncut area before the control at the beginning of cutting is completed.
  • a cutting clutch that connects and disconnects power transmission to the reel and the cutting device and a clutch control unit that controls the cutting clutch are provided, and the clutch control unit is configured to perform the cutting by the automatic control unit. It is preferable to control the reaping clutch to the on state before the start-up control is executed.
  • the clutch control unit is configured to control the mowing clutch to the on state after the control at the beginning of mowing is executed by the automatic control unit, the harvester may be operated before the mowing clutch is actually on. It is assumed that the uncut area will enter.
  • the clutch control unit controls the cutting clutch to the on state before the automatic control unit executes the cutting start time control. As a result, it is easy to avoid the situation where the harvester enters the uncut area before the cutting clutch actually enters the on state.
  • the clutch control unit controls the automatic reaping device control unit to control the automatic reaping device when the reaping device is raised and the height of the reaping device reaches a predetermined height. Is preferably controlled to the off state.
  • ⁇ Movement is not performed during the period from when the reaping device moves up from the uncut area to the already cut area and before it enters the uncut area again. Therefore, it is not necessary to drive the reel and the reaper during this period.
  • the reaping clutch is automatically disengaged as the reaper is raised. This shortens the drive time of the reel and the reaper. As a result, the fuel economy of the harvester is improved.
  • the automatic control unit performs height maintenance control for maintaining neither the reaper nor the reel in a state of being moved up and down after the execution of the mowing time control, and at the same time, the height of the uncut area is not maintained. It is preferable that the height maintenance control be terminated and the harvesting device be lowered before entering the cutting region.
  • the harvester turns while the height maintenance control is being performed, so that the turning is performed while the mowing device is located at a relatively high position.
  • the reel operation section includes a manually operated reel operation section and a manual reel control section that controls up and down movement of the reel with respect to the reaping device according to an artificial operation of the reel operation section.
  • the manual reel control unit preferably controls the elevation of the reel with respect to the mowing device in preference to the automatic reel control unit.
  • the automatic reel controller is configured to control the reel ascending/descending in preference to the manual reel controller, the operator operates the reel at his own will while the reel ascending/descending is automatically controlled. Can not do it. For this reason, when the automatic raising and lowering of the reel does not meet the operator's intention, it tends to be difficult to proceed with the work as expected by the operator.
  • the reel operating section when the reel operating section is manually operated while the automatic reel control section controls the raising and lowering of the reel with respect to the reaping apparatus, the reel for the reaping apparatus is automatically operated by the automatic reel control section. It is preferable that the control of raising and lowering of is stopped.
  • the automatic reel control unit restarts the reel operation after the manual operation is finished. It does not control lifting. Therefore, it is possible to avoid a situation in which the automatic reel control unit controls the reel elevating and lowering again after the manual operation of the reel operating unit is finished and the reel elevating and lowering is not performed according to the operator's intention.
  • the automatic reaper control includes a manual reaper operating section, and a manual reaper controlling section for controlling elevation of the reaper relative to the machine body according to manual operation of the reaper operating section.
  • the automatic mowing device control unit has priority over the manual mowing device control unit and the mowing device with respect to the airframe. It is preferable to control the raising and lowering of the device.
  • Another feature of the present invention includes a reel for scraping the planted grain culm while rotationally driving the reel axis along the left-right direction of the machine body, and a mowing device for mowing the planted grain culm, which enables automatic traveling.
  • a harvester control program for controlling a different harvester, and an automatic reel control function for automatically controlling the raising and lowering of the reel with respect to the mowing device during automatic traveling, and the raising and lowering of the mowing device with respect to the machine during automatic traveling.
  • the computer realizes an automatic control function including an automatic reaper control function for automatically controlling the reaper, and the automatic control function raises the reaper and moves the reel when the uncut area enters the reaped area. This is to execute the mowing control for lowering.
  • Another feature of the present invention includes a reel for scraping the planted grain culm while rotationally driving the reel axis along the left-right direction of the machine body, and a mowing device for mowing the planted grain culm, which enables automatic traveling.
  • a recording medium recording a harvester control program for controlling a different harvester, an automatic reel control function for automatically controlling the elevation of the reel with respect to the reaper during automatic traveling, and a machine during automatic traveling
  • the harvester control program for causing a computer to realize an automatic control function including an automatic cutting device control function for automatically controlling the raising and lowering of the harvesting device is recorded, and the automatic control function changes from an uncut area to a cut area.
  • the harvesting machine control program for executing the mowing-out control for raising the mowing device and lowering the reel at the time of entry of the harvester is recorded.
  • Another feature of the present invention includes a reel for scraping the planted grain culm while rotationally driving the reel axis along the left-right direction of the machine body, and a mowing device for mowing the planted grain culm, which enables automatic traveling.
  • a method for controlling a harvester comprising: an automatic reel control step for automatically controlling the raising and lowering of the reel with respect to the mowing device during automatic traveling; and the raising and lowering of the mowing device with respect to the machine during automatic traveling.
  • An automatic control step including an automatic reaper control step for automatically controlling the reaping, wherein in the automatic control step, the reaper is raised and the reel is lowered at the time of entering the uncut area from the uncut area. The control at the time of leaving is executed.
  • FIG. 10 It is a figure which shows 1st Embodiment (Hereinafter, it is the same as FIG. 10.) It is a left view of a combine. It is a figure which shows the circular traveling in a farm field. It is a figure showing the mowing run along the mowing run course. It is a figure showing the mowing run along the mowing run course. It is a block diagram which shows the structure regarding a control part. It is a figure which shows the structure of a main transmission lever. It is a figure which shows the correspondence of the operation position of a main transmission lever, and a work forward vehicle speed. It is a figure which shows the target vehicle speed setting screen displayed on the communication terminal. It is a figure which shows the transition of the vehicle speed during automatic driving.
  • FIG. 17 It is a figure which shows the transition of the vehicle speed during automatic driving. It is a figure which shows 2nd Embodiment (following, it is the same as FIG. 17), It is a left view of a combine. It is a figure which shows the circular traveling in a farm field. It is a figure showing the mowing run along the mowing run course. It is a block diagram which shows the structure regarding a control part. It is a figure which shows the example of the raising/lowering control of a reel and a mowing device at the time of mowing. It is a figure which shows the example of the raising/lowering control of a reel and a mowing device at the time of a mowing start. It is a figure which shows the example of the raising/lowering control of a reel and a mowing device at the time of a mowing start.
  • a normal combine 1 (corresponding to the “farming machine” according to the present invention) includes a crawler type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, The transport device 16, the grain discharging device 18, the satellite positioning module 80, and the engine E are provided.
  • the traveling device 11 is provided in the lower portion of the combine 1. The traveling device 11 is driven by the power from the engine E. Then, the combine 1 can be self-propelled by the traveling device 11.
  • the operating unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11.
  • An operator who monitors the work of the combine 1 can be boarded on the operating unit 12. The operator may monitor the work of the combine 1 from the outside of the combine 1.
  • the grain discharging device 18 is provided above the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the driving unit 12.
  • the harvesting device H is provided in the front part of the combine 1.
  • the transport device 16 is provided on the rear side of the harvesting device H. Further, the harvesting device H has a harvesting device 15 and a reel 17.
  • the cutting device 15 cuts the planted grain culms in the field. Further, the reel 17 scrapes the planted grain culm to be harvested while being rotationally driven. With this configuration, the harvesting device H harvests grain in the field. Then, the combine 1 is capable of mowing traveling in which the traveling device 11 travels while mowing the planted culm in the field by the mowing device 15.
  • the harvested culm cut by the harvesting device 15 is transported to the threshing device 13 by the transporting device 16.
  • the cut culm is threshed.
  • the grain obtained by the threshing process is stored in the grain tank 14.
  • the grain stored in the grain tank 14 is discharged to the outside of the machine by the grain discharging device 18 as necessary.
  • a communication terminal 4 (corresponding to a “second operation unit” according to the present invention) is arranged in the driving unit 12.
  • the communication terminal 4 is configured to be able to display various information.
  • the communication terminal 4 is fixed to the driving unit 12.
  • the present invention is not limited to this, and the communication terminal 4 may be configured to be attachable/detachable to/from the operating unit 12, or the communication terminal 4 may be located outside the combine 1 machine. ..
  • the combine 1 performs the orbiting while harvesting the grain in the area on the outer peripheral side in the field as shown in FIG. 2, and then the cutting operation in the inner area in the field as shown in FIGS. 3 and 4. By doing so, it is configured to harvest the grain in the field.
  • the circular traveling shown in FIG. 2 is performed by manual traveling.
  • the cutting operation in the inner area shown in FIGS. 3 and 4 is performed automatically.
  • the present invention is not limited to this, and the lap traveling shown in FIG. 2 may be performed by automatic traveling.
  • the drive unit 12 is provided with a main gear shift lever 19 (corresponding to the “first operation unit” according to the present invention).
  • the main shift lever 19 is manually operated. If the operator operates the main shift lever 19 while the combine 1 is traveling manually, the vehicle speed of the combine 1 changes. That is, when the combine 1 is in manual operation, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.
  • the operator can change the rotation speed of the engine E by operating the communication terminal 4.
  • the appropriate work speed differs depending on the type of crop. If the operator operates the communication terminal 4 and sets the rotation speed of the engine E to an appropriate rotation speed, work can be performed at a work speed suitable for the type of crop.
  • the combine 1 includes a hydrostatic continuously variable transmission 3 and a control unit 20. Further, the hydrostatic continuously variable transmission 3 has a hydraulic pump 31 and a hydraulic motor 32.
  • the power output from the engine E is input to the hydrostatic continuously variable transmission 3. Then, in the hydrostatic continuously variable transmission 3, the power is transmitted from the hydraulic pump 31 to the hydraulic motor 32. At this time, the power is changed between the hydraulic pump 31 and the hydraulic motor 32. Then, the power thus changed is transmitted to the traveling device 11. As a result, the traveling device 11 is driven.
  • the control unit 20 also includes a vehicle position calculation unit 21, a region calculation unit 22, a route calculation unit 23, and a travel control unit 24.
  • the satellite positioning module 80 receives a GPS signal from an artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 5, the satellite positioning module 80 sends positioning data indicating the own vehicle position of the combine 1 to the own vehicle position calculation unit 21 based on the received GPS signal.
  • GPS Global Positioning System
  • the own vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80.
  • the calculated position coordinates of the combine 1 over time are sent to the area calculation unit 22 and the travel control unit 24.
  • the area calculation unit 22 calculates the outer peripheral area SA and the work target area CA, as shown in FIG. 3, based on the position coordinates of the combine 1 over time received from the own vehicle position calculation unit 21.
  • the area calculation unit 22 calculates the traveling locus of the combine 1 during the round trip on the outer peripheral side of the field based on the position coordinates of the combine 1 received from the vehicle position calculation unit 21 over time. .. Then, the area calculation unit 22 calculates, as the outer peripheral area SA, the area on the outer peripheral side of the field in which the combine 1 traveled around while harvesting the grains, based on the calculated traveling locus of the combine 1. Further, the area calculation unit 22 calculates an area inside the farm field with respect to the calculated outer peripheral area SA as the work target area CA.
  • the traveling path of the combine 1 for traveling on the outer peripheral side of the field is shown by an arrow.
  • the combine 1 makes three round trips. Then, when the mowing traveling along the traveling route is completed, the field becomes the state shown in FIG.
  • the area calculation unit 22 calculates, as the outer area SA, the area on the outer circumference side of the field in which the combine 1 traveled around while harvesting the grains. Further, the area calculation unit 22 calculates an area inside the farm field with respect to the calculated outer peripheral area SA as the work target area CA.
  • the area calculation unit 22 receives the uncut portion CA1 and the already-cut portion CA2 in the work target area CA, as shown in FIG. 4, based on the position coordinates of the combine 1 over time received from the vehicle position calculation unit 21. To calculate.
  • the area calculation unit 22 calculates the travel locus of the combine 1 in the cutting operation in the work target area CA based on the position coordinates of the combine 1 over time received from the vehicle position calculation unit 21. .. Then, the area calculation unit 22 calculates, as the already-cut portion CA2, the area where the combine 1 has cut and traveled, based on the calculated traveling locus of the combine 1. Further, the area calculation unit 22 calculates a portion other than the already-cut portion CA2 in the work target area CA as the uncut portion CA1.
  • the calculation result by the area calculation unit 22 is sent to the route calculation unit 23.
  • the path calculation unit 23 calculates the mowing traveling path LI, which is a traveling path for the mowing traveling in the work target area CA, as shown in FIGS. 3 and 4. ..
  • the mowing traveling route LI is a plurality of mesh lines extending in the vertical and horizontal directions. Further, the plurality of mesh lines do not have to be straight lines and may be curved.
  • the mowing travel route LI calculated by the route calculation unit 23 is sent to the travel control unit 24.
  • the traveling control unit 24 is configured to control the traveling device 11. Then, the traveling control unit 24 controls the automatic traveling of the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the mowing traveling route LI received from the route calculation unit 23. More specifically, the traveling control unit 24 controls the traveling of the combine 1 so that the harvesting traveling is performed by the automatic traveling along the harvesting traveling route LI, as shown in FIGS. 3 and 4.
  • the route calculation unit 23 based on the calculation result received from the region calculation unit 22, as shown in FIG. 3 and FIG. 4, the departure return route LW which is a traveling route for non-cutting traveling in the outer peripheral area SA. calculate.
  • the leaving return path LW is a line having a shape along the outer shape of the field.
  • the departure return route LW calculated by the route calculation unit 23 is sent to the travel control unit 24.
  • the traveling control unit 24 controls the automatic traveling of the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the departure return route LW received from the route calculation unit 23. More specifically, as shown in FIG. 4, when the combine 1 is separated from the harvesting travel route LI, the travel control unit 24 causes the non-crop traveling to be performed by the automatic travel along the removal return route LW. , Control the traveling of the combine 1.
  • the operator manually operates the combine 1 and, as shown in FIG. 2, in the outer peripheral portion of the field, carries out the cutting operation so as to circulate along the boundary line of the field.
  • the combine 1 makes three round trips.
  • this round traveling is completed, the field becomes the state shown in FIG.
  • the area calculation unit 22 calculates the traveling locus of the combine 1 during the round trip shown in FIG. 2, based on the position coordinates of the combine 1 over time received from the own vehicle position calculation unit 21. Then, as shown in FIG. 3, the area calculation unit 22 determines, based on the calculated traveling locus of the combine 1, the area on the outer peripheral side of the field in which the combine 1 traveled around while cutting the planted grain culms as the outer peripheral area SA. Calculate as Further, the area calculation unit 22 calculates an area inside the farm field with respect to the calculated outer peripheral area SA as the work target area CA.
  • the route calculation unit 23 sets the reaping traveling route LI in the work target area CA as shown in FIG. 3 based on the calculation result received from the region calculation unit 22. Further, at this time, the route calculation unit 23 calculates the departure return route LW in the outer peripheral region SA based on the calculation result received from the region calculation unit 22.
  • an automatic travel start button (not shown)
  • automatic travel along the cutting travel route LI is started as shown in FIG.
  • the traveling control unit 24 controls the traveling of the combine 1 so that the reaping traveling is performed by the automatic traveling along the reaping traveling route LI.
  • the combine 1 When the automatic traveling in the work target area CA is started, as shown in FIG. 3, the combine 1 performs the cutting traveling in the outer peripheral portion of the work target area CA so as to circulate along the outer shape of the work target area CA. .. In the example shown in FIG. 3, the combine 1 makes one round trip. At this time, the combine 1 repeats the traveling along the cutting traveling route LI and the direction change by the ⁇ -turn.
  • the combine 1 Upon completion of this round trip, the field will be in the state shown in Fig. 4. Then, the combine 1 performs the mowing traveling so as to cover the entire work target area CA by repeating the traveling along the mowing traveling route LI and the turning by the U-turn.
  • the harvested grain culms harvested by the harvesting device 15 are transported to the threshing device 13 by the transport device 16. Then, in the threshing device 13, the cut grain culm is threshed.
  • the carrier CV is parked outside the field. Then, in the outer peripheral area SA, a stop position PP is set near the transport vehicle CV. As shown in FIGS. 3 and 4, the vehicle stop position PP is set at a position overlapping the departure return route LW.
  • the carrier CV can collect and transport the grains discharged from the grain discharging device 18 by the combine 1. At the time of discharging the grain, the combine 1 stops at the stop position PP, and the grain discharging device 18 discharges the grain to the transport vehicle CV.
  • the traveling control unit 24 causes the combine 1 to move away from the mowing traveling route LI, as shown in FIG. Control the driving.
  • the traveling control unit 24 controls the combine 1 to travel toward the detachment return route LW.
  • the traveling control unit 24 controls the traveling of the combine 1 so that the non-crop traveling is performed by the automatic traveling along the departure return route LW.
  • the combine 1 is stopped at the stop position PP, and the grain discharging device 18 discharges the grains to the carrier CV.
  • the traveling control unit 24 has a vehicle speed setting unit 24a and a vehicle speed control unit 24b.
  • the vehicle speed setting unit 24a can set an individual target vehicle speed for each state of the machine body during automatic traveling.
  • the “state of the machine” is, for example, a work forward state, a turning state, a reverse state, or a non-working state.
  • the work advancing state is a state in which the combine 1 is moving forward immediately while working. More specifically, the work advancing state is a state in which the combine 1 is moving immediately before cutting the planted grain culms in the field.
  • the turning state is a state in which the combine 1 is turning and traveling forward.
  • the reverse drive state is a state in which the combine 1 is traveling to the rear side.
  • the non-working state is a state in which the combine 1 is moving forward without any work. More specifically, the non-working state is a state in which the combine 1 is proceeding immediately before performing the mowing work. For example, both the state in which the combine 1 is moving forward to the grain discharge location and the state in which the combine 1 is moving forward to the refueling location are both non-working states.
  • the present invention is not limited to this.
  • the state in which the combine 1 is turning and traveling forward while working is not included in the turning state and may be included in the work forward state.
  • the state in which the combine 1 is turning to the rear side may be included in the turning state instead of being included in the reverse traveling state.
  • the state in which the combine 1 is turning and traveling to the front side without any work may be included in the non-working state, not included in the turning state.
  • the state in which the combine 1 is traveling to the rear side without performing the work may be included in the non-working state, not included in the reverse drive state.
  • the work forward vehicle speed is a target vehicle speed in the work forward state during automatic traveling.
  • the vehicle speed setting unit 24a can set the work forward vehicle speed which is the target vehicle speed in the work forward state during automatic traveling. Further, during automatic traveling, the vehicle speed setting unit 24a sets the work forward vehicle speed according to the manual operation of the main transmission lever 19.
  • the main gear shift lever 19 is configured to be capable of swinging operation steplessly from the neutral position QN to the front limit position Q1. Then, as shown in FIG. 7, the vehicle speed setting unit 24a continuously sets the work forward vehicle speed according to the operation position of the main transmission lever 19.
  • the work forward vehicle speed set by the vehicle speed setting unit 24a is 0 (zero).
  • the operation position of the main shift lever 19 is the first operation position Q10
  • the work forward vehicle speed set by the vehicle speed setting unit 24a is V10
  • the operation position of the main shift lever 19 is the second operation position Q11
  • the work forward vehicle speed set by the vehicle speed setting unit 24a is V11.
  • the operation position of the main shift lever 19 is the front limit position Q1
  • the work forward vehicle speed set by the vehicle speed setting unit 24a is V1.
  • the work forward vehicle speed set by the vehicle speed setting unit 24a becomes higher as the operation position of the main speed change lever 19 is closer to the front side.
  • the first operation position Q10 is an operation position on the front side of the neutral position QN.
  • the second operation position Q11 is an operation position on the front side of the first operation position Q10.
  • V10 is lower than V11.
  • V11 is lower than V1.
  • the communication terminal 4 has a touch panel 4a that is manually operated.
  • the touch panel 4a can display the target vehicle speed setting screen shown in FIG.
  • the turn setting unit 5 includes a first left button L1 and a first right button R1.
  • the reverse drive setting section 6 includes a second left button L2 and a second right button R2.
  • the non-work setting section 7 includes a third left button L3 and a third right button R3.
  • the turning setting unit 5 switches between a state where the first left button L1 is pressed and a state where the first right button R1 is pressed. It is operated in two steps. Similarly, the reverse drive setting unit 6 and the non-work setting unit 7 are also operated in two steps.
  • the touch panel 4a of the communication terminal 4 can be operated in multiple stages.
  • the vehicle speed setting unit 24a sets the target vehicle speed in the turning state, the reverse traveling state, and the non-working state during the automatic traveling based on this signal.
  • the vehicle speed setting unit 24a sets the target vehicle speed in a state other than the work forward state during automatic traveling in accordance with the manual operation of the communication terminal 4 while the vehicle is stopped. More specifically, the vehicle speed setting unit 24a sets the target vehicle speed in the turning state, the reverse traveling state, and the non-working state during automatic traveling in accordance with the manual operation of the communication terminal 4 while the vehicle is stopped.
  • the target vehicle speed in a turning state during automatic driving is referred to as “turning vehicle speed”.
  • the target vehicle speed in the reverse drive state during automatic traveling is referred to as “reverse drive speed”.
  • the target vehicle speed in the non-working state during automatic traveling is referred to as “non-working vehicle speed”.
  • the vehicle speed setting unit 24a sets the turning vehicle speed to V2. At this time, V2 is highlighted on the target vehicle speed setting screen.
  • the vehicle speed setting unit 24a sets the turning vehicle speed to V3. At this time, V3 is highlighted on the target vehicle speed setting screen.
  • the vehicle speed setting unit 24a sets the reverse vehicle speed to V4. At this time, V4 is highlighted on the target vehicle speed setting screen.
  • the vehicle speed setting unit 24a sets the reverse vehicle speed to V5. At this time, V5 is highlighted on the target vehicle speed setting screen.
  • the vehicle speed setting unit 24a sets the non-work vehicle speed to V6. At this time, V6 is highlighted on the target vehicle speed setting screen.
  • the vehicle speed setting unit 24a sets the non-work vehicle speed to V7. At this time, V7 is highlighted on the target vehicle speed setting screen.
  • the vehicle speed setting unit 24a switches the turning vehicle speed between V2 and V3 in accordance with the manual operation of the first left button L1 and the first right button R1.
  • the vehicle speed setting unit 24a switches the reverse vehicle speed between V4 and V5 in accordance with the manual operation of the second left button L2 and the second right button R2.
  • the vehicle speed setting unit 24a switches the non-working vehicle speed between V6 and V7 in accordance with the manual operation of the third left button L3 and the third right button R3.
  • the vehicle speed setting unit 24a sets the target vehicle speed in a state other than the work forward state during automatic traveling in multiple stages.
  • V2 is lower than V3.
  • V4 is lower than V5.
  • V6 is lower than V7.
  • V2, V5, and V6 are the same as each other, and are higher than V11 and lower than V1. Further, V1, V3, and V7 are the same as each other.
  • the work forward vehicle speed, the turning vehicle speed, the reverse vehicle speed, and the non-working vehicle speed set by the vehicle speed setting unit 24a are sent to the vehicle speed control unit 24b.
  • the hydraulic pump 31 in the hydrostatic continuously variable transmission 3 has a pump swash plate 31a.
  • the gear ratio between the hydraulic pump 31 and the hydraulic motor 32 changes according to the swash plate angle of the pump swash plate 31a. Then, when the gear ratio between the hydraulic pump 31 and the hydraulic motor 32 changes, the vehicle speed changes.
  • the vehicle speed control unit 24b controls the swash plate angle of the pump swash plate 31a based on the work forward vehicle speed, the turning vehicle speed, the reverse vehicle speed, and the non-work vehicle speed received from the vehicle speed setting unit 24a. As a result, the vehicle speed control unit 24b controls the vehicle speed.
  • the vehicle speed control unit 24b controls the vehicle speed during automatic traveling based on the target vehicle speed set by the vehicle speed setting unit 24a.
  • vehicle speed control by the vehicle speed control unit 24b will be described with reference to FIGS. 9 and 10, taking the automatic traveling shown in FIGS. 3 and 4 as an example.
  • the combine 1 enters the work target area CA from the position P1 in the field.
  • the time at this time is defined as time t1.
  • the combine 1 performs the mowing traveling along the mowing traveling route LI, passes through the positions P2, P3, and P4, and reaches the position P5.
  • the position P5 is located in the outer peripheral area SA.
  • the combine 1 travels backward from the position P5, passes through the positions P6 and P7, and reaches the position P8. Further, the combine 1 travels forward from the position P8, and enters the work target area CA again from the position P9.
  • FIG. 9 shows changes in the vehicle speed of combine 1 after time t1 in the example shown in FIG.
  • the times when the combine 1 reaches the positions P2, P3, P4, P5, P6, P7, P8, P9 are times t2, t3, t4, t5, t6, t7, t8, t9, respectively.
  • the combine 1 is in the work advance state between the time t1 and the time t4, and after the time t9. Further, the combine 1 is in the reverse drive state from the time t5 to the time t8.
  • the operation position of the main gear shift lever 19 is the first operation position Q10 at time t1. Then, at time t2, the operator operates the main transmission lever 19 to the second operation position Q11. After that, the operation position of the main shift lever 19 is maintained at the second operation position Q11. Further, as shown in FIG. 8, the turning vehicle speed, the reverse vehicle speed, and the non-working vehicle speed are set to V2, V5, and V7, respectively.
  • the vehicle speed of combine 1 is V10 at time t1. Then, at time t2, when the operator operates the main transmission lever 19 to the second operation position Q11, the work forward vehicle speed changes from V10 to V11. At the same time, the vehicle speed of the combine 1 starts to gradually approach V11 from V10 under the control of the vehicle speed controller 24b.
  • the vehicle speed change rate at this time is the first vehicle speed change rate g1.
  • the vehicle speed of combine 1 reaches V11. After that, the vehicle speed of the combine 1 is maintained at V11 until time t4.
  • combine 1 reaches position P4.
  • the position P4 is located at the end of the work target area CA. Therefore, the harvesting by the combine 1 is temporarily terminated at time t4. Then, in order to move backward from the position P5, the vehicle speed of the combine 1 begins to gradually approach 0 (zero) from V11 under the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the second vehicle speed change rate g2.
  • the second vehicle speed change rate g2 is a value different from the first vehicle speed change rate g1. More specifically, the second vehicle speed change rate g2 is larger than the first vehicle speed change rate g1.
  • the vehicle speed change rate in this embodiment is an absolute value of the amount of change in vehicle speed per unit time. That is, the vehicle speed change rate in this embodiment is a positive value.
  • the vehicle speed of combine 1 reaches 0 (zero), and combine 1 starts to reverse.
  • the vehicle speed of the combine 1 begins to gradually approach 0 from V (zero) to V5 under the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the first vehicle speed change rate g1.
  • the vehicle speed of combine 1 reaches V5. After that, the vehicle speed of the combine 1 is maintained at V5 until time t7.
  • combine 1 reaches position P7. Then, in order to move forward from the position P8, the vehicle speed of the combine 1 starts to gradually approach 0 (zero) from V5 under the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the second vehicle speed change rate g2.
  • the vehicle speed of combine 1 reaches 0 (zero), and combine 1 starts moving forward.
  • the vehicle speed of the combine 1 starts asymptotically approaching V11 from 0 (zero) under the control of the vehicle speed controller 24b.
  • the vehicle speed change rate at this time is the first vehicle speed change rate g1.
  • combine 1 reaches position P9 and the vehicle speed of combine 1 reaches V11.
  • the position P9 is located at the end of the work target area CA. That is, the harvesting by the combine 1 restarts at time t9. After that, the vehicle speed of the combine 1 is maintained at V11, and the mowing traveling continues.
  • the combine 1 is in the work advance state from the time t1 to the time t4. Also, the combine 1 is in the reverse drive state from the time t5 to the time t8. Further, at the time t9, the combine 1 returns to the work forward state. That is, the state of the machine body of the combine 1 is changing from the time t4 to the time t5. Further, the state of the machine body of the combine 1 also changes from time t8 to time t9.
  • the vehicle speed control unit 24b makes the vehicle speed asymptotic to the reverse vehicle speed. Then, the reverse vehicle speed at this time is the target vehicle speed corresponding to the reverse state, which is the state of the airframe after the change.
  • the vehicle speed control unit 24b makes the vehicle speed asymptotic to the work forward vehicle speed.
  • the work forward vehicle speed at this time is the target vehicle speed corresponding to the work forward state, which is the state of the machine body after the change.
  • the vehicle speed control unit 24b makes the vehicle speed asymptotically approach the changed vehicle speed, which is the target vehicle speed corresponding to the changed vehicle state, when the vehicle state changes during automatic traveling.
  • the target vehicle speed corresponding to the changed state of the airframe will be referred to as a “changed vehicle speed”.
  • the combine 1 enters the uncut portion CA1 in the work target area CA from the position P10 in the field.
  • the time at this time is set to time t10. Then, the combine 1 travels along the cutting traveling route LI and reaches the position P11.
  • the combine 1 goes out of the uncut area CA1 from the position P11 and makes a U-turn turn. Then, the combine 1 passes through the positions P12 and P13, and reenters the uncut portion CA1 from the position P14. The combine 1 carries out the mowing traveling from the position P14 along the mowing traveling route LI and reaches the position P15.
  • the combine 1 goes out of the uncut portion CA1 from the position P15 and starts traveling toward the stop position PP for discharging the grain. Then, the combine 1 passes through the positions P16, P17, and P18 and reaches the position P19.
  • the combine 1 performs non-crop traveling from the position P19 along the departure return route LW. Then, the combine 1 passes through the positions P20, P21, P22, P23, P24 and reaches the stop position PP.
  • FIG. 10 shows changes in the vehicle speed of the combine 1 after time t10 in the example shown in FIG.
  • the times at which the combine 1 reaches the positions P11, P12, P13, P14, P15, P16, P17, P18, P19, P20, P21, P22, P23, P24 are times t11, t12, t13, respectively.
  • the combine 1 is in the work advance state from time t10 to time t11 and from time t14 to time t15.
  • the combine 1 is in a turning state from time t11 to time t14, from time t18 to time t19, and from time t22 to time t23.
  • the combine 1 is in a non-working state from time t15 to time t18, from time t19 to time t22, and from time t23.
  • the operation position of the main transmission lever 19 is maintained at the second operation position Q11. Further, as shown in FIG. 8, the turning vehicle speed, the reverse vehicle speed, and the non-working vehicle speed are set to V2, V5, and V7, respectively.
  • the vehicle speed of combine 1 is V11 at time t10.
  • the vehicle speed of the combine 1 is maintained at V11 until time t11.
  • combine 1 reaches position P11.
  • the position P11 is located at the end of the uncut portion CA1. Therefore, the harvesting by the combine 1 is once ended at time t11. Then, the combine 1 starts turning by U-turn.
  • the vehicle speed of the combine 1 starts to gradually approach V2 from V11 under the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the first vehicle speed change rate g1.
  • the vehicle speed of combine 1 reaches V2. After that, the vehicle speed of the combine 1 is maintained at V2 until time t13.
  • combine 1 reaches position P13. Then, in order to restart the cutting operation from the position P14, the vehicle speed of the combine 1 starts to gradually approach V2 to V11 by the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the second vehicle speed change rate g2.
  • the speed of the combine 1 reaches V11, and the combine 1 restarts the cutting operation.
  • the vehicle speed of the combine 1 is maintained at V11 until time t15.
  • combine 1 reaches position P15.
  • the position P15 is located at the end of the uncut portion CA1. Therefore, the harvesting by the combine 1 is once ended at time t15. Then, the combine 1 starts non-reaping traveling.
  • the vehicle speed of the combine 1 starts to gradually approach V7 from V11 under the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the third vehicle speed change rate g3.
  • the vehicle speed of combine 1 reaches V7. After that, the vehicle speed of the combine 1 is maintained at V7 until time t17.
  • combine 1 reaches position P17. Then, in order to start the turning from the position P18, the vehicle speed of the combine 1 starts to gradually approach from V7 to V2 under the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the fourth vehicle speed change rate g4.
  • the speed of the combine 1 reaches V2, and the combine 1 starts turning.
  • the vehicle speed of the combine 1 is maintained at V2 until time t19.
  • combine 1 At time t19, combine 1 reaches position P19 and ends the turn. Then, the combine 1 starts traveling along the departure return route LW. The vehicle speed of the combine 1 starts to gradually approach V7 from V2 under the control of the vehicle speed controller 24b. The vehicle speed change rate at this time is the fifth vehicle speed change rate g5.
  • the vehicle speed of combine 1 reaches V7. After that, the vehicle speed of the combine 1 is maintained at V7 until time t21.
  • combine 1 reaches position P21. Then, in order to start the turning from the position P22, the vehicle speed of the combine 1 starts to gradually approach from V7 to V2 under the control of the vehicle speed control unit 24b.
  • the vehicle speed change rate at this time is the fourth vehicle speed change rate g4.
  • the speed of the combine 1 reaches V2 and the combine 1 starts turning.
  • the vehicle speed of the combine 1 is maintained at V2 until time t23.
  • combine 1 At time t23, combine 1 reaches position P23 and ends the turn.
  • the vehicle speed of the combine 1 starts to gradually approach V7 from V2 under the control of the vehicle speed controller 24b.
  • the vehicle speed change rate at this time is the fifth vehicle speed change rate g5.
  • the vehicle speed of combine 1 reaches V7. After that, the vehicle speed of the combine 1 is maintained at V7 and the traveling to the stop position PP is continued.
  • the fourth vehicle speed change rate g4 is larger than the second vehicle speed change rate g2.
  • the second vehicle speed change rate g2 is larger than the third vehicle speed change rate g3.
  • the third vehicle speed change rate g3 is larger than the fifth vehicle speed change rate g5.
  • the fifth vehicle speed change rate g5 is larger than the first vehicle speed change rate g1.
  • the combine 1 is in the work advance state from the time t10 to the time t11. Further, the combine 1 is in a turning state from time t11 to time t14. That is, at time t11, the combine 1 has changed from the work forward state to the turning state.
  • the vehicle speed control unit 24b starts to make the vehicle speed asymptotic to the turning vehicle speed at time t11.
  • the turning vehicle speed at this time is the target vehicle speed corresponding to the turning state which is the state of the airframe after the change.
  • the vehicle speed control unit 24b can start to make the vehicle speed asymptotic to the changed vehicle speed after the state of the machine body changes during automatic traveling.
  • “after the state of the machine body is changed” is after the time when the state of the machine body is changed. That is, “after the state of the machine body has changed” includes the time when the state of the machine body has changed.
  • the combine 1 is in the work advance state from the time t14 to the time t15. That is, at the time t14, the combine 1 has changed from the turning state to the working forward state.
  • the vehicle speed control unit 24b starts to make the vehicle speed asymptotic to the work forward vehicle speed at time t13, which is a time before time t14.
  • the work forward vehicle speed at this time is a target vehicle speed corresponding to the work forward state, which is the state of the machine body after the change.
  • the vehicle speed control unit 24b can start the vehicle speed to gradually approach the post-change vehicle speed before the state of the machine body changes during automatic traveling.
  • Vehicle speed change rate As illustrated in FIG. 10, when the vehicle speed is gradually approached from V11 to V2, the vehicle speed control unit 24b changes the vehicle speed at the first vehicle speed change rate g1. In addition, when the vehicle speed is gradually approached from V11 to V7, the vehicle speed control unit 24b changes the vehicle speed at the third vehicle speed change rate g3. When the vehicle speed is gradually approached from V2 to V7, the vehicle speed control unit 24b changes the vehicle speed at the fifth vehicle speed change rate g5.
  • the vehicle speed control unit 24b changes the vehicle speed by changing the vehicle speed at the first vehicle speed change rate g1, the third vehicle speed change rate g3, or the fifth vehicle speed change rate g5 when the vehicle speed is lower than the changed vehicle speed. It is configured to make the vehicle speed asymptotic to the vehicle speed.
  • the first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5 all correspond to the “first change rate” according to the present invention.
  • the vehicle speed control unit 24b changes the vehicle speed at the second vehicle speed change rate g2.
  • the vehicle speed control unit 24b changes the vehicle speed at the fourth vehicle speed change rate g4.
  • the vehicle speed control unit 24b changes the vehicle speed at the second vehicle speed change rate g2 or the fourth vehicle speed change rate g4 so that the vehicle speed gradually approaches the changed vehicle speed.
  • the second vehicle speed change rate g2 is different from any of the first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5.
  • the fourth vehicle speed change rate g4 is different from any of the first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5.
  • both the second vehicle speed change rate g2 and the fourth vehicle speed change rate g4 correspond to the "second change rate" according to the present invention.
  • the first vehicle speed change rate g1, the third vehicle speed change rate g3, and the fifth vehicle speed change rate g5 are all smaller than the second vehicle speed change rate g2 and smaller than the fourth vehicle speed change rate g4. Is also small. Therefore, when the combine 1 speeds up during automatic traveling, the vehicle speed changes relatively slowly. As a result, it is possible to avoid making the operator feel uneasy due to sudden acceleration.
  • the vehicle speed changes relatively quickly. As a result, the vehicle speed can be changed in a short time during deceleration.
  • the vehicle speed change rate when the vehicle speed control unit 24b makes the vehicle speed asymptotic to the changed vehicle speed varies depending on the change pattern of the state of the aircraft.
  • the vehicle speed control unit 24b is configured to change the vehicle speed at the first vehicle speed change rate g1 when the state of the machine body changes from the work forward state to the turning state.
  • vehicle speed control unit 24b is configured to change the vehicle speed at the second vehicle speed change rate g2 when the state of the machine body changes from the turning state to the work forward state.
  • vehicle speed control unit 24b is configured to change the vehicle speed at the third vehicle speed change rate g3 when the state of the machine body changes from the working forward state to the non-working state.
  • vehicle speed control unit 24b is configured to change the vehicle speed at the fourth vehicle speed change rate g4 when the state of the machine body changes from the non-working state to the turning state.
  • vehicle speed control unit 24b is configured to change the vehicle speed at the fifth vehicle speed change rate g5 when the state of the machine body changes from the turning state to the non-working state.
  • the first vehicle speed change rate g1, the second vehicle speed change rate g2, the third vehicle speed change rate g3, the fourth vehicle speed change rate g4, and the fifth vehicle speed change rate g5 are different from each other.
  • the uncut portion CA1 has not been cut yet. That is, the uncut portion CA1 is the unworked area AR1. Further, the mowing work has been completed on the already-cut portion CA2 and the outer peripheral area SA. That is, the already-cut area CA2 and the outer peripheral area SA are the already-worked area AR2.
  • the work forward state is a state of traveling in the unworked area AR1.
  • the turning state and the non-working state are states in which the vehicle is traveling in the already-worked area AR2.
  • the state of traveling in the unworked area AR1 is referred to as the "first state”.
  • the state of traveling in the already-worked area AR2 is referred to as the "second state”. That is, in the present embodiment, the work advance state is the first state.
  • the turning state, the reverse traveling state, and the non-working state are the second states.
  • the vehicle speed control unit 24b makes the vehicle speed asymptotic to the target vehicle speed corresponding to the second state after the change from the first state to the second state. Configured to get started. It should be noted that “after the change from the first state to the second state” is after the time when the state of the machine body changes from the first state to the second state. That is, “after the change from the first state to the second state” includes the time when the state of the aircraft changes from the first state to the second state.
  • the state of the aircraft changes from the first state to the second state at time t11. Therefore, at this time, at time t11, which is a time point after the change from the first state to the second state, the vehicle speed is gradually approaching the target vehicle speed corresponding to the second state.
  • the "target vehicle speed corresponding to the second state" in this case is the turning vehicle speed.
  • the state of the aircraft has changed from the first state to the second state. Therefore, at this time, at time t15, which is a time point after the change from the first state to the second state, the vehicle speed is gradually approaching the target vehicle speed corresponding to the second state.
  • the “target vehicle speed corresponding to the second state” in this case is a non-working vehicle speed.
  • the vehicle speed control unit 24b makes the vehicle speed asymptotic to the target vehicle speed corresponding to the first state before changing from the second state to the first state. Configured to get started.
  • the state of the aircraft changes from the second state to the first state at time t14. Therefore, at this time, at time t13, which is a time point before the change from the second state to the first state, the vehicle speed is gradually approaching the target vehicle speed corresponding to the first state.
  • the "target vehicle speed corresponding to the first state" in this case is the work forward vehicle speed.
  • the vehicle speed will gradually approach the vehicle speed after the change when the state of the aircraft changes. Therefore, when the state of the aircraft changes, even if the target vehicle speed corresponding to the state of the aircraft before the change and the target vehicle speed corresponding to the state of the aircraft after the change differ significantly, the vehicle speed suddenly changes. There is nothing to do.
  • the combine 1 that can avoid a decrease in work efficiency can be realized.
  • the traveling device 11 may be a wheel type or a semi-crawler type.
  • the cutting travel route LI calculated by the route calculation unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions.
  • the present invention is not limited to this, and the mowing traveling route LI calculated by the route calculation unit 23 may not be a plurality of mesh lines extending in the vertical and horizontal directions.
  • the cutting traveling route LI calculated by the route calculation unit 23 may be a spiral traveling route.
  • the mowing traveling route LI may not be orthogonal to another mowing traveling route LI.
  • the mowing traveling route LI calculated by the route calculation unit 23 may be a plurality of parallel lines parallel to each other.
  • the operator manually operates the combine 1 and, as shown in FIG. 2, in the outer peripheral portion of the field, carries out the cutting operation so as to circulate along the boundary line of the field.
  • the present invention is not limited to this, and the combine 1 may be configured to run automatically and to perform the cutting operation so as to circulate along the boundary line of the field in the outer peripheral portion of the field.
  • the number of turns at this time may be a number other than three. For example, the number of turns at this time may be two.
  • vehicle position calculation unit 21, the area calculation unit 22, the route calculation unit 23, and the travel control unit 24 may be provided outside the combiner 1, and for example, the combiner may be used. It may be provided in a management server provided outside of 1.
  • the vehicle speed setting unit 24a may be configured to set the non-working vehicle speed in accordance with the manual operation of the main transmission lever 19.
  • the vehicle speed setting unit 24a may be configured to set the reverse vehicle speed according to the manual operation of the main transmission lever 19.
  • the vehicle speed setting unit 24a may be configured to set the turning vehicle speed in accordance with the manual operation of the main transmission lever 19.
  • the communication terminal 4 may not be provided.
  • the main shift lever 19 may be configured to be operable in multiple stages.
  • the vehicle speed setting unit 24a may be configured to set the work forward vehicle speed in multiple stages.
  • the vehicle speed change rate when the vehicle speed control unit 24b makes the vehicle speed asymptotic to the changed vehicle speed does not have to be different depending on the change pattern of the state of the aircraft.
  • the vehicle speed control unit 24b changes the state of the machine body from the work forward state to the turning state, changes from the turning state to the work forward state, changes from the work forward state to the non-working state, and changes from the non-working state.
  • the vehicle speed may be changed at the first vehicle speed change rate g1.
  • the vehicle speed control unit 24b changes the vehicle speed at the first vehicle speed change rate g1 regardless of whether the vehicle speed is lower than the post-change vehicle speed or when the vehicle speed is higher than the post-change vehicle speed. It may be configured so that the vehicle speed gradually approaches the vehicle speed.
  • the vehicle speed control unit 24b Asymptotically approximates the vehicle speed to the target vehicle speed corresponding to the second state before changing from the first state to the second state. It may be configured to start.
  • the vehicle speed control unit 24b causes the vehicle speed to gradually approach the target vehicle speed corresponding to the first state after the change from the second state to the first state. It may be configured to start.
  • the vehicle speed control unit 24b may be configured such that it is impossible to start the vehicle speed to gradually approach the post-change vehicle speed before the change of the state of the machine body during automatic traveling.
  • the vehicle speed control unit 24b may be configured so that it is impossible to start the vehicle speed to gradually approach the post-change vehicle speed after the state of the machine body changes during automatic traveling.
  • the vehicle speed control unit 24b changes the vehicle speed at a constant vehicle speed change rate until the vehicle speed reaches the changed vehicle speed when the vehicle speed gradually approaches the changed vehicle speed.
  • the vehicle speed control unit 24b may be configured to gradually approximate the vehicle speed to the changed vehicle speed while changing the vehicle speed change rate.
  • the vehicle speed control unit 24b continuously increases the vehicle speed change rate from 0 (zero) to a predetermined value when the vehicle speed gradually approaches the post-change vehicle speed, and then continuously increases from the predetermined value to 0 (zero). It may be configured to reduce to.
  • the vehicle speed setting unit 24a may be configured to continuously set the target vehicle speed in a state other than the work forward state during automatic traveling.
  • the communication terminal 4 may not be provided.
  • the main shift lever 19 may be configured to be operable in multiple stages.
  • the vehicle speed setting unit 24a may be configured to set the work forward vehicle speed in multiple stages.
  • It may be configured as an agricultural work machine control program that causes a computer to realize the functions of the respective members in the above-described embodiment. Further, it may be configured as a recording medium in which an agricultural work machine control program for causing a computer to realize the functions of the respective members in the above-described embodiment is recorded. In addition, the farming machine control method may be configured to perform what is performed by each member in one or more steps in the above-described embodiment.
  • a normal combine 101 (corresponding to the “harvester” according to the present invention) includes a crawler type traveling device 111, a driving unit 112, a threshing device 113, a grain tank 114, a harvesting device H, The transport device 116, the grain discharging device 118, the satellite positioning module 180, and the engine E are provided.
  • the traveling device 111 is provided in the lower portion of the combine 101.
  • the traveling device 111 is driven by the power from the engine E. Then, the combine 101 can be self-propelled by the traveling device 111.
  • the operating unit 112 the threshing device 113, and the grain tank 114 are provided above the traveling device 111.
  • An operator who monitors the work of the combine 101 can be boarded on the operating unit 112. The operator may monitor the work of the combine 101 from the outside of the combine 101.
  • the grain discharging device 118 is provided above the grain tank 114. Further, the satellite positioning module 180 is attached to the upper surface of the driving unit 112.
  • the harvesting device H is provided in the front part of the combine 101.
  • the transport device 116 is provided on the rear side of the harvesting device H. Further, the harvesting device H has a harvesting device 115 and a reel 117.
  • the cutting device 115 cuts the planted grain culms in the field. Further, the reel 117 scrapes the planted grain culm to be harvested while being rotationally driven around the reel axis 117b extending in the left-right direction of the machine body. With this configuration, the harvesting device H harvests grain in the field. Then, the combine 101 can perform the mowing traveling in which the traveling device 111 travels while mowing the planted culm in the field by the mowing device 115.
  • the cut culm cut by the reaping device 115 is conveyed to the threshing device 113 by the conveying device 116.
  • the cut culms are threshed.
  • the grain obtained by the threshing process is stored in the grain tank 114.
  • the grain stored in the grain tank 114 is discharged to the outside by the grain discharging device 118 as necessary.
  • the driving unit 112 is provided with a communication terminal 104.
  • the communication terminal 104 is configured to be able to display various information.
  • the communication terminal 104 is fixed to the driving unit 112.
  • the present invention is not limited to this, and the communication terminal 104 may be configured to be attachable to and detachable from the driving unit 112, or the communication terminal 104 may be located outside the combine 101. ..
  • the combiner 101 makes a round trip while harvesting grains in the outer peripheral area of the field as shown in FIG. 12, and then performs a cutting run in the inner area of the field as shown in FIG. , Is configured to harvest grain in the field.
  • the round trip shown in FIG. 12 is performed manually.
  • the cutting operation in the inner area shown in FIG. 13 is performed automatically. That is, the combine 101 is capable of automatic traveling.
  • the present invention is not limited to this, and the lap traveling shown in FIG. 12 may be performed by automatic traveling.
  • the drive unit 112 is provided with a main shift lever 119.
  • the main shift lever 119 is manually operated.
  • the vehicle speed of the combine 101 changes. That is, when the combine 101 is traveling manually, the operator can change the vehicle speed of the combine 101 by operating the main shift lever 119.
  • the operator can change the rotation speed of the engine E by operating the communication terminal 104.
  • the appropriate work speed differs depending on the type of crop. If the operator operates the communication terminal 104 and sets the rotation speed of the engine E to an appropriate rotation speed, work can be performed at a work speed suitable for the type of crop.
  • the combine 101 includes a harvesting clutch C1 and a control unit 120.
  • the power output from the engine E is distributed to the harvesting clutch C1 and the traveling device 111.
  • the traveling device 111 is driven by the power from the engine E.
  • the reaping clutch C1 is configured to be capable of changing its state between an on state in which power is transmitted and an off state in which power is not transmitted.
  • the reaping clutch C1 When the reaping clutch C1 is in the on state, the power output from the engine E is transmitted to the reaping device 115 and the reel 117. At this time, the reaping device 115 and the reel 117 are driven by the power from the engine E.
  • the mowing clutch C1 connects and disconnects the power transmission to the reel 117 and the mowing device 115.
  • the control unit 120 also includes a vehicle position calculation unit 121, a region calculation unit 122, a route calculation unit 123, and a travel control unit 124.
  • the satellite positioning module 180 receives a GPS signal from an artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 14, the satellite positioning module 180 sends positioning data indicating the own vehicle position of the combine 101 to the own vehicle position calculation unit 121 based on the received GPS signal.
  • GPS Global Positioning System
  • the own vehicle position calculation unit 121 calculates the position coordinates of the combine 101 over time based on the positioning data output by the satellite positioning module 180.
  • the calculated position coordinates of the combine 101 over time are sent to the area calculation unit 122 and the travel control unit 124.
  • the area calculation unit 122 based on the temporal position coordinates of the combine 101 received from the own vehicle position calculation unit 121, as shown in FIG. 13, an outer peripheral area SA (corresponding to the “cut area” according to the present invention). And the work target area CA (corresponding to the “uncut area” according to the present invention).
  • the area calculation unit 122 calculates the traveling locus of the combine 101 during the round trip on the outer peripheral side of the field based on the position coordinates of the combine 101 over time received from the vehicle position calculation unit 121. .. Then, the area calculation unit 122 calculates, as the outer peripheral area SA, the area on the outer peripheral side of the field in which the combine 101 traveled around while harvesting the grain, based on the calculated traveling locus of the combine 101. In addition, the area calculation unit 122 calculates an area inside the field with respect to the calculated outer peripheral area SA as the work target area CA.
  • the travel route of the combine 101 for traveling around the outer circumference of the field is indicated by an arrow.
  • the combine 101 makes three round trips. Then, when the mowing traveling along the traveling route is completed, the field becomes the state shown in FIG.
  • the area calculation unit 122 calculates, as the outer area SA, the area on the outer circumference side of the field in which the combine 101 traveled around while harvesting grains. In addition, the area calculation unit 122 calculates an area inside the field with respect to the calculated outer peripheral area SA as the work target area CA.
  • the calculation result by the area calculation unit 122 is sent to the route calculation unit 123.
  • the route calculation unit 123 calculates, based on the calculation result received from the region calculation unit 122, a mowing traveling route LI, which is a traveling route for mowing traveling in the work target area CA, as shown in FIG. 13.
  • the cutting travel route LI is a plurality of mesh lines extending in the vertical and horizontal directions. Further, the plurality of mesh lines do not have to be straight lines and may be curved.
  • the cutting travel route LI calculated by the route calculation unit 123 is sent to the travel control unit 124.
  • the traveling control unit 124 is configured to control the traveling device 111. Then, the traveling control unit 124 controls the automatic traveling of the combine 101 based on the position coordinates of the combine 101 received from the own vehicle position calculation unit 121 and the mowing traveling route LI received from the route calculation unit 123. More specifically, as shown in FIG. 13, the traveling control unit 124 controls the traveling of the combine 101 so that the harvesting traveling is performed by the automatic traveling along the harvesting traveling route LI.
  • the operator manually operates the combine 101, and as shown in FIG. 12, in the outer peripheral portion of the field, the operator performs a cutting operation so as to circulate along the boundary line of the field.
  • the combine 101 makes three round trips.
  • this round traveling is completed, the field becomes the state shown in FIG.
  • the area calculation unit 122 calculates the travel locus of the combine 101 during the round trip shown in FIG. 12 based on the position coordinates of the combine 101 over time received from the vehicle position calculation unit 121. Then, as illustrated in FIG. 13, the area calculation unit 122 determines, based on the calculated traveling locus of the combine 101, an area on the outer peripheral side of the field in which the combine 101 traveled around while mowing the planted grain culms in the outer peripheral area SA. Calculate as In addition, the area calculation unit 122 calculates an area inside the field with respect to the calculated outer peripheral area SA as the work target area CA.
  • the route calculation unit 123 sets the mowing traveling route LI in the work target area CA as shown in FIG. 13 based on the calculation result received from the region calculation unit 122.
  • the traveling control unit 124 controls the traveling of the combine 101 so that the reaping traveling is performed by the automatic traveling along the reaping traveling route LI.
  • the combine 101 When the automatic traveling in the work target area CA is started, as shown in FIG. 13, the combine 101 performs the cutting operation so as to circulate along the outer shape of the work target area CA in the outer peripheral portion of the work target area CA. .. Then, the combine 101 performs the mowing traveling so as to cover the entire work target area CA by repeating the traveling along the mowing traveling route LI and the direction change by the ⁇ -turn.
  • the transport vehicle CV is parked outside the field. Then, in the outer peripheral area SA, a stop position PP is set near the transport vehicle CV.
  • the carrier CV can collect and transport the grains discharged from the grain discharging device 118 by the combine 101. At the time of discharging the grain, the combine 101 stops at the stop position PP, and the grain discharging device 118 discharges the grain to the transport vehicle CV.
  • the portion where the mowing traveling is completed becomes the outer peripheral area SA.
  • the combine 101 is provided with a reel up button 141 (corresponding to the “reel operating section” according to the present invention) and a reel down button 142 (corresponding to the “reel operating section” according to the present invention). .. Further, as shown in FIGS. 11 and 14, the combine 101 includes an operation lever 140 (corresponding to a “mowing operation section” according to the present invention), a mowing cylinder 115A, and a reel cylinder 117A.
  • Both the reel up button 141 and the reel down button 142 are provided on the operation lever 140. Then, the operation lever 140, the reel up button 141, and the reel down button 142 are all manually operated.
  • control unit 120 has a clutch control unit 125, an automatic control unit 126, a manual reel control unit 127, and a manual cutting device control unit 128.
  • automatic control unit 126 has an automatic reel control unit 126a and an automatic reaping device control unit 126b.
  • the manual reel control unit 127 controls the reel cylinder 117A in the contracting direction according to this signal. As a result, the reel 117 descends with respect to the mowing device 115.
  • the manual reel control unit 127 controls the raising and lowering of the reel 117 with respect to the reaping device 115 according to the manual operation of the reel up button 141 and the reel down button 142.
  • the manual harvesting device control unit 128 controls the harvesting cylinder 115A in the extending direction in response to this signal. As a result, the reaping device 115 moves up with respect to the machine body.
  • the combine 101 when traveling manually, when the operator swings the operation lever 140 forward, a signal according to the operation is sent to the manual harvesting device control unit 128.
  • the manual harvesting device controller 128 controls the harvesting cylinder 115A in the contracting direction in response to this signal. As a result, the reaping device 115 descends with respect to the machine body.
  • the manual mowing device control unit 128 controls the raising and lowering of the mowing device 115 with respect to the machine body in accordance with the manual operation of the operation lever 140.
  • the position coordinates of the combine 101 calculated by the vehicle position calculation unit 121 are sent to the automatic control unit 126.
  • the cutting travel route LI calculated by the route calculation unit 123 is sent to the automatic control unit 126.
  • the automatic reel control unit 126a based on the position coordinates of the combine 101 received from the vehicle position calculation unit 121 and the cutting traveling route LI received from the route calculation unit 123 during the automatic traveling, the reel cylinder 117A. Control automatically.
  • the automatic reel control unit 126a automatically controls the raising and lowering of the reel 117 with respect to the reaping device 115 during automatic traveling.
  • the automatic mowing device control unit 126b based on the position coordinates of the combine 101 received from the vehicle position calculating unit 121 and the mowing traveling route LI received from the route calculating unit 123 during the automatic traveling, the mowing cylinder. Automatically control 115A.
  • the automatic mowing device control unit 126b automatically controls the raising and lowering of the mowing device 115 with respect to the machine body during the automatic traveling.
  • the automatic control unit 126 automatically controls the lifting and lowering of the reel 117 and the reaping device 115 during automatic traveling.
  • the automatic control unit 126 executes the mowing-out control in which the reaper 115 is raised and the reel 117 is lowered when the work area CA enters the outer peripheral area SA. Then, in the mowing control, the automatic control unit 126 starts raising the reel 117 and then raises the mowing device 115. Further, in the mowing control, the automatic control unit 126 starts lowering the reel 117 before entering the outer peripheral area SA from the work target area CA.
  • the automatic control unit 126 sends a signal indicating the control amount of the reaping cylinder 115A to the clutch control unit 125 in the mowing control.
  • the clutch control unit 125 controls the reaping clutch C1 based on this signal.
  • the clutch control unit 125 determines, based on this signal, whether or not the height of the reaping device 115 has reached a predetermined height H1. Then, when it is determined that the height of the mowing device 115 has reached the predetermined height H1, the clutch control unit 125 controls the mowing clutch C1 to the disengaged state.
  • the clutch control unit 125 disconnects the mowing clutch C1. To control.
  • the automatic control unit 126 After executing the mowing control, the automatic control unit 126 also executes a height maintaining control for maintaining the mowing device 115 and the reel 117 in a state in which they are neither raised nor lowered. Then, the automatic control unit 126 ends the height maintaining control and executes the preparation lowering control before entering the work target area CA from the outer peripheral area SA.
  • the preparatory lowering control is control for lowering the mowing device 115 with respect to the machine body without moving the reel 117 up and down with respect to the mowing device 115.
  • the automatic control unit 126 executes the height maintaining control for maintaining the mowing device 115 and the reel 117 in a state where neither the mowing device 115 nor the reel 117 is moved up and down after the execution of the mowing control, and enters the work target area CA from the outer peripheral area SA. Before doing so, the height maintaining control is ended and the harvesting device 115 is lowered.
  • the automatic control unit 126 maintains the height of the mowing device 115 for a predetermined time after executing the preparation lowering control. Then, when a predetermined time has elapsed after the preparation lowering control, the automatic control unit 126 executes the cutting start time control.
  • the control at the beginning of cutting is the control of lowering the mowing device 115 and simultaneously raising the reel 117.
  • the automatic control unit 126 executes the cutting start time control before entering the work target area CA from the outer peripheral area SA.
  • the automatic control unit 126 executes the preparatory lowering control for lowering the mowing device 115 without raising and lowering the reel 117 before executing the control for starting cutting, and the control for starting cutting after the preparatory lowering control. Until the time point, the height of the mowing device 115 is maintained.
  • the position coordinates of the combine 101 calculated by the own vehicle position calculation unit 121 are sent to the clutch control unit 125.
  • the cutting travel route LI calculated by the route calculation unit 123 is sent to the clutch control unit 125.
  • the clutch control unit 125 sets the reaping clutch C1 based on the position coordinates of the combine 101 received from the vehicle position calculation unit 121 and the reaping traveling route LI received from the route calculation unit 123 during the automatic traveling. Control on state.
  • the clutch control unit 125 controls the mowing clutch C1 to the on state when the distance between the combine 101 and the starting point of the mowing traveling route LI becomes a predetermined distance or less.
  • the predetermined distance is set so that the cutting clutch C1 is controlled to be in the on state during the execution of the height maintaining control. That is, the reaping clutch C1 is in the on state during execution of the height maintenance control.
  • the clutch control unit 125 controls the cutting clutch C1 to the on state before the automatic control unit 126 executes the cutting start time control.
  • the manual reel control unit 127 sends a predetermined signal to the automatic reel controller 126a.
  • This signal is a signal that causes the automatic reel control unit 126a to stop the control of the raising and lowering of the reel 117 with respect to the reaping device 115. That is, when the automatic reel control unit 126a receives this signal, the automatic reel control unit 126a suspends the control of the raising and lowering of the reel 117 with respect to the reaper 115 by the automatic reel control unit 126a.
  • the manual reel control unit 127 controls the elevation of the reel 117 with respect to the reaping device 115, prior to the automatic reel control unit 126a.
  • the manual reel control unit 127 has priority over the automatic reel control unit 126a to control the lifting and lowering of the reel 117 with respect to the reaping device 115.
  • the automatic mowing device control unit 126b controls the raising and lowering of the mowing device 115 with respect to the machine body, the swinging operation of the operation lever 140 in the front-back direction is invalidated.
  • the automatic mowing device control unit 126b controls the raising and lowering of the mowing device 115 with respect to the machine body
  • the automatic mowing device control unit 126b has priority over the manual mowing device control unit 128.
  • the raising/lowering of the mowing device 115 with respect to the machine body is controlled.
  • the automatic control unit 126 executes mowing control.
  • the reel 117 has begun to descend before the combine 101 enters the outer peripheral area SA from the work target area CA. Then, when the combine 101 enters the outer peripheral area SA from the work target area CA, the automatic control unit 126 starts to raise the reaping device 115.
  • the mowing device 115 moves up with respect to the airframe and the reel 117 moves toward the mowing device 115.
  • the descent and the descent occur simultaneously.
  • the clutch control unit 125 controls the reaping clutch C1 to the disengaged state.
  • the height maintenance control is executed when the height of the reaping device 115 reaches the height H2.
  • the height H2 is higher than the height H1.
  • the reaping clutch C1 is in the on state while the height maintaining control is being executed. Then, after the reaping clutch C1 is turned on, the preparation lowering control is executed as shown in FIG. By this preparation lowering control, the height of the mowing device 115 becomes the height H3. The height H3 is lower than the height H2.
  • the height of the mowing device 115 is maintained at H3, and then the mowing start control is executed. By this control at the beginning of cutting, the height of the cutting device 115 becomes the height H4.
  • the height H4 is lower than the height H3.
  • the combine 101 passes over the rut formed by the traveling of the combine 101 before entering the work target area CA from the outer peripheral area SA.
  • the height H4 is set to a height at which the mowing device 115 does not interfere with the rut.
  • the height of the reel 117 with respect to the mowing device 115 is determined by executing the mowing start control. Maintained up to the point.
  • the automatic control unit 126 starts lowering the mowing device 115 after the mowing device 115 has passed above the rut.
  • FIG. 17 shows an example in which the operator presses the reel up button 141 during the execution of the height maintenance control.
  • the operator presses the reel up button 141 once neither the reel up button 141 nor the reel down button 142 is manually operated.
  • the reel 117 is raised by the control of the manual reel control unit 127 in response to the pushing operation of the reel raising button 141. Further, the control of the lifting and lowering of the reel 117 with respect to the reaping device 115 by the automatic reel control unit 126a is stopped.
  • the raising/lowering control of the reaping device 115 in this case is the same as that of the example shown in FIG.
  • the reaping device 115 ascends and the reel 117 descends when the work area CA enters the outer peripheral area SA.
  • the harvested grain culm is sandwiched between the harvesting device 115 and the reel 117.
  • the reaping device 115 rises, the cut culm is less likely to spill from the reaping device 115.
  • the traveling device 111 may be a wheel type or a semi-crawler type.
  • the mowing traveling route LI calculated by the route calculation unit 123 is a plurality of mesh lines extending in the vertical and horizontal directions.
  • the present invention is not limited to this, and the mowing traveling route LI calculated by the route calculating unit 123 may not be a plurality of mesh lines extending in the vertical and horizontal directions.
  • the mowing traveling route LI calculated by the route calculating unit 123 may be a spiral traveling route.
  • the mowing traveling route LI may not be orthogonal to another mowing traveling route LI.
  • the mowing traveling route LI calculated by the route calculation unit 123 may be a plurality of parallel lines that are parallel to each other.
  • the operator manually operates the combine 101, and as shown in FIG. 12, in the outer peripheral portion of the field, carries out the cutting operation so as to circulate along the boundary line of the field.
  • the present invention is not limited to this, and the combine 101 may be configured to automatically travel, and perform harvesting traveling so as to circulate along the boundary line of the field in the outer peripheral portion of the field.
  • the number of turns at this time may be a number other than three. For example, the number of turns at this time may be two.
  • the vehicle position calculation unit 121 the area calculation unit 122, the route calculation unit 123, the travel control unit 124, the clutch control unit 125, the automatic control unit 126, the manual reel control unit 127, and the manual harvesting device control unit 128, Some or all of them may be provided outside the combine 101, and for example, may be provided in a management server provided outside the combine 101.
  • the execution start timing and the end timing of the cut-through control may be determined based on the position of the combine 101, or may be determined based on other information.
  • the execution start timing and the end timing of the mowing start control may be determined based on the position of the combine 101, or may be determined based on other information.
  • the execution start timing and the end timing of the preparation lowering control may be determined based on the position of the combine 101, or may be determined based on other information.
  • the timing at which the clutch control unit 125 controls the reaping clutch C1 to the on state and the timing to control to the disengaged state may be determined based on the position of the combine 101, or may be determined based on other information. May be.
  • the execution start timing and the end timing of the height maintenance control may be determined based on the position of the combine 101, or may be determined based on other information.
  • the automatic reel control unit 126a uses the manual reel control when the reel raising button 141 or the reel lowering button 142 is manually operated while the automatic reel control unit 126a controls the raising and lowering of the reel 117 with respect to the mowing device 115.
  • the reel 127 may be configured to be controlled to move up and down with respect to the harvesting device 115 in preference to the portion 127.
  • the automatic control unit 126 may be configured not to execute the height maintaining control after executing the mowing control.
  • the clutch control unit 125 may be configured to control the cutting clutch C1 to the disengaged state based on information other than the height of the cutting device 115.
  • the clutch control unit 125 may be configured to control the cutting clutch C1 to the on state after the automatic control unit 126 executes the cutting start time control.
  • the automatic control unit 126 may be configured not to execute the preparatory lowering control.
  • the automatic control unit 126 may be configured not to execute the cutting start control.
  • the automatic control unit 126 may start lowering the reel 117 at the same time as entering the work target area CA from the work target area CA, or may start reeling after entering the work target area CA to the outer circumference area SA. You may start lowering 117.
  • the automatic control unit 126 may start lowering the reel 117 and start raising the mowing device 115 at the same time, or may start raising the mowing device 115 before starting lowering the reel 117. good.
  • It may be configured as a harvester control program that causes a computer to realize the functions of the respective members in the above-described embodiment. Further, it may be configured as a recording medium in which a harvester control program that causes a computer to realize the functions of the respective members in the above-described embodiment is recorded. In addition, the harvesting machine control method may be configured to perform what is performed by each member in one or more steps in the above embodiment.
  • the present invention can be applied to not only ordinary combine harvesters, but also various agricultural working machines such as self-removing combine harvesters, rice transplanters, and tractors.
  • the present invention can be used for a harvester equipped with a mowing device for mowing the planted grain culm and capable of automatic traveling.
  • (First embodiment) 1 combine (agricultural work machine) 4 Communication terminal (second operation unit) 19 Main shift lever (1st operation part) 24a vehicle speed setting unit 24b vehicle speed control unit AR1 unworked area AR2 already worked area g1 first vehicle speed change rate (first change rate) g2 Second vehicle speed change rate (second change rate) g3 Third vehicle speed change rate (first change rate) g4 4th vehicle speed change rate (2nd change rate) g5 Fifth vehicle speed change rate (first change rate)
  • (Second embodiment) 101 combine harvester 115 Mowing device 117 Reel 117b Reel shaft core 125 Clutch control unit 126 Automatic control unit 126a Automatic reel control unit 126b Automatic mowing device control unit 127 Manual reel control unit 128 Manual mowing device control unit 140 Operation lever (mowing operation unit) 141 reel up button (reel operation part) 142 reel down button (reel operation part) C1 reaping clutch CA work area (uncut area) H1 Predetermined height SA Peripheral area (Mowed area)

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Soil Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Harvester Elements (AREA)

Abstract

La présente invention concerne une machine de travail agricole comprenant : une unité de réglage de vitesse de véhicule (24a) qui est apte à régler individuellement une vitesse de véhicule cible pour chacune des différentes conditions d'un corps de machine qui se déplace automatiquement ; et une unité de commande de vitesse de véhicule (24b) qui commande une vitesse de véhicule en fonction de la vitesse de véhicule cible réglée par l'unité de réglage de vitesse de véhicule (24a). Lorsqu'il y a un changement d'état du corps de machine pendant un déplacement automatique, l'unité de commande de vitesse de véhicule (24b) amène la vitesse de véhicule à s'approcher d'une vitesse de véhicule post-changement qui est la vitesse de véhicule cible correspondant à l'état post-changement du corps de machine.
PCT/JP2019/045720 2018-11-26 2019-11-22 Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement comprenant un programme de commande de machine de travail agricole enregistré sur ce dernier, procédé de commande de machine de travail agricole, machine de récolte, programme de commande de machine de récolte, support d'enregistrement comprenant un programme de commande de machine de récolte enregistré sur ce dernier, et procédé de commande de machine de récolte WO2020110920A1 (fr)

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KR1020217013338A KR20210093873A (ko) 2018-11-26 2019-11-22 농작업기, 농작업기 제어 프로그램, 농작업기 제어 프로그램을 기록한 기록 매체, 농작업기 제어 방법, 수확기, 수확기 제어 프로그램, 수확기 제어 프로그램을 기록한 기록 매체, 수확기 제어 방법
CN201980074233.7A CN113079691B (zh) 2018-11-26 2019-11-22 农作业机及其控制方法、农作业机控制程序及其记录介质

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JP2018220468A JP7113726B2 (ja) 2018-11-26 2018-11-26 農作業機
JP2018-220468 2018-11-26
JP2018220467A JP7117980B2 (ja) 2018-11-26 2018-11-26 農作業機
JP2018-220467 2018-11-26
JP2018-221154 2018-11-27
JP2018221154A JP7113727B2 (ja) 2018-11-27 2018-11-27 収穫機

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US11889788B2 (en) 2020-10-09 2024-02-06 Deere & Company Predictive biomass map generation and control
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