WO2021261343A1 - Moissonneuse, système de commande de moissonneuse, procédé de commande de moissonneuse, programme de commande de moissonneuse, et support de stockage - Google Patents

Moissonneuse, système de commande de moissonneuse, procédé de commande de moissonneuse, programme de commande de moissonneuse, et support de stockage Download PDF

Info

Publication number
WO2021261343A1
WO2021261343A1 PCT/JP2021/022768 JP2021022768W WO2021261343A1 WO 2021261343 A1 WO2021261343 A1 WO 2021261343A1 JP 2021022768 W JP2021022768 W JP 2021022768W WO 2021261343 A1 WO2021261343 A1 WO 2021261343A1
Authority
WO
WIPO (PCT)
Prior art keywords
harvesting
height
field
crop
unit
Prior art date
Application number
PCT/JP2021/022768
Other languages
English (en)
Japanese (ja)
Inventor
藤田敏章
瀬川卓二
木村憲司
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 JP2020107947A external-priority patent/JP7423441B2/ja
Priority claimed from JP2020107946A external-priority patent/JP7489836B2/ja
Priority claimed from JP2020107943A external-priority patent/JP2022002475A/ja
Priority claimed from JP2020107944A external-priority patent/JP7433145B2/ja
Priority claimed from JP2020107949A external-priority patent/JP7423443B2/ja
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN202180024574.0A priority Critical patent/CN115334867A/zh
Publication of WO2021261343A1 publication Critical patent/WO2021261343A1/fr

Links

Images

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
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • 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
    • 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
    • A01D34/28—Adjusting 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
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D57/00—Delivering mechanisms for harvesters or mowers
    • A01D57/22—Delivering mechanisms for harvesters or mowers for standing stalks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
    • 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
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/30—Straw separators, i.e. straw walkers, for separating residual grain from the straw
    • A01F12/32—Straw separators, i.e. straw walkers, for separating residual grain from the straw with shaker screens or sieves
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/44—Grain cleaners; Grain separators

Definitions

  • the present invention relates to a harvester, a harvester control system, a harvester control method, a harvester control program, and a recording medium in which a harvester control program is recorded.
  • a state changing unit in the document, a “cutting unit" in which the working state of the harvesting device (“cutting unit” in the document) can be changed by operating an actuator (“elevating drive unit” in the document).
  • a “control state switching unit” is provided.
  • An electronic control unit is provided in the harvesting device, and the state changing unit acquires the type of the harvesting device based on the communication between the electronic control unit of the harvester main body and the electronic control unit of the harvesting device, and the working state of the harvesting device. To change.
  • the harvester disclosed in Patent Document 1 is provided with a state changing unit (“control state switching unit” in the document) capable of changing the working state of the harvesting device (“cutting unit” in the document).
  • An electronic control unit is provided in the harvesting device, and a configuration is disclosed in which the type of the harvesting device can be acquired based on the communication between the electronic control unit of the harvester main body and the electronic control unit of the harvesting device.
  • the harvester disclosed in Patent Document 1 is provided with a height detection unit (“cutting height sensor” in the document) for detecting an uneven state of a field immediately after harvesting.
  • the height of the harvesting section (“cutting and transporting section” in the literature) to the ground is changed according to the unevenness of the field detected by the height detecting section.
  • the harvester disclosed in Patent Document 2 is provided with a cutting height sensor that detects an uneven state of a field after work while traveling.
  • the height of the harvesting device (“cutting and transporting unit” in the literature) to the ground is changed according to the unevenness of the field detected by the cutting height sensor.
  • the [first issue] corresponding to the above [first background technology] is as follows.
  • the crop condition of the field varies depending on the weather and the field. Therefore, if the configuration is such that not only the type of the harvesting device but also the crop state of the field can be acquired in real time, the working state of the harvesting device can be finely changed, and the harvesting accuracy of the harvesting device is improved.
  • the present invention is to provide a harvester capable of finely changing the working state of the harvester.
  • the [second issue] corresponding to the above-mentioned [second background technology] is as follows.
  • the harvester disclosed in Patent Document 1 it is common that a plurality of harvesting devices are used properly according to the type of harvested product, but one harvesting device can be used for as many types of crops as possible. It is desirable to be able to do it.
  • the height of the crop and the size of the harvest target contained in the crop are different. For this reason, if the harvesting device and the harvesting target are incompatible, the crop may spill into the field from the transporting route of the harvesting device, causing crop loss, or the harvesting device may be damaged in the transport path of the harvesting device.
  • An object of the present invention is to provide a harvester having a harvesting device capable of performing suitable harvesting work according to the type of crop.
  • the [third issue] corresponding to the above-mentioned [third background technology] is as follows.
  • the height detecting section is provided directly below the harvesting section, the raising and lowering control of the harvesting section is performed based on the uneven state of the field after harvesting. For this reason, the timing of raising and lowering control of the harvesting portion is delayed as compared with the configuration in which the uneven state of the field before harvesting is detected. For this reason, in a place where the unevenness of the field is severe, the control of raising and lowering the harvesting part is delayed, the tip of the harvesting part comes into contact with the ground of the field, and the harvesting part is soiled on the ground together with the crop. Etc. may also be picked up.
  • An object of the present invention is to provide a harvester capable of performing suitable harvesting work according to the field condition after the work.
  • the [fourth problem] corresponding to the above-mentioned [fourth background technology] is as follows.
  • the harvester disclosed in Patent Document 2 has a configuration in which the ground height of the harvester is changed based on the uneven state of the field detected by the cutting height sensor. Since weeds and lodging crops exist in the field, it is possible that the optimum harvesting work may not be performed simply by changing the ground height of the harvesting device according to the unevenness of the field. For this reason, a harvester capable of changing the overall state of the harvesting work according to the state of various fields, not just the uneven state of the field, is desired.
  • An object of the present invention is to provide a harvester capable of performing suitable harvesting work according to the field condition after the work.
  • the outer edge of the field provided so as to surround the field includes a ridge, a water supply / drainage pump, and the like. Then, when the harvester changes direction at the corner of the field, the harvesting part advances to a position overlapping the outer edge of the field in a plan view, and then the turning run is performed, so that efficient direction change can be easily performed. However, when the harvesting portion overlaps with the outer edge of the field in a plan view, it is necessary to prevent the harvesting portion from interfering with the outer edge of the field.
  • Patent Document 1 does not describe a configuration for preventing the harvesting portion from interfering with the outer edge of the field when the harvesting portion overlaps with the outer edge of the field in a plan view.
  • An object of the present invention is to provide a harvester capable of preventing the harvesting section from interfering with the outer edge of the field.
  • the harvester according to the present invention has a traveling device capable of traveling in the field, a harvest header that is supported by the machine body so as to be able to move up and down and accepts the planted crop in front, and a scraping that scrapes the planted crop by rotary drive.
  • a harvesting device that has a reel and harvests crops in the field, an actuator that operates the harvesting device, a crop detector that detects the height of the planted crop, and the actuator according to the height of the planted crop. It is characterized by being provided with a state changing unit capable of changing the working state of the harvesting apparatus by operating the harvesting apparatus.
  • the height of the planted crop is detected by the crop detection unit as the crop state in the field. That is, the crop detection unit can be configured to detect the height of the planted crop in real time, which makes it possible to finely change the working state of the harvesting device. As a result, the harvesting accuracy of the harvesting device is improved, and a harvesting machine capable of finely changing the working state of the harvesting device is realized.
  • the above-mentioned technical features of the harvester can also be applied to the control system. Therefore, the present invention can also be subject to control systems.
  • the control system in this case includes a traveling device capable of traveling in the field, a harvesting device for harvesting crops in the field while being supported by the machine body so as to be able to move up and down, and an actuator for operating the harvesting device.
  • the above-mentioned technical features of the harvester can also be applied to the control method. Therefore, the present invention can also be subject to the control method.
  • the control method in this case includes a traveling device capable of traveling in the field, a harvesting device for harvesting crops in the field while being supported by the machine body so as to be able to move up and down, and an actuator for operating the harvesting device.
  • a crop detection step for detecting the height of a planted crop which is a control method for the harvester, and a state change for changing the working state of the harvesting device by operating the actuator according to the height of the planted crop. It is characterized by having a step.
  • the above-mentioned technical features of the harvester can also be applied to the control program. Therefore, the present invention can also be subject to control programs. Further, a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.
  • the control program in this case includes a traveling device capable of traveling in the field, a harvesting device for harvesting crops in the field while being supported by the machine body so as to be able to move up and down, and an actuator for operating the harvesting device.
  • a crop detection function that detects the height of the planted crop and a state change function that changes the working state of the harvester by operating the actuator according to the height of the planted crop.
  • the working state includes the harvest height of the harvesting apparatus.
  • the working state includes the height position of the scraping reel.
  • the height position of the scraping reel can be finely changed based on the height of the planted crop, so the height at which the planted crop is scraped is suitable.
  • the harvesting device can accurately harvest the planted crops, and the crop loss in the harvesting device is reduced.
  • the working state includes the front-rear position of the suction reel.
  • the harvesting device can accurately harvest the planted crops, and the crop loss in the harvesting device is reduced.
  • the working state includes the rotation speed of the scraping reel.
  • the crop height in the field changes for each area of the field, for example, due to the presence of lodging crops.
  • the harvesting device can accurately harvest the planted crop, and the loss of the crop in the harvesting device is reduced.
  • the working state includes the working height of the harvest header.
  • the working height of the harvest header can be changed based on the height of the planted crop, so the harvest height can be finely changed. This makes it possible to reduce the threshing load and improve the sorting accuracy when the crop is threshed.
  • the scraping reel is provided with a tine that scrapes into the planted crop, and that the working state includes the rotation locus of the tine.
  • Tyne can suitably scrape the planted crop based on the height of the planted crop.
  • the harvesting device can accurately harvest the planted crops, and the crop loss in the harvesting device is reduced.
  • the crop detection unit detects the height of the planted crop based on the image pickup data captured by the image pickup device.
  • the state changing unit is configured to be able to change the vehicle speed of the traveling device in addition to the working state of the harvesting device.
  • the harvesting device can harvest the planted crop with higher accuracy, and the loss of the crop in the harvesting device is further reduced.
  • the crop detection unit is configured to be able to detect a fallen crop based on the height of the planted crop. Further, in the present invention, it is preferable that the crop detection unit is configured to detect a fallen crop based on the height of the planted crop and the size of the area where the planted crop spreads at the same height. be.
  • the height of the planted crop can be detected and the fallen crop can be detected by the crop detection unit, even if the detection unit is separate from the crop detection unit and is not provided with a dedicated detection unit for detecting the fallen crop. , Both are possible.
  • the state changing portion positions the suction reel in the lowermost region and the frontmost region when the collapsed crop is detected.
  • the scraping reel has a suitable scraping action on the fallen crop, so that the loss of the fallen crop is reduced.
  • the state changing unit increases the rotation speed of the suction reel and decelerates the vehicle speed of the traveling device when the collapsed crop is detected.
  • the suction reel acts to scrape the fallen crops while the aircraft slowly moves forward, so the loss of the fallen crops is reduced.
  • the [second solution] corresponding to the above-mentioned [second problem] is as follows. That is, the harvester according to the present invention is supported by the machine body so as to be able to move up and down, a harvesting device for harvesting crops in the field, a crop detection unit for acquiring the type of crop to be worked on by the harvesting device, and the type of crop. It is characterized by being provided with a state changing unit for changing the vertical width of the transport path in the harvesting apparatus according to the above.
  • the transport path of the harvester since the vertical width of the transport path in the harvester is changed according to the type of crop, the transport path of the harvester tends to be compatible with the crop. Therefore, it is possible to reduce the risk that the crop will spill into the field from the transport route of the harvesting device and the crop will be lost, or the harvest target will be damaged in the transport path of the harvesting device.
  • one harvesting device can be used for as many types of crops as possible, and a harvesting device capable of performing suitable harvesting work according to the type of crop is realized.
  • the "type of crop" in the present invention may include the amount of crop.
  • the above-mentioned technical features of the harvester can also be applied to the control system. Therefore, the present invention can also be subject to control systems.
  • the control system in this case is a crop detection system that is supported by the machine body so as to be able to move up and down and has a harvesting device for harvesting crops in the field, and obtains the type of crop to be worked on by the harvesting device. It is characterized by being provided with a section and a state changing section for changing the vertical width of the transport path in the harvesting apparatus according to the type of the crop.
  • the above-mentioned technical features of the harvester can also be applied to the control method. Therefore, the present invention can also be subject to the control method.
  • the control method in this case is a control method of a harvester having a harvesting device that is supported by the machine body so as to be able to move up and down and harvests crops in the field, and is a crop detection method for acquiring the type of crop to be worked on by the harvesting device. It is characterized by comprising a step and a state changing step of changing the vertical width of the transport path in the harvesting apparatus according to the type of the crop.
  • the present invention can also be subject to control programs.
  • a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.
  • the control program is supported by the machine body so as to be able to move up and down, and in the control program of the harvester having a harvesting device for harvesting the crops in the field, the crop detection function for acquiring the type of the crop to be worked on by the harvesting device is provided. It is characterized in that a computer is made to execute a state changing function of changing the vertical width of a transport path in the harvesting apparatus according to the type of the crop.
  • the harvesting device includes a harvesting header that receives crops, a lateral feed auger that is rotationally driven and collects the harvested crops in the central region in the left-right direction and sends them to a rear transport device, and the lateral feed auger is raised and lowered.
  • a first actuator to be operated is provided, and the state changing unit operates the first actuator to set the vertical width of the transport path to the lower end portion of the lateral feed auger and the bottom plate of the harvest header. It is preferable to change the vertical width of the gap between.
  • the horizontal feed auger will not be able to perform a sufficient lateral feed action on the harvested crop, and the crop may spill into the field. Further, if the vertical width of the gap between the lower end portion of the horizontal feed auger and the bottom plate of the harvest header is too small, the crop target may be sandwiched between the horizontal feed auger and the bottom plate and crushed. In this configuration, the vertical width of the gap between the lower end of the horizontal feed auger and the bottom plate of the harvest header is changed by the first actuator, so that the transport path of the harvester is compatible with the crop.
  • the harvesting apparatus is provided with a harvesting header for receiving crops, a scraping reel for rotationally driving and scraping crops into the harvesting header, and a second actuator for raising and lowering the scraping reels. It is preferable that the state changing portion changes the vertical width of the gap between the lower end portion of the scraping reel and the bottom plate of the harvest header as the vertical width of the transport path by operating the second actuator. be.
  • the vertical width of the gap between the lower end of the scraping reel and the bottom plate of the harvesting header is changed by the second actuator, so that the transport path of the harvesting device is compatible with the crop.
  • a third actuator for raising and lowering the harvesting device is provided, and the state changing unit is configured to be able to change the harvest height of the harvesting device according to the type of the crop by operating the third actuator. It is preferable to have.
  • the harvest height of the harvesting device is changed according to the type of crop, so the crop can be harvested efficiently and the risk of clogging of the transport route is reduced. Further, in this configuration, the necessary part of the crops in the field is harvested by the harvesting device, and the excess part of the crops in the field is not harvested by the harvesting device and does not enter the transport route. Therefore, it is possible to reduce the threshing load and improve the sorting accuracy.
  • the harvester according to the present invention has a traveling device capable of traveling in the field, a harvesting section that is supported by the machine body so as to be able to move up and down to harvest crops in the field, an actuator that raises and lowers the harvesting section, and the harvesting section.
  • the non-contact height detection unit that detects the height of the unevenness of the field in front of the harvesting part, and the ground height of the harvesting part are determined based on the height of the unevenness, and the drive of the actuator is controlled to control the driving of the actuator. It is characterized by being equipped with a harvest height control unit that automatically changes the ground height of the harvest unit.
  • the non-contact height detection unit detects the height of the unevenness of the field in front of the harvesting unit. Therefore, the timing of raising / lowering control of the harvesting section can be made faster than in a configuration in which the height detecting section is provided directly under the harvesting section to detect the uneven state of the field after harvesting. Therefore, even in a place where the unevenness of the field is severe, the height of the harvesting portion to the ground can be automatically changed without delaying the elevating control of the harvesting portion. Further, since the height detection unit is a non-contact type, there is no wear due to contact as compared with the case where the height detection unit is a contact type, and the life can be extended. As a result, a harvester capable of performing suitable harvesting work according to the field condition after the work is realized.
  • the present invention can also be subject to control systems.
  • the control system includes a traveling device capable of traveling in the field, a harvesting section for harvesting crops in the field while being supported by the machine body so as to be able to move up and down, and a third actuator for raising and lowering the harvesting section.
  • It is a control system of the harvester having a non-contact height detection unit that detects the height of the unevenness of the field in front of the harvesting part, and the ground height of the harvesting part based on the height of the unevenness.
  • the harvest height control unit is provided, which controls the drive of the third actuator to automatically change the ground height of the harvest unit.
  • the control method includes a traveling device capable of traveling in the field, a harvesting section for harvesting crops in the field while being supported by the machine body so as to be able to move up and down, and a third actuator for raising and lowering the harvesting section.
  • a control method of a harvester having a height detection step of detecting the height of unevenness of a field in front of the harvesting part by a non-contact height detecting part, and the harvesting based on the height of the unevenness. It is characterized by comprising a harvest height control step that determines the ground height of the portion and controls the drive of the third actuator to automatically change the ground height of the harvest portion.
  • the present invention can also be subject to control programs.
  • a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.
  • the control program includes a traveling device capable of traveling in the field, a harvesting section for harvesting crops in the field while being supported by the machine body so as to be able to move up and down, and a third actuator for raising and lowering the harvesting section.
  • the height detection function of detecting the height of the unevenness of the field in front of the harvesting part by the non-contact height detecting part, and the height of the harvesting part based on the height of the unevenness is characterized by having a computer execute a harvest height control function that determines the ground height and controls the drive of the third actuator to automatically change the ground height of the harvesting portion.
  • the height detecting unit detects the height of the unevenness based on the image captured by the image pickup device.
  • a non-contact height detection unit that can detect the height of unevenness in the field is realized by analyzing the captured image.
  • the height detecting unit detects the height of the unevenness based on the distance information obtained by the optical ranging device.
  • a non-contact height detection unit that can detect the height of unevenness in the field is realized by analyzing the distance information.
  • the harvesting section is provided with a harvesting header that accepts the planted crop in front and a cutting blade that is supported by the harvesting header and cuts the planted crop. It is preferable to detect the height of the unevenness on the front side of the cutting blade. Further, in the present invention, it is preferable that a divider is provided at the end position of the tip of the harvest header in the harvest width direction, and the height detecting portion detects the height of the unevenness on the front side of the divider. ..
  • the height detecting unit detects the ridge height as the height of the unevenness.
  • the tip portion of the harvesting portion may come into contact with the upper surface portion of the ridge R, and the harvesting portion may pick up the soil of the ridge R together with the crop.
  • the harvest height control unit can automatically change the ground height of the harvest unit so that the harvest unit does not come into contact with the upper surface portion of the ridge R. As a result, the efficiency of the harvesting work is improved in the field where the ridge R is formed.
  • a plurality of the unevennesses are arranged in parallel over the working width of the harvesting section, the height detecting section is configured to be able to detect the height of the plurality of unevennesses, and the harvesting height control section is configured. It is preferable to determine the ground height of the harvesting portion based on the highest unevenness among the plurality of unevenness.
  • the harvest height control unit can automatically change the ground height of the harvest unit so that the harvest unit does not come into contact with any of the plurality of irregularities. This improves the efficiency of the harvesting work in the field.
  • a harvest tilt changing mechanism capable of rolling the harvesting section to change the left / right tilt of the harvesting section
  • the harvest height control section is said to be within the range of the harvest width of the harvesting section.
  • the optimum harvest height for the planted crop may differ for each of the plurality of irregularities.
  • the distance between the lower end of the harvesting section and each of the plurality of irregularities is as short as possible.
  • the left-right tilt of the harvesting portion is changed by the harvest tilt changing mechanism according to the height of the unevenness, so that the distance between each of the plurality of irregularities and the lower end of the harvesting portion can be adjusted. Will be easier.
  • the harvesting inclination changing mechanism capable of changing the left-right inclination of the harvesting part by rolling the harvesting part is provided, and the harvesting height control part is described so that the harvesting part is in a horizontal posture. It is preferable to let the harvest tilt changing mechanism change the left and right tilt of the harvesting portion.
  • the harvesting part is kept in a horizontal state, so that the posture of the harvesting part becomes stable, for example, in a field with severe unevenness.
  • a positioning unit that outputs positioning data indicating the position of the machine and a storage unit that can store the height of the unevenness in association with the positioning data are provided, and the height detecting unit is a traveling device. Is configured to be able to detect the first height, which is the height of the unevenness in the unharvested region adjacent to the left and right outer sides of the harvest width of the harvesting portion, when the vehicle travels in one direction. , The first height is stored in association with the positioning data, and the harvest height control unit directs the traveling device in the direction opposite to the one direction while the unharvested area is located within the range of the harvest width.
  • the height of the harvesting section to the ground is determined based on the second height, which is the height of the unevenness detected by the height detecting section, and the first height stored in the storage section. It is preferable to determine.
  • the harvest height control unit may not be able to suitably change the ground height of the harvest unit. According to this configuration, the harvester travels in the area adjacent to the unharvested area in the direction opposite to the one direction before the harvester travels in one direction in the unharvested area where the blind spot area exists.
  • the height detection unit detects the height of the unevenness in the unharvested region from the opposite direction, and the height of the detected unevenness is stored as the first height, so that the height of the unevenness in the blind spot region Is obtained as the first height.
  • the height detecting unit can detect the height of the unevenness in the blind spot region, and the harvest height control unit can suitably change the height of the harvesting unit to the ground.
  • the harvester according to the present invention includes a traveling device capable of traveling in the field, a harvesting device for harvesting crops in the field, a field condition detecting unit for detecting the field state after work while traveling, and a post-working device. It is characterized by being provided with a state changing unit capable of changing the working state of at least one of the traveling device and the harvesting device according to the field state.
  • the state of the field after harvesting may be various states such as the presence of residual crops, but according to the present invention, the field state detection unit detects the field state after various operations. Further, not only the harvesting device but also the traveling device is configured to be changeable according to the field condition after the work, so that the overall state of the harvesting work can be changed. As a result, a harvester capable of performing suitable harvesting work according to the field condition after the work is realized.
  • the above-mentioned technical features of the harvester can also be applied to the control system. Therefore, the present invention can also be subject to control systems.
  • the control system in this case is a control system of a harvester having a traveling device capable of traveling in the field and a harvesting device for harvesting the crops in the field, and the field state after the work while being operated by the harvester. It is characterized by being provided with a field state detecting unit for detecting the above, and a state changing unit capable of changing the working state of at least one of the traveling device and the harvesting device according to the field state after the work. do.
  • the above-mentioned technical features of the harvester can also be applied to the control method. Therefore, the present invention can also be subject to the control method.
  • the control method in this case is a control method of a harvester having a traveling device capable of traveling in the field and a harvesting device for harvesting the crops in the field, and the field state after the work while the harvester is in operation. It is characterized by including a field state detecting step for detecting the above, and a state changing step for changing at least one working state of the traveling device and the harvesting device according to the field state after the work.
  • the present invention can also be subject to control programs.
  • a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.
  • the control program is a control program of a harvester having a traveling device capable of traveling in the field and a harvesting device for harvesting crops in the field, and detects the field state after the work while the harvester is running the work. It is characterized in that a computer is made to execute a field state detecting function for changing a working state and a state changing function for changing at least one working state of the traveling device and the harvesting device according to the field state after the work.
  • the field state detection unit detects the harvest trace after the harvesting operation by the harvesting device, and the state changing unit determines that the ground height of the harvesting device is too high based on the harvesting trace. , It is preferable to change the height of the harvesting device to the ground to be low.
  • the crop height of each crop changes depending on the condition of each crop, so if the ground height of the harvesting device is too high, the harvesting device may not be able to harvest the crop appropriately.
  • the state of each crop is detectable based on the harvest trace, so even if the height of the harvesting device to the ground is too high, the harvesting device suitablely harvests the crop. can.
  • the harvesting apparatus is provided with a harvesting header for receiving the planted crop in front and a scraping reel for scraping the planted crop, and the field state detecting unit harvests after the harvesting operation by the harvesting apparatus. It is configured to be able to detect the remaining crops left untreated, and when the remaining crops are detected by the field condition detecting unit, the traveling device is moved backward by a preset distance, and the said The vertical position of the harvest header is positioned in the lowermost region, the position of the scraping reel is positioned in the lowermost region and the frontmost region, and the vehicle speed of the traveling device is set to the residual crop after the completion of the reverse movement. It is preferable to advance the traveling device in a state where the vehicle speed is decelerated from the vehicle speed before the detection.
  • the field condition detection unit may erroneously detect that the ground of the field is raised by the thickness of the residual crops.
  • the harvesting device is unnecessarily raised and operated according to the thickness of the remaining crop, and there is a risk that the loss of the crop will increase.
  • the field condition detection unit can detect the residual crop, the condition of the harvesting device is changed so as to be suitable for harvesting the residual crop. Further, in this configuration, after the traveling device moves backward, the state of the harvesting device is changed, and the traveling device moves forward again, that is, so-called retries of the harvesting work are automatically performed. As a result, the remaining crops are harvested without being stepped on by the traveling device.
  • the field state detection unit detects the field state immediately after the harvesting apparatus works as the field state after the work.
  • the state changing unit can quickly change the working state of at least one of the traveling device and the harvesting device based on the field state immediately after the work.
  • a dust sending valve that guides the processed crops harvested by the harvesting apparatus to the rear, and a threshing section for threshing the treated crops and a threshing section below the threshing section are provided and the threshing process is performed.
  • a sorting processing unit that receives the treated crop and swings it backward to sort the treated crop into a harvested product and a non-harvested product, and to sort the treated crop into the harvested product and the non-harvested product.
  • the field condition detection unit is configured to be able to detect the harvested product discharged from at least one of the threshing unit and the sorting processing unit. When the harvested product is detected by the field condition detection unit, the state changing unit controls at least one of the threshing unit, the sorting processing unit, and the Karami, and determines the vehicle speed of the traveling device. It is preferable to control it.
  • the field condition detection unit can detect the crops discharged from at least one of the threshing part and the sorting processing part, the ratio of crop loss is evaluated based on the discharged harvests.
  • Configuration is possible. That is, in the present configuration, the state changing unit is the threshing unit so that the crop loss in the harvested product discharged from at least one of the threshing unit and the sorting processing unit is reduced based on the detection of the field condition detection unit. It is possible to change the state of each of the sorting processing unit and the wall insert, and the vehicle speed. As a result, the loss of crops due to the operating states of the traveling device, the threshing section, the sorting processing section, and the wall insert is reduced.
  • the field state detection unit is an image pickup device that captures an image of the field state after the work.
  • the feature of the present invention is to acquire information on the outer edge portion indicating the three-dimensional shape of the harvesting portion that is configured to be able to move up and down with respect to the machine and harvests the crops in the field and the outer edge portion of the field that is provided so as to surround the field.
  • the harvesting part overlaps with the outer edge of the field in a plan view as the aircraft travels, the harvesting part does not interfere with the outer edge of the field based on the outer edge information.
  • the raising and lowering of the harvesting portion is automatically controlled so that the harvesting portion does not interfere with the outer edge of the field according to the three-dimensional shape of the outer edge of the field. This makes it possible to realize a harvester that can prevent the harvesting portion from interfering with the outer edge of the field.
  • the above-mentioned technical features of the harvester can also be applied to the control system. Therefore, the present invention can also be subject to control systems.
  • the control system in this case is a control system for a harvester having a harvesting section for harvesting crops in the field while being able to move up and down with respect to the machine, and is a three-dimensional structure of the outer edge of the field provided so as to surround the field.
  • the acquisition unit that acquires the outer edge portion information indicating the shape and the harvesting portion overlap with the outer edge portion of the field in a plan view as the harvester runs the harvesting portion is based on the outer edge portion information. It is characterized by being provided with an elevating control unit that automatically controls the elevating and lowering of the harvesting unit so that the unit does not interfere with the outer edge of the field.
  • the present invention can also be subject to the control method.
  • the control method is a control method for a harvester having a harvesting part that is configured to be able to move up and down with respect to the machine and harvests crops in the field, and is a three-dimensional structure of the outer edge of the field provided so as to surround the field.
  • the harvesting portion overlaps with the field outer edge portion in a plan view due to the acquisition step of acquiring the outer edge portion information indicating the shape and the traveling of the harvester, the harvesting is performed based on the outer edge portion information. It is characterized by comprising an elevating control step that automatically controls the elevating and lowering of the harvesting part so that the part does not interfere with the outer edge of the field.
  • the present invention can also be subject to control programs.
  • a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.
  • the control program is a control program for a harvester that is configured to be able to move up and down with respect to the machine and has a harvesting section for harvesting crops in the field.
  • the harvesting portion overlaps with the field outer edge portion in a plan view due to the acquisition function of acquiring the indicated outer edge portion information and the traveling of the harvester, the harvesting portion is based on the outer edge portion information. It is characterized by having a computer execute an elevating control function that automatically controls the elevating and lowering of the harvesting portion so as not to interfere with the outer edge of the field.
  • the elevating control unit controls the elevating and lowering of the harvesting unit so that the lower the above-ground height of the field outer edge is, the lower the above-ground height of the harvesting unit is.
  • the elevating control unit When the elevating control unit is configured to raise the harvesting part to the highest position regardless of the ground clearance of the field outer edge when the harvesting part overlaps the field outer edge in a plan view. It is possible to prevent the harvesting part from interfering with the outer edge of the field. However, in this case, when the harvesting portion overlaps with the outer edge of the field in a plan view, it is necessary to start raising the harvesting portion at a relatively early stage. As a result, the position of action of the harvesting part on unharvested crops tends to be higher than the appropriate height.
  • the harvesting part when the crop in the field is a grain and the harvesting part has a cutting device for cutting the culm, when the harvesting part overlaps with the outer edge of the field in a plan view, it is harvested at a relatively early stage. When you start to raise the part, the cutting height tends to be higher than the appropriate height.
  • the ground clearance of the harvesting part when the harvesting part overlaps with the outer edge of the field in a plan view becomes the minimum necessary according to the above-ground height of the outer edge of the field.
  • the configuration can be realized. As a result, it is possible to realize a harvester that can easily avoid a situation in which the position of action of the harvesting portion on unharvested crops becomes higher than the appropriate height.
  • the elevating control unit controls the elevating and lowering of the harvesting unit so that the separation distance between the harvesting unit and the outer edge of the field is maintained wider than a predetermined value. be.
  • the present invention includes a traveling control unit that controls the traveling of the machine body so that the harvesting portion does not overlap the field outer edge portion in a plan view when the ground clearance of the field outer edge portion is higher than a predetermined height. Is suitable.
  • the harvesting section When the ground clearance of the outer edge of the field is relatively high, when the harvesting section overlaps the outer edge of the field in plan view, the harvesting section may start to rise at a relatively early stage under the control of the elevating control section. is assumed. As a result, the position of action of the harvesting part on unharvested crops tends to be higher than the appropriate height.
  • the peripheral harvesting run which is a running along the outer edge of the field, can be executed at the outermost peripheral portion of the field, and the outer edge of the field is executed during the peripheral harvesting run.
  • a detector that detects the three-dimensional shape of the part of the field adjacent to the area where the crop has been harvested, and an outer edge map that shows the distribution of the three-dimensional shape of the outer edge of the field based on the detection result of the detection unit. It is preferable that the acquisition unit acquires the outer edge map, and the elevating control unit controls the elevating of the harvesting unit based on the outer edge map.
  • the detection unit detects the three-dimensional shape of the part of the outer edge of the field adjacent to the area where the crop has been harvested in the field. Therefore, when the detection unit detects the three-dimensional shape of the outer edge of the field, it is unlikely that the detection will be hindered by the crop. As a result, the map generator can generate an outer edge map with good accuracy. As a result, the accuracy of the elevating control of the harvesting section by the elevating control section tends to be good.
  • the peripheral harvesting run which is a run performed along the outer edge of the field at the outermost periphery of the field, is configured to be feasible, and the acquisition section has a three-dimensional shape of the outer edge of the field.
  • a detection unit that acquires a map of the outer edge portion showing the distribution and detects the three-dimensional shape of the portion of the outer edge portion of the field adjacent to the region where the crop has been harvested in the field during the execution of the surrounding harvesting run.
  • the elevating control unit includes a map updating unit that updates the outer edge map based on the detection result of the detection unit, and the elevating control unit elevates the harvesting unit based on the outer edge map updated by the map updating unit. It is preferable to control.
  • the outer edge map is created by the map update unit. Is updated.
  • the elevating control of the harvesting unit by the elevating control unit tends to be appropriate.
  • the detection unit detects the three-dimensional shape of the portion of the outer edge of the field adjacent to the area where the crop has been harvested in the field. Therefore, when the detection unit detects the three-dimensional shape of the outer edge of the field, it is unlikely that the detection will be hindered by the crop. As a result, the accuracy of the outer edge map updated by the map update unit tends to be good. As a result, the accuracy of the elevating control of the harvesting section by the elevating control section tends to be good.
  • FIG. 1 It is a figure which shows the elevating control of a harvesting part according to the height above the ground of the field outer edge part. It is a figure which shows the example of the case where the running of the machine body is controlled so that the harvesting part does not overlap with the outer edge part of a field in a plan view. It is a figure which shows the example of the case where the running of the machine body is controlled so that the harvesting part does not overlap with the outer edge part of a field in a plan view. It is a block diagram which shows the structure about the control part in another Embodiment of 3rd Embodiment. It is a figure which shows an example of the outer edge part map before being updated by the map update part in another embodiment of 3rd Embodiment.
  • FIG. 1 when the front-rear direction of the machine 1 is defined, it is defined along the traveling direction of the machine in the working state.
  • the direction indicated by reference numeral (F) in FIGS. 1 and 2 is the front side of the aircraft, and the direction indicated by reference numeral (B) in FIGS. 1 and 2 is the rear side of the aircraft.
  • the direction indicated by the reference numeral (U) in FIG. 1 is the upper side of the machine, and the direction indicated by the reference numeral (D) in FIG. 1 is the lower side of the machine body.
  • FIG. 2 is the left side of the aircraft, and the direction indicated by the reference numeral (R) in FIG. 2 is the right side of the aircraft.
  • R the direction indicated by the reference numeral
  • the left-right direction of the aircraft 1 is defined as viewed from the direction of travel of the aircraft.
  • FIGS. 1 and 2 a normal combine, which is a form of a harvester, is provided with a machine 1 and a pair of left and right crawler type traveling devices 11.
  • the machine body 1 is provided with a boarding unit 12, a threshing device 13, a grain tank 14, a harvesting device 15, a transport device 16, and a grain discharging device 18.
  • the traveling device 11 is provided at the lower part of the combine.
  • the traveling device 11 has a pair of left and right crawler traveling mechanisms, and the combine can travel in the field by the traveling device 11.
  • an elevating device is provided for each of the left and right crawler traveling mechanisms.
  • the elevating device also commonly known as "Monroe" is configured so that the height position of the machine body 1 with respect to each of the left and right crawler traveling mechanisms can be changed separately. From this, the elevating device is configured to be able to roll the machine 1 by changing the height position of the machine 1 with respect to each of the left and right crawler traveling mechanisms.
  • the boarding unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as the upper part of the machine body 1.
  • a passenger of the combine harvester and an observer who monitors the work of the combine harvester can board the boarding unit 12. Usually, the passenger and the observer are also used. When the passenger and the observer are different persons, the observer may monitor the work of the combine from outside the combine.
  • a drive engine (not shown) is provided below the boarding section 12.
  • the grain discharge device 18 is connected to the rear lower portion of the grain tank 14.
  • the harvesting device 15 harvests the crops in the field.
  • the crop is, for example, a planted culm such as rice, but may be soybean, corn, or the like.
  • the combine can be run by the traveling device 11 while harvesting the crops in the field by the harvesting device 15.
  • the transport device 16 is provided adjacent to the rear side of the harvest device 15.
  • the harvesting device 15 and the transport device 16 are supported on the front portion of the machine body 1 so as to be able to move up and down.
  • the harvesting device 15 and the transport device 16 are integrally swung up and down by being moved up and down (swinging operation) by the header actuator 15H capable of expanding and contracting.
  • the header actuator 15H is the "third actuator" and the "actuator" of the present invention.
  • the harvesting device 15 is provided with a harvesting header 15A, a scraping reel 15B, a horizontal feed auger 15C, and a hair clipper-shaped cutting blade 15D. Dividers are provided at both ends (end positions) of the tip of the harvest header 15A in the harvest width direction.
  • the harvest header 15A divides the front planted crop into a harvest target and a non-harvest target, and accepts the harvest target among the front planted crops.
  • the scraping reel 15B is located above the harvest header 15A.
  • the reel support arm 15K is swingably supported by the harvest header 15A, and the reel support arm 15K is swing-operated by a reel actuator 15J capable of expanding and contracting.
  • the rotation shaft core portion of the suction reel 15B is supported by the free end region of the reel support arm 15K. For this reason, the suction reel 15B is configured to be able to swing up and down by the expansion and contraction operation of the reel actuator 15J.
  • the scraping reel 15B is configured to be rotatable around the lateral axis of the machine while being supported by the reel support arm 15K. Further, the rotation shaft core portion of the suction reel 15B is configured to be slidable along the front-rear direction in the free end region of the reel support arm 15K. That is, the scraping reel 15B is configured to be swingable up and down with respect to the harvest header 15A, and is configured to be repositionable back and forth with respect to the harvest header 15A.
  • the scraping reel 15B is equipped with a plurality of tines 15T, and the tines 15T act on the planted crops. When the planted crop is harvested from the field, the scraping reel 15B scrapes the portion of the planted crop near the tip with the tine 15T toward the rear.
  • the cutting blade 15D is supported by the harvest header 15A.
  • the cutting blade 15D cuts the root side of the planted crop that has been scraped backward by the scraping reel 15B.
  • the lateral feed auger 15C is rotationally driven to the lateral axis of the machine body, laterally feeds the harvested crops cut by the cutting blade 15D to the middle side in the left-right direction, collects them, and sends them to the rear transport device 16.
  • the lateral feed auger 15C is configured so that the position can be changed in the vertical direction.
  • the ground height H1 (see FIG. 5) of the harvest header 15A is set high, and the planted crop may be harvested only on the tip side. At this time, it is necessary to cut the culm after harvesting so that the culm is not left in the field in a tall state. Therefore, a residual culm processing unit 19 is provided behind the harvesting device 15.
  • the residual culm processing unit 19 has a horizontally long hair clipper-shaped cutting blade extending in the left-right direction of the machine, and the cutting blade reciprocates left and right to cut the residual culm.
  • the crops harvested by the harvesting device 15 are transported to the threshing device 13 by the transport device 16.
  • the harvested crop is threshed by the threshing device 13.
  • the threshing device 13 has a threshing unit 13A, a sorting processing unit 13B, and a wall insert 13C.
  • the threshing section 13A is shown as a handling cylinder in FIG. 1, the handling chamber for accommodating the handling cylinder, the dust feed valve arranged at the upper part of the handling chamber, and the periphery of the lower region of the handling cylinder.
  • the dust valve guides the processed crop harvested by the harvesting device 15 to the rear.
  • the threshing unit 13A threshes the crops transported by the transport device 16, that is, the processed crops to be processed by the threshing device 13.
  • the sorting processing unit 13B is provided below the threshing unit 13A, and while receiving the processed crops that have been threshed by the threshing unit 13A and rocking and transporting them backward, the processed crops are sieved into harvested and non-harvested products. do.
  • the sorting processing unit 13B is provided with a chaf sheave, and the chaf sheave has a plurality of chaf flips.
  • Each of the chaflip extends laterally to the aircraft.
  • the plurality of chaflips are arranged along the transport direction (front-back direction) in which the processed crop is transported, and each of the plurality of chaflips is arranged in an inclined posture toward the rear end side and diagonally upward.
  • the leakage opening of each chaflip can be changed.
  • the fact that the leakage opening can be changed means that the tilted posture is changed.
  • the sorting processing unit 13B has a plurality of chaflip arranged along the transport direction of the threshing processed product, and has a chaff sheave capable of changing the leakage opening degree by changing the posture of the plurality of chaflip.
  • the wall insert 13C supplies the sorting wind to the sorting processing unit 13B.
  • the grains obtained by the threshing process are stored in the grain tank 14.
  • the grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.
  • the grain discharging device 18 is configured to be swingable around the vertical axis core at the rear of the machine body. That is, the free end portion of the grain discharge device 18 protrudes to the lateral outside of the machine body 1 so that the crop can be discharged, and the free end portion of the grain discharge device 18 is within the range of the machine width of the machine body 1.
  • the grain discharging device 18 is configured so as to be switchable between the stored storage state and the positioned storage state. When the grain discharging device 18 is in the stored state, the free end portion of the grain discharging device 18 is located on the front side of the boarding portion 12 and above the harvesting device 15.
  • a first image pickup device 21A and a distance measuring sensor 22 are provided on the front upper part of the boarding section 12.
  • the first image pickup device 21A is a color camera capable of capturing visible light, and is, for example, a CCD camera or a CMOS camera.
  • the first image pickup device 21A is the "imaging device" of the present invention.
  • the first imaging device 21A is provided at the front of the machine 1 and at a position higher than the harvesting device 15 so as to look down on the unharvested crops in front of the harvesting device 15. That is, the first image pickup apparatus 21A can take an image from a viewpoint looking down on the front in the traveling direction.
  • the image pickup field of view of the first image pickup apparatus 21A in the front-rear direction is, for example, 15 meters or 25 meters.
  • the imaging data acquired by the first imaging device 21A is converted into imaging data and sent to the combine control system.
  • the first image pickup device 21A images the field at the time of harvesting work.
  • Various objects exist as imaging targets in the field.
  • the combine control system has a function of identifying a specific object from the image pickup data sent from the first image pickup device 21A. As such specific objects, in FIGS. 1 and 2, the normal planted grain group indicated by the reference numeral Z0, the weed group indicated by the reference numeral Z1, and the collapsed crop group indicated by the reference numeral Z2. , Are shown schematically.
  • the distance measuring sensor 22 is configured to be capable of measuring the distance between the image pickup target and the aircraft 1 in the field existing in front of the aircraft 1.
  • the distance measuring sensor 22 may be a sonar, a radar (millimeter wave), or a LIDAR (for example, a laser scanner or a laser radar). If the distance measuring sensor 22 is a sonar, it is advantageous in terms of cost. If the range-finding sensor 22 is a millimeter-wave radar, it is possible to perform measurements that are not easily affected by the weather, which is advantageous in terms of cost.
  • the millimeter-wave radar is configured to be able to scan in three dimensions in the vertical direction in addition to the front and left and right, it is possible to have a wider range of range than the millimeter-wave radar of the type that scans in two dimensions.
  • the distance measuring sensor 22 is LIDAR, the separation distance can be measured accurately.
  • the LIDAR is configured to be able to scan in three dimensions in the vertical direction in addition to the front and left and right, it is possible to have a wider range of distance measurement than the type of LIDAR that scans in two dimensions.
  • the range-finding sensor 22 may be configured by a combination of sonar, radar, and LIDAR.
  • the second imaging device 21B is provided at the lower rear portion of the harvesting device 15.
  • the second image pickup device 21B is a color camera capable of capturing visible light, and is, for example, a CCD camera or a CMOS camera.
  • the first image pickup device 21A is the "imaging device" of the present invention.
  • the second image pickup device 21B can image the harvest trace area S (see FIG. 8) behind the harvest device 15. Therefore, the second image pickup device 21B is configured to be able to detect the field state after the work while the work is running.
  • a satellite positioning module 80 is provided on the ceiling of the boarding section 12.
  • the satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal (including a GPS signal) from the artificial satellite GS and acquires the position of the own vehicle.
  • GNSS Global Navigation Satellite System
  • an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic orientation sensor is incorporated in the satellite positioning module 80.
  • the inertial navigation unit may be arranged at a place different from the satellite positioning module 80 in the combine.
  • the control unit 30 shown in FIG. 3 is a core element of the control system of the combine, and is shown as an aggregate of a plurality of ECUs.
  • the control unit 30 includes a first crop detection unit 31A, a second crop detection unit 31B, a state determination unit 32, a storage unit 33, a notification unit 34, a travel control unit 35, and a work control unit 36. It is prepared.
  • the first crop detection unit 31A is the "crop detection unit” of the present invention.
  • the second crop detection unit 31B is the "field state detection unit” of the present invention.
  • the state determination unit 32 is the "state change unit” of the present invention.
  • the height position information output from the unit 23, the height position information output from the reel height detection unit 24, and the height position information output from the auger height detection unit 25 are controlled by a control unit through a wiring network. It is input to 30.
  • the harvesting device 15 and the transport device 16 are configured to swing up and down, and the cutting height detection unit 23 is provided at the swing shaft core portion of the transport device 16.
  • the cutting height detecting unit 23 is configured to be able to detect the ground height H1 (see FIGS.
  • the reel height detection unit 24 can detect the height position H2 (see FIGS. 5 and 6) of the suction reel 15B with respect to the harvest header 15A by detecting the swing angle of the reel support arm 15K with respect to the harvest header 15A. It is configured in.
  • the auger height detection unit 25 can detect the height position H3 (see FIGS. 5 and 6) of the lateral auger 15C by detecting the vertical position of an actuator (not shown) that raises and lowers the lateral auger 15C up and down. It is configured in.
  • the first crop detection unit 31A is a planted crop based on the imaging data sequentially acquired by the first imaging device 21A and the distance data sequentially acquired by the distance measuring sensor 22 over time. The area where the plant is located is detected and the height of the planted crop is detected. Further, the first crop detection unit 31A determines the type of crop by using, for example, a machine-learned (deep learning) neural network. In other words, the first crop detection unit 31A is configured to be able to acquire the type of crop to be harvested by the harvesting device 15. Examples of crop types include rice grains, wheat (barley, wheat, buckwheat), beans (soybeans, adzuki beans, black beans), rapeseed, corn, and the like. Further, the first crop detection unit 31A is configured to be able to detect the size and length of the tip of the crop based on the imaging data.
  • the first crop detection unit 31A is configured to be able to detect a fallen crop (for example, a fallen grain culm) based on the height of the planted crop.
  • a fallen crop for example, a fallen grain culm
  • the flow of generation of recognition output data by the first crop detection unit 31A is shown in FIG.
  • the RGB pixel value of the imaging data is input to the first crop detection unit 31A from the first imaging device 21A as an input value.
  • This imaging data is associated with the distance data acquired by the distance measuring sensor 22, and the fallen crop is detected based on the crop height in the area where the planted crop exists.
  • the first crop detection unit 31A is configured to detect a fallen crop based on the crop height of the planted crop and the size of the area where the planted crop spreads at the same crop height.
  • the area of the area where the planted crop spreads at the same crop height may be calculated by area calculation based on at least one of the imaging data and the distance data, and in addition, the area recognized by the imaging data. It may be calculated from the shape. Alternatively, the size of the area where the planted crop spreads at the same crop height may be calculated from at least one of the shape of the area recognized by the image recognition data and the relative size.
  • the first crop detection unit 31A is configured to detect a weed area in which weeds are present mixed with the crop in front of the harvesting device 15, and can acquire the type of weeds (including the size of weeds) in the weed area. It is configured in.
  • the first crop detection unit 31A is configured to be able to acquire the weed rate, which is the amount of weeds per unit area in the weed area. As described above, the first crop detection unit 31A is configured to be able to discriminate crop lodging and weeds from the field.
  • the first imaging device 21A acquires imaging data at predetermined time intervals, for example, at intervals of 0.1 to 0.5 seconds and inputs the imaging data to the first crop detection unit 31A, the first crop detection unit 31A also , Output recognition output data at the same time interval.
  • the first image pickup device 21A takes an image in front of the machine body, and the distance measuring sensor 22 measures the distance between the machine body 1 and the object in front of the machine body. Then, based on the image pickup data captured by the first image pickup device 21A and the distance data in front of the aircraft measured by the distance measurement sensor 22, the first crop detection unit 31A sets the crop in the field as a specific object. While recognizing, the crop height of the crop in the field is detected.
  • the second crop detection unit 31B can detect unharvested residual crops such as lodging crops based on the imaging data of the imaging data sequentially acquired by the second imaging device 21B. be. Further, the second crop detection unit 31B determines the type of the remaining crop by using, for example, a machine-learned (deep learning) neural network. Examples of the types of residual crops include rice grains, wheat (barley, wheat, buckwheat), beans (soybeans, adzuki beans, black beans), rapeseed, corn, and the like.
  • the control unit 30 is provided with a storage unit 33, and the storage unit 33 is provided with a plurality of harvest control patterns and a plurality of travel control patterns.
  • the storage unit 33 is a semiconductor storage element such as an EEPROM.
  • the harvest control pattern is, for example, depending on at least one of the crop type and the crop height, the ground height H1 of the harvest header 15A, the height position H2 of the scraping reel 15B, and the height position H3 of the lateral feed auger 15C. And, are stored in the storage unit 33 as a look-up table for adjusting. That is, the harvest control pattern and the running control pattern corresponding to the type of crop and the height of the crop are selected by the state determination unit 32. Then, the target value is output from the state determination unit 32 to the work control unit 36 according to the selected harvest control pattern and travel control pattern.
  • the travel control pattern is stored in the storage unit 33 as a look-up table for adjusting the vehicle speed and the vehicle height of the travel device 11, for example, according to at least one of the crop type and the crop height. That is, the traveling control pattern corresponding to at least one of the crop type and the crop height is selected by the state determination unit 32. Then, the target value is output from the state determination unit 32 to the travel control unit 35 according to the selected travel control pattern.
  • the travel control unit 35 has a vehicle speed control unit 35A and a vehicle height control unit 35B.
  • the target value of the vehicle speed and the target value of the vehicle height are determined based on the travel control pattern selected by the state determination unit 32.
  • the vehicle speed control unit 35A performs speed adjustment control of the traveling device 11 based on the target value of the vehicle speed.
  • the vehicle height control unit 35B controls the elevating mechanism of the traveling device 11 with reference to the target value of the vehicle height.
  • the travel control unit 35 has an engine control function, a steering control function, a vehicle speed control function, a vehicle height control function, and the like, and gives a travel control signal to the travel device 11.
  • the travel control unit 35 In the case of manual steering, the travel control unit 35 generates a control signal and controls the travel device 11 based on the operation by the passenger.
  • the travel control unit 35 controls steering and vehicle speed based on the automatic travel command given by the automatic travel control module of the control unit 30 and the positioning data from the satellite positioning module 80. To do.
  • the work control unit 36 has a header control unit 36A, a reel control unit 36B, and an auger control unit 36C.
  • the header control unit 36A controls the raising and lowering of the harvest header 15A with reference to the target value of the ground height H1.
  • the reel control unit 36B adjusts and controls the vertical position and the front-rear position of the suction reel 15B with reference to the target value of the height position H2 and the target value of the front-rear position of the suction reel 15B.
  • the auger control unit 36C adjusts and controls the vertical position of the lateral feed auger 15C with reference to the target value of the height position H3.
  • the work control unit 36 has a function of controlling devices related to harvesting and threshing of crops in the field, such as a harvesting device 15 and a threshing device 13.
  • the work control unit 36 In the case of manual steering, the work control unit 36 generates a control signal and controls the harvesting device 15 and the like based on the operation by the passenger.
  • the work control unit 36 determines the height H1 of the harvesting device 15 and the height of the scraping reel 15B based on the imaging data obtained by the first imaging device 21A and the distance information obtained by the distance measuring sensor 22. The position H2, the front-rear position of the scraping reel 15B, the height position H3 of the lateral feed auger 15C, and the like are controlled.
  • the harvest control pattern also includes parameters relating to the operating speed of the harvest device 15, and the work control unit 36 is a transmission (eg, static) for the harvest device 15 based on the harvest control pattern selected by the state determination unit 32.
  • the hydraulic continuously variable transmission is configured to be capable of speed change control.
  • the control unit 30 of the first embodiment is configured to be connectable to a communication network.
  • the control unit 30 is provided with a communication unit 37, and the communication unit 37 can communicate with the management computer 2 via a wired or wireless communication network.
  • crop lodging information, weed information, etc. in the field are transmitted to the field management computer 2 via the wireless communication network together with the position information positioned by the satellite positioning module 80, and the field map information in the management computer 2 is transmitted. Recorded in.
  • the farm manager can utilize the crop lodging information, weed information, etc. in the field for the next year's agricultural plan.
  • the harvest control pattern will be described with reference to FIGS. 3, 5 and 6.
  • the parameters of the harvest control pattern include a target value of the ground height H1 of the harvest header 15A, a target value of the height position H2 of the scraping reel 15B, and a target value of the front and rear positions of the scraping reel 15B. If the height position H2 of the scraping reel 15B is too high, it becomes difficult for the scraping reel 15B to scrape the crop. Further, if the height position H2 of the scraping reel 15B is too low, the crop is likely to be entangled with the scraping reel 15B. As shown in FIGS.
  • the rotation trajectory of the tine 15T is such that the tine 15T of the scraping reel 15B scrapes the tip from the front upper part to the rear side. Should overlap with the tip area of the crop.
  • the ground height H1 and the height position H2 are set as different parameters for each harvest control pattern.
  • An appropriate harvest control pattern among a plurality of harvest control patterns is selected by the state determination unit 32 based on the type of crop, the height of the crop, the vertical height of the tip region of the crop, the surface area of the tip region, and the like. Will be done.
  • the target values of the ground height H1 and the height position H2 are read from the selected harvest control pattern, and the control signal for adjusting the ground height H1 and the height position H2 is transmitted from the state determination unit 32 to the work control unit.
  • Sent to 36 For example, if the crop type is legume, the ground height H1 is set to the lowest region. If the type of crop is buckwheat or rapeseed, the ground height H1 is set lower than that of rice grains and higher than that of beans.
  • the state determination unit 32 is configured so that the working state of the harvesting device 15 can be changed by operating the header actuator 15H according to the height of the planted crop. At this time, in the working state of the harvesting device 15, the ground height H1 of the harvesting device 15, the height position H2 of the scraping reel 15B, the front-rear position of the scraping reel 15B, the rotation speed of the scraping reel 15B, and so on. The rotation locus of the tine 15T and the like are included. Further, the state determining unit 32 is configured to be able to change the vehicle speed of the traveling device 11 in addition to the working state of the harvesting device 15.
  • the ground height H1 of the harvesting device 15 is the “harvesting height” and also the “working height” of the harvesting header 15A.
  • the state determination unit 32 is configured to be able to change the harvest height of the harvesting device 15 according to at least one of the crop type and the crop height by operating the header actuator 15H. Further, the state determining unit 32 is configured to be able to change the height position H2 of the scraping reel 15B according to at least one of the crop type and the crop height by operating the reel actuator 15J.
  • the harvest control pattern is selected by the state determining unit 32 so that the tine 15T of the scraping reel 15B scrapes the tips from the front upper part to the rearward, and the ground height H1.
  • the height position H2 is adjusted.
  • the ground height H1 is adjusted, the lower end portion (the portion where the cutting blade is located) of the harvest header 15A is located below the tip region of the crop.
  • the front end position of the scraping reel 15B is located above the tip of the crop. As a result, the tip region of the crop is scraped backward by the scraping reel 15B.
  • the harvesting device 15 is efficiently harvested by the harvesting device 15, and the tip region is transported by the rear transport device 16.
  • the crop is threshed by the threshing device 13. Therefore, the transport load of the transport device 16 and the threshing load of the threshing device 13 are reduced, and the harvesting efficiency of the harvesting device 15 is improved, as compared with the configuration in which the harvesting device 15 is used to harvest the crop to the root region.
  • the horizontal feed auger 15C is configured so that the position can be changed in the vertical direction according to the type of crop.
  • the harvest header 15A is provided with an actuator capable of raising and lowering the lateral feed auger 15C in the vertical direction.
  • the actuators are the "first actuator” and the “actuator” of the present invention, and may be hydraulic or electric.
  • a harvest control pattern having an appropriate height position H3 target value according to the type of crop is selected by the state determination unit 32. Then, based on the selected harvest control pattern, the target value of the height position H3 is sent from the state determination unit 32 to the work control unit 36, and the lateral feed auger 15C is controlled to move up and down.
  • the harvested crop whose root is cut by the cutting blade 15D is laterally fed to the side where the transport device 16 is located by the lateral feed auger 15C on the bottom plate 15u of the harvest header 15A.
  • the vertical gap between the lower end portion of the horizontal feed auger 15C and the bottom plate 15u of the harvest header 15A changes.
  • the target value of the height position H3 is set to the lower height position H31. Therefore, when the rice grain or wheat is harvested, the horizontal feed auger 15C is located lower than the harvest header 15A, and the lower end portion of the horizontal feed auger 15C and the bottom plate 15u of the harvest header 15A are in the vertical direction. The gap becomes narrower. As a result, the tip portion of the rice grain or wheat is efficiently laterally fed by the laterally fed auger 15C.
  • the tip of beans has larger grains than the tip of rice or wheat. Therefore, when the tip portion of the beans is laterally fed by the laterally-fed auger 15C, if the vertical gap between the lower end of the laterally-fed auger 15C and the bottom plate 15u of the harvest header 15A is too narrow, the beans and the like will be generated. It may be crushed or damaged. Therefore, in the harvest control pattern when the crop type is beans, the target value of the height position H3 is set to the higher height position H32. Therefore, when the bean harvesting operation is performed, the lateral feed auger 15C is located higher than the case of rice grains and wheat.
  • the vertical gap between the lower end portion of the horizontal feed auger 15C and the bottom plate 15u of the harvest header 15A becomes wider.
  • the tip portion of the beans is laterally fed by the laterally fed auger 15C, the beans and the like are less likely to be damaged.
  • the state determination unit 32 changes the vertical width of the transport path in the harvesting device 15 by changing the height position H3 according to the type of crop. That is, the state determining unit 32 sets the vertical width of the transport path to the lower end portion of the horizontal feed auger 15C and the bottom plate 15u of the harvest header 15A by operating an actuator capable of raising and lowering the horizontal feed auger 15C in the vertical direction. Change the vertical width of the gap between.
  • the processing of the state determination unit 32 is performed based on the flowchart shown in FIG. 7, and the processing from the start to the end in the flowchart of FIG. 7 is periodically executed.
  • the first crop detection unit 31A is configured to be able to detect not only the type of crop to be harvested but also weeds and lodging crops. Therefore, the state determination unit 32 executes different processes depending on whether the crop to be harvested is detected, the fallen crop is detected, or the weed is detected.
  • the state determination unit 32 determines the detection result of the second crop detection unit 31B (step # 01).
  • the second crop detection unit 31B detects the harvest trace after the harvesting operation by the harvesting device 15.
  • the second image pickup device 21B captures a harvest trace area S which is a region behind the harvesting device 15 and in front of the traveling device 11, that is, a region between the harvesting device 15 and the traveling device 11. do.
  • the residual culm processing unit 19 is omitted in order to simply show how the second image pickup apparatus 21B captures the harvest trace region S.
  • step # 01 "detection of the uncut portion" is determined. That is, the rear of the harvesting device 15 is imaged by the second image pickup device 21B, and whether or not the image pickup data of the second image pickup device 21B includes a crop (for example, a fallen crop) is determined by the second crop detection unit 31B.
  • the state determination unit 32 determines the detection result of the first crop detection unit 31A (step # 03).
  • the state determination unit 32 sets the harvesting device 15 to efficiently harvest the tip region of the crop.
  • the harvest control pattern is selected according to at least one of the crop type and the crop height (step # 04). Then, the state determination unit 32 outputs a control signal to the travel control unit 35 and the work control unit 36 based on the selected harvest control pattern.
  • the ground height H1 of the harvest header 15A, the height position H2 of the scraping reel 15B, and the lateral feed auger 15C so that the tine 15T of the scraping reel 15B scrapes the tip from the front upper part to the rear.
  • the height position H3 of is adjusted.
  • step # 01 detection of the uncut portion
  • the state determination unit 32 selects a harvest control pattern when the uncut portion is detected, and this harvest control pattern.
  • the control signal based on the above is output to the travel control unit 35 and the work control unit 36 (step # 02).
  • step # 02 the harvesting operation is retried in the uncut area.
  • the second image pickup device 21B is configured to be able to detect residual crops left unharvested after the harvesting operation by the harvesting device 15. As shown in FIG. 9, when the fallen crop is not harvested by the harvesting device 15 and the harvesting device 15 passes above the fallen crop, the fallen crop is subjected to the second imaging device 21B provided below and behind the harvesting device 15. Is imaged, and the presence of the fallen crop is determined by the second crop detection unit 31B (step # 01: detection of uncut portion). Then, based on the process of step # 02, the traveling device 11 reversely operates, and the aircraft 1 retreats by a preset distance. That is, when the residual crop is detected by the second image pickup device 21B, the state determination unit 32 moves the traveling device 11 backward by a preset distance.
  • the state determining unit 32 is configured so that the working states of the traveling device 11 and the harvesting device 15 can be changed according to the field state after the work. Then, the fallen crop is detected by the first crop detection unit 31A (step # 03: fallen crop), and the process of step # 05 described later is performed. That is, the state determination unit 32 is configured to change the ground height H1 of the harvesting device 15 to a low level when it is determined that the ground height H1 of the harvesting device 15 is too high based on the harvest trace.
  • step # 03 the fallen crop
  • the state determination unit 32 selects a harvest control pattern for harvesting the fallen crop and is based on this harvest control pattern.
  • the control signal is output to the travel control unit 35 and the work control unit 36 (step # 05).
  • step # 05 the ground height H1 of the harvest header 15A is adjusted to the lowest region, and the height position H2 of the scraping reel 15B is adjusted to the lowest region. Then, the position of the scraping reel 15B in the front-rear direction is adjusted to the frontmost region.
  • step # 05 the speed change device for the harvesting device 15 (for example, the hydrostatic continuously variable transmission device) is speed-controlled to the high speed side, and the rotation speed of the suction reel 15B is increased.
  • the process of step # 05 reduces the vehicle speed of the traveling device 11.
  • the state determination unit 32 switches to the harvest control pattern for harvesting the fallen crop, and the harvest header 15A has a ground height H1 and the scraping reel 15B.
  • the height position H2 becomes lower.
  • the scraping reel 15B rotates at a higher speed than the normal harvesting operation while the harvester advances at a low speed, and the crop in the collapsed state is scraped into the harvest header 15A by the scraping reel 15B. ..
  • the state determination unit 32 positions the scraping reel 15B in the lowermost region and the frontmost region, increases the rotational speed of the scraping reel 15B, and increases the rotation speed of the scraping reel 15B.
  • the vehicle speed of the traveling device 11 is reduced. As a result, the combine harvests the leftover crops while gradually advancing.
  • step # 03 ⁇ collapsed crop
  • step # 04 or step # described later is performed.
  • the processing of 06 is performed.
  • step # 03 is "the crop to be harvested”
  • step # 04 is performed again, and at this time, the vehicle speed of the traveling device 11 is increased as compared with the time when the crop in the collapsed state is harvested.
  • step # 03 weeds
  • crops are planted in the field, weeds may be mixed in the crops.
  • weeds are also planted by the scraping reel 15B. It is scraped together and sent to the rear grain removal device 13 by the transport device 16. Therefore, the state determination unit 32 determines the degree of influence on the weed harvesting work in three stages of "small”, “medium”, and "large” based on the type of crop to be harvested and the type of weed. Judgment (step # 06).
  • the state determination unit 32 sets "small” in step # 06. select. In this case, as in step # 04, the state determining unit 32 selects a harvest control pattern according to at least one of the crop type and the crop height so that the harvesting device 15 can efficiently harvest the tip region of the crop. (Step # 07). Then, the state determination unit 32 outputs a control signal to the travel control unit 35 and the work control unit 36 based on the selected harvest control pattern.
  • the state determination unit 32 may perform step # 06. Select "Medium”. In this case, it is determined whether or not the type of crop to be harvested is beans (step # 08).
  • the state determination unit 32 slows down the vehicle speed and allows the harvesting device 15 to efficiently harvest the tip region of the crop.
  • a harvest control pattern for performing the harvesting operation by the harvesting apparatus 15 is selected according to at least one of the crop type and the crop height (step # 09). Then, the state determination unit 32 outputs a control signal to the travel control unit 35 and the work control unit 36 based on the selected harvest control pattern. That is, the state determination unit 32 changes the vehicle speed of the traveling device 11 in the weed region to a lower speed side than the vehicle speed when traveling in a region other than the weed region.
  • step # 09 when the weed area is detected in front of the harvesting device 15 and the crop type is other than beans, the state determining unit 32 determines the degree of change in the vehicle speed of the traveling device 11 according to the type of weeds. do. Specifically, the state determination unit 32 determines the degree of change in the vehicle speed of the traveling device 11 according to the weed rate, which is the amount of weeds per unit area in the weed area. As the weed rate increases, the state determination unit 32 changes the vehicle speed of the traveling device 11 to the lower speed side. Further, the state determination unit 32 may have a configuration in which the vehicle speed is gradually changed to the low speed side by prioritizing the determination elements according to the type of crop, the type of weed, the weed rate, and the like.
  • the state determination unit 32 reduces the leakage opening degree of the chaff sheave provided in the sorting processing unit 13B.
  • the chaff sheave is provided with a plurality of chaflip, and the gap between the plurality of chaflip is narrowed by changing the tilting posture (tilt angle) of the chaflip. Weeds, etc. are often larger than grains, and by narrowing the leakage opening of the chaf sheave, weeds, etc. are less likely to leak from the gaps between the chaflip, and the effect on sorting accuracy is reduced.
  • the state determination unit 32 is configured to reduce the leakage opening degree of the chaff sheave according to at least one of the type of crop and the type of weed when selecting the crop harvested in the weed region. ..
  • the state determining unit 32 stops the traveling device 11 (step #). 10). Since some beans have high commercial value, if the beans are threshed together with weeds, the beans may become dirty and lose their commercial value due to factors such as weeds adhering to the beans. When the type of crop is beans, such inconvenience can be avoided by stopping the traveling device 11.
  • the state determination unit 32 determines "large" in step # 06, selects a harvest control pattern for stopping the traveling device 11, and the aircraft 1 stops (step # 10). .. Then, after the worker manually removes the weeds, the harvesting work by the harvesting device 15 is restarted. Further, the state determination unit 32 may have a configuration in which the determination elements are prioritized according to the type of weed, the weed rate, etc., and the vehicle speed is gradually reduced to stop the traveling device 11.
  • the state determination unit 32 is configured to be able to determine the degree of change in the vehicle speed of the traveling device 11 according to the type of weeds.
  • the above-mentioned state determining unit 32 automatically changes the vertical width of the gap between the lower end portion of the lateral feed auger 15C and the bottom plate 15u of the harvest header 15A as the vertical width of the transport path, but the state determining unit 32
  • the 32 may be configured to notify the monitor provided in the boarding section 12, for example, as guidance without changing the vertical width of the transport path. In this case, the operator boarding the boarding unit 12 is urged to perform an elevating operation such as the lateral feed auger 15C, and the operator can manually perform the elevating operation.
  • the present invention is not limited to the configuration exemplified in the above-mentioned first embodiment, and the following will exemplify another typical embodiment of the present invention.
  • a neural network that can be learned by using deep learning is constructed in the first crop detection unit 31A and the second crop detection unit 31B, but the first crop detection unit It is not necessary to construct a neural network in 31A, and it is not necessary to construct a neural network in the second crop detection unit 31B.
  • the neural network is constructed on the management computer 2 and other terminals, and the first crop detection unit 31A and the management computer 2 and other terminals communicate with each other to perform input / output in the neural network. There may be. Further, input / output in the neural network may be performed by communication between the second crop detection unit 31B and the management computer 2 or another terminal.
  • the first crop detection unit 31A may be configured to detect the height of the planted crop. Further, as another embodiment of the above-mentioned [second solution means], the first crop detection unit 31A may be configured to acquire the type of planted crop to be worked on by the harvesting device 15. In addition, as another embodiment of the above-mentioned [fourth solution means], the second crop detection unit 31B may be configured to detect the field state after the work while the work is running.
  • the traveling device 11 is configured as a crawler type, but the traveling device 11 may be configured as a wheel type.
  • the working state of the harvesting device 15 includes the ground height H1 of the harvesting device 15, the height position H2 of the scraping reel 15B, and the rotation speed of the scraping reel 15B.
  • the working state of the harvesting device 15 includes the ground height H1 of the harvesting device 15, the height position H2 of the scraping reel 15B, and the scraping reel 15B.
  • the configuration may include at least one of a rotation speed and a rotation locus of the tine 15T.
  • the first crop detection unit 31A plants based on the image pickup data acquired by the first image pickup device 21A and the distance data acquired by the distance measuring sensor 22. Detects the height of standing crops, but is not limited to this embodiment.
  • the distance measuring sensor 22 may not be provided.
  • the first image pickup device 21A is configured as a pair of left and right surround cameras and the first crop detection unit 31A detects the height of the planted crop based on the image pickup data of the pair of left and right surround cameras. good.
  • the first image pickup apparatus 21A may not be provided.
  • the first crop detection unit 31A may be configured to detect the height of the planted crop based on the distance data acquired by one or more distance measuring sensors 22.
  • the state determining unit 32 is configured to be able to change the vehicle speed of the traveling device 11 in addition to the working state of the harvesting device 15, but the state determining unit 32 is the traveling device.
  • the vehicle speed of 11 may not be changed.
  • the state determination unit 32 positions the scraping reel 15B in the lowermost region and the frontmost region. It is not limited to the form.
  • the state determination unit 32 controls to position the upper and lower positions of the harvest header 15A in the lower region, and the position of the scraping reel 15B. At least one of a control for moving the reel 15B to the lower region and a control for locating the position of the suction reel 15B in the front region may be possible.
  • the state determination unit 32 increases the rotation speed of the scraping reel 15B and decelerates the vehicle speed of the traveling device 11. It is not limited to the embodiment. As another embodiment of the above-mentioned [first solution], when a fallen crop is detected, the state determination unit 32 controls to increase the rotation speed of the suction reel 15B and controls to decrease the vehicle speed of the traveling device 11. At least one of the above may be possible.
  • the first crop detection unit 31A acquires the type of planted crop based on the image pickup data acquired by the first image pickup device 21A, but is limited to this embodiment. Not done.
  • the first image pickup apparatus 21A may not be provided.
  • the first crop detection unit 31A may acquire the type of crop based on the distance data acquired by the distance measuring sensor 22.
  • a Fourier transform process for distance data may be performed, and the type of crop may be determined based on the distribution of frequency components obtained by the Fourier transform process. ..
  • the crop type may be configured to acquire crop information managed by the management computer 2.
  • the crop type may be manually entered by the operator or supervisor.
  • the state determination unit 32 is configured to change the vertical width of the gap between the bottom plate 15u of 15A and the bottom plate 15u, but is not limited to this embodiment.
  • the reel actuator 15J the “second actuator” and the “actuator” of the present invention
  • the vertical width of the transport path is set as the suction reel.
  • the state determination unit 32 may be configured so as to change the vertical width of the gap between the lower end portion of the 15B and the bottom plate 15u of the harvest header 15A.
  • the state determination unit 32 operates the header actuator 15H to set the ground height H1 of the harvest header 15A according to the type of crop. It is configured to be modifiable, but is not limited to this embodiment. For example, as another embodiment showing the above-mentioned [second solution], the state determination unit 32 may be configured not to change the ground height H1 of the harvest header 15A according to the type of crop.
  • the harvesting device 15 and the transport device 16 may be integrally configured.
  • the transport path is a gap between the bottom plate of the transport device 16 and the lower portion of the chain conveyor, and the vertical width of this gap may be changed according to the type of crop.
  • the amount of crop may be included in the "type of crop" in the invention showing the above-mentioned [second solution].
  • the state determination unit 32 adjusts the vertical width of the transport path in the harvesting device 15 and the transport device 16 according to the amount of crops.
  • the configuration may be widely changed.
  • the residual culm processing unit 19 is provided behind the harvesting device 15, but as another embodiment showing the above-mentioned [fourth solution], the residual culm processing unit is provided. It may be a harvester that is not provided with 19.
  • the state determination unit 32 retracts the traveling device 11 when the second crop detection unit 31B detects a fallen crop. Further, when the fallen crop is detected by the first crop detection unit 31A after the retreat of the traveling device 11 is completed, the state determination unit 32 positions the vertical position of the harvest header 15A in the lowermost region and scrapes it. The position of the reel 15B is located in the lowermost region and the frontmost region, but is not limited to this embodiment. As another embodiment showing the above-mentioned [fourth solution], the state determination unit 32 retracts the traveling device 11 when a fallen crop is detected by the second crop detection unit 31B alone, and then the harvest header 15A.
  • the upper and lower positions may be positioned in the lower region, and the position of the suction reel 15B may be positioned in the lower region and the front region.
  • the configuration may not include the first crop detection unit 31A.
  • the state determining unit 32 controls to position the vertical position of the harvest header 15A in the lower region and the position of the scraping reel 15B on the lower side. At least one of the control of moving to the region and the control of locating the position of the suction reel 15B in the front region may be possible.
  • the second imaging device 21B is provided at the rear lower portion of the harvesting device 15, but is not limited to this embodiment.
  • the second image pickup device 21B is provided at at least one of the rear end portion of the threshing device 13 and the rear end portion of the grain tank 14. Is also good.
  • the second crop detection unit 31B may be configured to be able to detect the harvested product discharged from at least one of the threshing unit 13A and the sorting processing unit 13B.
  • the state determination unit 32 controls at least one of the threshing unit 13A, the sorting processing unit 13B, and the wall insert 13C based on the amount or ratio of the loss of the crop contained in the discharged harvested product, and further runs. It may be configured to control the vehicle speed of the device 11. That is, when the harvested product is detected by the second crop detection unit 31B, the state determination unit 32 controls at least one of the threshing unit 13A, the sorting processing unit 13B, and the wall insert 13C, and the vehicle speed of the traveling device 11. It may be configured to control. When the state determining unit 32 controls the threshing unit 13A, the rotation speed of the handling cylinder may be controlled, or the angle of the dust feed valve may be adjusted.
  • the second crop detection unit 31B detects the harvest trace after the harvesting operation by the harvesting device 15 based on the imaging data acquired by the second imaging device 21B.
  • the second image pickup apparatus 21B may not be provided.
  • the second crop detection unit 31B may be configured to detect the harvest trace after the harvesting operation based on the distance data acquired by the sensor as exemplified by the distance measuring sensor 22.
  • a Fourier transform process is performed on the distance data, and a fallen crop or the like is determined from the harvest trace based on the distribution of the frequency component obtained by the Fourier transform process. May be.
  • the tip of the fallen crop is located on the side where the harvesting device 15 is located, and the tip of the fallen crop is located on the side where the harvesting device 15 is located.
  • the fallen crop may fall down while being located on the opposite side.
  • FIGS. 11 to 19 A second embodiment of the combine as an example of the harvester according to the present invention is described below based on FIGS. 11 to 19.
  • beans such as soybeans are planted in the field as crops, and a normal combine harvester, which is a form of a harvester, harvests the beans.
  • the aircraft 1 a pair of left and right crawler type traveling devices 11, a boarding section 12, a threshing device 13, a grain tank 14, and a harvesting device 15 (in the "harvesting section" of the present invention).
  • A) a transport device 16, a grain ejection device 18, and a satellite positioning module 80 are provided.
  • the traveling device 11 is provided at the lower part of the combine.
  • the traveling device 11 has the same configuration as that of the first embodiment described above, and the elevating device in each of the left and right crawler traveling mechanisms is driven up and down separately, so that the machine body 1 rolls (see FIG. 19).
  • the boarding unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as the upper part of the machine body 1.
  • the boarding unit 12, the threshing device 13, the grain tank 14, the grain discharging device 18, and the satellite positioning module 80 have the same configurations as those in the first embodiment described above.
  • the harvesting device 15 is provided with a harvesting header 15A, a scraping reel 15B, a horizontal feed auger 15C, a hair clipper-shaped cutting blade 15D, and a header actuator 15H.
  • the harvest header 15A, the scraping reel 15B, the lateral feed auger 15C, the cutting blade 15D, and the header actuator 15H have the same configurations as those in the first embodiment described above.
  • a plurality of ridges R are formed in the field, and the upper surface portion of the ridge R is higher than the ground of the field by the ridge height H4.
  • a plurality of ridges R are arranged side by side in one direction, and beans are planted on the upper surface portion of each ridge R.
  • the height of the upper surface portion of the ridge R is not constant at the ridge height H4, and the upper surface portion of the ridge R has irregularities. In FIG. 11, this unevenness is shown as a vertical difference ⁇ H. Therefore, the height of the harvesting device 15 with respect to the ground is adjusted according to the vertical difference ⁇ H.
  • the adjustment of the height of the harvesting device 15 to the ground according to the vertical difference ⁇ H may be, for example, a fine adjustment in a range of 10 cm or more, or a fine adjustment in a range of 2 to 3 cm.
  • optical distance measuring devices 21C and 21D are provided at the right front end portion and the left front end portion of the harvesting device 15, respectively, and the machine body 1 and an object in front (field ground, crops, etc.) are provided.
  • the distance from and to is configured to be measurable by the optical distance measuring devices 21C and 21D.
  • the optical range measuring devices 21C and 21D are LIDAR (for example, a laser scanner or a laser radar), and the LIDAR can scan in three dimensions in the vertical direction in addition to the front and the left and right. Therefore, the optical ranging devices 21C and 21D can have a wider ranging range than the two-dimensional scanning type LIDAR, and the separation distance can be measured with high accuracy.
  • the control unit 40 shown in FIG. 14 is a core element of the control system of the combine, and is shown as an aggregate of a plurality of ECUs.
  • the control unit 40 includes a ridge detection unit 41, a harvest height control unit 42, a storage unit 43, a travel control unit 45, and a work control unit 46.
  • the satellite positioning module 80 is the "positioning unit" of the present invention and outputs positioning data indicating the position of the aircraft 1.
  • the positioning data output from the satellite positioning module 80, the distance data output from each of the optical ranging devices 21C and 21D, and the height position information output from the harvest height detection unit 26 are connected through the wiring network. It is input to the control unit 40.
  • the distance between the machine 1 and the object in front of the machine is measured by the optical distance measuring devices 21C and 21D.
  • the object in front of the machine includes the shape of the crop and the shape of the field that can be seen through the crop (the shape of the ridge R in FIGS. 11 to 3). That is, the distance data is continuously acquired over time by the optical distance measuring devices 21C and 21D.
  • the ridge detection unit 41 detects the field shape and the crop shape in front of the harvesting device 15 as specific object information based on the distance data. For example, the ridge detection unit 41 detects the shape of the ridge R and the ridge height H4 in the field by using a machine-learned (deep learning) neural network.
  • the ridge detection unit 41 and the optical distance measuring devices 21C and 21D are "height detection units" of the present invention, and detect the ridge height H4 based on the distance information by the optical distance measuring devices 21C and 21D.
  • the ridge detection unit 41 detects the ridge height H4 on the front side of the cutting blade 15D, and detects the ridge height H4 on the front side of the divider of the harvest header 15A.
  • the ridge height H4 is the "height of unevenness" of the present invention. That is, the height detecting unit detects the ridge height H4 as the height of the unevenness.
  • the control unit 40 is provided with a storage unit 43, which is a semiconductor storage element such as an EEPROM.
  • the shape and ridge height H4 of the ridge R detected by the ridge detection unit 41 are stored in the storage unit 43 over time in a state associated with the positioning data output from the satellite positioning module 80. That is, the storage unit 43 is configured to be able to store the ridge height H4 in association with the positioning data. Therefore, the ridge height H4 for each positioning data is stored in the storage unit 43.
  • the harvest height control unit 42 is configured to be able to read the ridge height H4 for each positioning data from the storage unit 43.
  • the harvest height control unit 42 targets the harvesting device 15 based on the ridge height H4 of the ridge R acquired from the ridge detection unit 41 and the ridge height H4 at a predetermined position stored in the storage unit 43. Determine the height to the ground.
  • the harvest height control unit 42 can calculate the vertical difference ⁇ H of the ridge height H4 in the predetermined region by reading a plurality of ridge heights H4 over a predetermined region based on the positioning data from the storage unit 43. Is. From this, the harvest height control unit 42 adjusts the target ground height of the harvesting device 15 according to the vertical difference ⁇ H.
  • the harvest height control unit 42 determines the vehicle speed of the traveling device 11 and the height position of the machine body 1 with respect to the traveling device 11 (so-called “Monroe height”) according to the ridge height H4 and the vertical difference ⁇ H. Is configured to be adjustable.
  • the harvest height detecting unit 26 detects the ground height of the harvesting device 15 by detecting the swing angle of the transport device 16 and the height position of the machine body 1 (the height of the monroe) with respect to the traveling device 11. It is configured to be possible.
  • the ground height detected by the harvest height detection unit 26 is sent to the harvest height control unit 42 as height data.
  • the harvest height control unit 42 outputs a control signal to the travel control unit 45 and the work control unit 46 based on the target ground height of the harvesting device 15 and the height data acquired from the harvest height detection unit 26.
  • the travel control unit 45 has an engine control function, a steering control function, a vehicle speed control function, a vehicle height control function, and the like, and controls steering, vehicle speed, and vehicle height (Monroe height) to the travel device 11.
  • the travel control unit 45 includes a vehicle speed control unit 45A and a vehicle height control unit 45B. Control signals related to vehicle speed and vehicle height are sent from the harvest height control unit 42 to the travel control unit 45.
  • the vehicle speed control unit 45A performs speed adjustment control of the traveling device 11 based on the control signal acquired from the harvest height control unit 42.
  • the vehicle height control unit 45B controls the elevating mechanism of the traveling device 11 based on the control signal acquired from the harvest height control unit 42.
  • the work control unit 46 controls devices related to harvesting and threshing crops in the field, such as a harvesting device 15 and a threshing device 13.
  • the work control unit 46 has a header control unit 46A.
  • the harvest height control unit 42 outputs a signal for elevating control to the harvest header 15A to the header control unit 46A based on the target ground height.
  • the height of the harvesting device 15 to the ground is controlled by the header actuator 15H. That is, the header control unit 46A drives and controls the header actuator 15H based on the elevation control signal acquired from the harvest height control unit 42.
  • the harvest height control unit 42 determines the ground height of the harvesting device 15 based on the ridge height H4, controls the drive of the header actuator 15H, and automatically adjusts the ground height of the harvesting device 15. Change to. Further, for example, based on the distance data measured by the optical distance measuring devices 21C and 21D, the work control unit 46 has a front-rear position and a height position of the suction reel 15B and a transmission device for the harvesting device 15 (for example, static). (Hydraulic continuously variable transmission), etc. can be controlled.
  • the control unit 40 of the second embodiment is configured to be connectable to a communication network.
  • the control unit 40 is provided with a communication unit 47, and the communication unit 47 can communicate with the management computer 2 via a wired or wireless communication network.
  • the lodging information of the crop in the field and the unevenness of the ground in the field are transmitted to the field management computer 2 via the wireless communication network together with the positioning data measured by the satellite positioning module 80, and the field in the management computer 2 is used. It is recorded in the map information of.
  • the farm manager can utilize the information on the lodging of the crops in the field and the unevenness of the ground in the field for the agricultural plan for the next year.
  • the right front end portion and the left front end portion of the harvesting device 15 are provided with optical distance measuring devices 21C and 21D, respectively, and the ridge detection unit 41 is provided with distance data from the optical range measuring devices 21C and 21D. Based on the above, it is configured so that the ridge information of the field can be detected.
  • the distance data from the optical ranging devices 21C, 21D includes the distance between the optical ranging devices 21C, 21D and the ground of the field, and the distance between the optical ranging devices 21C, 21D and the crop in front. Is done.
  • the ridge detection unit 41 extracts the distance data indicating the distance between the optical distance measuring devices 21C and 21D and the ground of the field from the distance data, and detects the unevenness of the ground.
  • a plurality of ridges R (unevenness) are arranged in parallel over the working width of the harvesting device 15, and the ridge detection unit 41 is configured to be able to detect the ridge height H4 of the plurality of ridges R. ..
  • FIG. 15 shows a region of the ground of the field located behind the crops in the field from the viewpoint from the optical ranging devices 21C and 21D as the blind spot region DA1.
  • the blind spot area DA1 is an area that becomes a blind spot because the optical ranging devices 21C and 21D cannot measure the distance from the ground of the field because they are blocked by the crops in the field. If the unevenness of the field in the blind spot region DA1 is not measured by the optical ranging devices 21C and 21D, the harvest height control unit 42 cannot accurately calculate the vertical difference ⁇ H, and the height of the harvesting device 15 to the ground is determined. It may not be possible to adjust it appropriately. In order to avoid this inconvenience, in the second embodiment, as shown in FIGS. 16 and 17, the optical distance measuring devices 21C and 21D are configured to be able to measure the distance data with respect to the blind spot region DA1. ..
  • the reciprocating run means that the harvester works along the longitudinal direction of the ridge R and is unharvested adjacent to one of the left and right by the turning run in the longitudinal end region of the ridge R. It means moving to the ridge R and harvesting the crops in the field while repeating the work run again along the longitudinal direction of the unharvested ridge R.
  • the harvester harvests beans while traveling along the longitudinal direction of the ridge R in the working area W1.
  • the harvester turns in the direction opposite to the forward direction in the work area W1 and, as shown in FIG. 17, the work area W2 adjacent to the work area W1 is formed on the ridge R.
  • Harvest beans while running along the longitudinal direction.
  • the optical ranging devices 21C and 21D acquire the distance data in front of the harvesting device 15, and the ridge detection unit 41 acquires the shape of the ridge R and the ridges. Height H4 is detected.
  • the optical distance measuring devices 21C and 21D are configured to be able to acquire distance data on the lateral side of the machine body rather than the harvesting width of the harvesting device 15.
  • the ridge detection unit 41 is configured to be able to detect the shape of the ridge R and the ridge height H4 on the lateral side of the machine body rather than the harvest width of the harvesting device 15.
  • the working area W2 exists as an unharvested area on the left side of the traveling direction of the harvester. Therefore, the distance data of the work area W2 is acquired by the optical distance measuring device 21C located on the left side of the machine body, and the shape and the ridge height H4 of the ridge R of the work area W2 are detected by the ridge detection unit 41.
  • the ridge height H4 in the work area W2, which is the unharvested area, is referred to as "first height". That is, the ridge detection unit 41 is the ridge height H4 in the unharvested region adjacent to the left and right outside of the harvest width of the harvesting device 15 when the traveling device 11 travels in one direction. ] Is configured to be detectable.
  • the ridge height H4 of the work area W2 measured during the work run in the work area W1 is associated with the positioning data measured by the satellite positioning module 80 and stored in the storage unit 43. That is, the storage unit 43 stores the ridge height H4 as the "first height" in association with the positioning data. At this time, it is desirable that the positioning data stored in the storage unit 43 does not indicate the position of the satellite positioning module 80, but indicates the detection position of the ridge R in the work area W2. Therefore, the positioning data stored in the storage unit 43 is data offset diagonally forward by a preset distance from the position of the satellite positioning module 80, that is, data indicating the detection position of the ridge R in the work area W2. good.
  • the blind spot region DA2 is a region that cannot be detected by the optical ranging devices 21C and 21D during work traveling in the work region W1.
  • the harvester harvests beans in the work area W2 while traveling in the direction opposite to the forward direction in the work area W1.
  • the optical distance measuring devices 21C and 21D acquire the distance data in front of the harvesting device 15, and the ridge detection unit 41 detects the shape of the ridge R and the ridge height H4.
  • the work area W2 is located within the range of the harvest width of the harvesting device 15, and the distance data with respect to the blind spot area DA2 is firmly acquired by the optical range measuring devices 21C and 21D, and the ridge detection unit 41 in the blind spot area DA2.
  • the ridge height H4 is detected as the "second height".
  • the blind spot area DA1 is located behind the crops in the field with respect to the viewpoint from the optical distance measuring devices 21C and 21D, and the work is being carried out in the work area W2. This is an area where distance data cannot be measured by the optical distance measuring devices 21C and 21D.
  • the ridge height H4 in the blind spot area DA1 is already detected as the "first height" during the work running in the work area W1, and this first height is stored in the storage unit 43 in association with the positioning data. ing. Of the ridge height H4 (first height) stored in the storage unit 43, the ridge height H4 (first height) of the area corresponding to the positioning data at the time when the work area W2 is being worked is the blind spot.
  • the harvest height control unit 42 It is read out by the harvest height control unit 42 as the ridge height H4 (first height) in the region DA1. That is, the harvest height control unit 42 stores the ridge height H4 (second height) detected by the ridge detection unit 41 while the work area W2 is working, and the work area W1 in the storage unit 43 during the work travel. The stored ridge height H4 (first height) is synthesized.
  • the ridge height H4 of both the blind spot areas DA1 and DA2 is detected, and the ridge height H4 in the work area W2 is detected without omission.
  • the harvest height control unit 42 can accurately calculate the vertical difference ⁇ H.
  • the traveling device 11 is in the above-mentioned one direction (direction advanced in the work area W1) in a state where the work area W2 as the unharvested area is located within the range of the harvest width of the harvest device 15.
  • the height of the harvesting device 15 with respect to the ground based on the second height, which is the ridge height H4 detected by the ridge detection unit 41, and the first height stored in the storage unit 43 when traveling in the opposite direction. Determine the.
  • each of the plurality of ridges R has a different ridge height H4 within the harvest width of the harvesting apparatus 15.
  • the ridge height of R3 is higher by ⁇ H2 than H4.
  • the harvest height control unit 42 determines the ground height of the harvesting device 15 based on the highest ridge R1 (unevenness) on the left side of the machine body (right side of the paper surface) among the plurality of ridges R (unevenness).
  • the cutting blade 15D cuts the root of the beans so that the harvesting device 15 cuts the root of the beans.
  • the height to the ground is adjusted.
  • the left and right elevating devices are configured to be independently drive-controllable.
  • the inertial navigation unit for example, a gyro acceleration sensor or a magnetic orientation sensor
  • the satellite positioning module 80 detects the tilt angle (pitch angle, roll angle, yaw angle) of the aircraft 1.
  • the harvest height control unit 42 may be configured to horizontally control the machine body 1 based on the inclination angle of the machine body 1.
  • the crawler traveling mechanism on the left side (right side of the paper) of the traveling device 11 rides on the ridge R1 and travels while trampling the ridge R1. Therefore, among the elevating devices in each of the left and right crawler traveling mechanisms, the set height of the elevating device on the left side (right side of the paper) that is trampling the ridge R1 is higher than the set height of the elevating device on the right side (left side of the paper).
  • the harvest height control unit 42 outputs a control signal to the vehicle height control unit 45B of the travel control unit 45 so as to set it low.
  • the vehicle height (height of Monroe) of the crawler traveling mechanism on the left side (right side of the paper) in the traveling device 11 is higher than the vehicle height (height of Monroe) of the crawler traveling mechanism on the right side (left side of the paper surface). It is lower by ⁇ H3.
  • the elevating devices in each of the left and right crawler traveling mechanisms are the "harvest inclination changing mechanism" of the present invention, and the harvesting device 15 is rolled to change the left and right inclination of the harvesting device 15. It is configured to be possible. That is, the harvest height control unit 42 causes the elevating devices of the left and right crawler traveling mechanisms to change the left-right tilt of the harvest device 15 so that the harvest device 15 is in the horizontal posture. As a result, the harvesting device 15 is held horizontally without being tilted.
  • the harvest height control unit 42 harvests based on the highest ridge R (unevenness) among the plurality of ridges R (unevenness).
  • the height of the device 15 to ground is determined, but is not limited to this embodiment.
  • the harvesting apparatus 15 may be rolled as shown in FIG. In FIG. 19, three ridges R exist within the range of the harvest width of the harvesting apparatus 15, and the ridge height H4 of the ridge R1 on the left side of the machine (right side of the paper) is the ridge height R3 of the ridge R3 on the right side of the machine (left side of the paper). It is higher by ⁇ H2 than H4.
  • the harvest height control unit 42 is a harvesting device based on the difference in the ridge height H4 between the ridges R1 and the ridges R3 and the separation distance between the ridges R1 and the ridges R3 in the lateral direction of the aircraft. Calculate the angle at which 15 is rolled.
  • a control signal is output to the vehicle height control unit 45B of the travel control unit 45 so that the ground clearance of the left and right one side portion of the harvesting device 15 is higher than the ground clearance of the left and right other side portions. It may be.
  • the harvesting device 15 is tilted, and the portion of the harvesting device 15 located above the ridge R1 on the left side of the machine (on the right side of the paper) is the ridge R3 on the right side of the machine (on the left side of the paper) in the harvesting device 15. It is higher by ⁇ H2 than the portion located above.
  • the portion of the harvesting device 15 located above the ridge R2 in the center of the left and right sides of the machine (center of the paper) is ⁇ H1 more than the portion of the harvesting device 15 located above the ridge R3 on the right side of the machine (left side of the paper). Only expensive.
  • the cutting blade 15D is used for beans with the lower end portion of the harvesting device 15, that is, the bottom surface portion of the harvesting header 15A and the upper surface portions of the ridges R1, R2, and R3 having the same separation distance in the vertical direction. Cut off the stock of.
  • the harvest height control unit 42 may be configured to cause the elevating devices of the left and right crawler traveling mechanisms to change the left-right inclination of the harvest device 15.
  • a neural network that can be learned by using deep learning is constructed in the ridge detection unit 41, but the neural network may not be constructed in the ridge detection unit 41. ..
  • the neural network may be constructed on another computer or terminal CT, and input / output in the neural network may be performed by communication between the ridge detection unit 41 and the other computer or terminal CT. .. That is, the ridge detection unit 41 may detect the height of the unevenness of the field in front of the harvesting device 15.
  • the height detection unit described above includes the ridge detection unit 41 and the optical distance measuring devices 21C and 21D, but the height detection unit includes the optical distance measuring devices 21C and 21D and the ridge detection unit 41. It may be integrally configured.
  • the height detection unit does not necessarily have to be composed of optical distance measuring devices 21C and 21D (LIDAR).
  • the height detection unit may be a sonar or a radar (millimeter wave). If the height detector is sonar, it is advantageous in terms of cost. If the height detection unit is a millimeter-wave radar, measurement that is not easily affected by the weather is possible, which is advantageous in terms of cost. If the millimeter-wave radar is configured to be able to scan in three dimensions in the vertical direction in addition to the front and left and right, it is possible to have a wider range of range than the millimeter-wave radar of the type that scans in two dimensions. In short, a non-contact height detecting unit that detects the height of the unevenness of the field in front of the harvesting device 15 may be provided.
  • the height detection unit does not necessarily have to be composed of optical distance measuring devices 21C and 21D (LIDAR).
  • the height detection unit may be provided with an image pickup device, and the height detection section may be configured to detect the ridge height H4 based on the image captured by the image pickup device.
  • the image pickup apparatus may be a monocular camera or a stereo camera.
  • the ridge detection unit 41 detects the ridge height H4 as the height of the unevenness in the field, but is not limited to this embodiment.
  • the ridge detection unit 41 may be configured to detect unevenness (vertical difference ⁇ H) in the field in a field without ridges R in which rice or wheat is planted.
  • the ordinary combine 101 (corresponding to the “harvester” according to the present invention) includes a harvesting section 110, a crawler-type traveling device 11, a boarding section 12, a threshing device 13, and a grain tank 14. It is equipped with a transport device 16, a grain discharge device 18, a satellite positioning module 80, and an engine E.
  • the traveling device 11 is provided at the lower part of the combine 101. Further, the traveling device 11 is driven by the power from the engine E. The combine 101 can be self-propelled by the traveling device 11.
  • the boarding unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11.
  • the boarding unit 12, the threshing device 13, the grain tank 14, and the grain discharging device 18 have the satellite positioning module 80 having the above-described configurations in the first embodiment and the second embodiment.
  • the boarding unit 12 is provided with a main shift lever 119.
  • the main shift lever 119 is artificially operated. When the operator operates the main shift lever 119 while the combine 101 is manually traveling, the vehicle speed of the combine 101 changes. That is, when the combine 101 is manually traveling, the operator can change the vehicle speed of the combine 101 by operating the main shift lever 119.
  • the harvesting section 110 is provided in the front portion of the combine 101.
  • the transport device 16 is provided on the rear side of the harvesting section 110.
  • the harvesting unit 110 includes a cutting device 115 and a reel 117.
  • the reaping device 115 cuts the planted culm in the field 5 (see FIG. 21). Further, the reel 117 is driven to rotate around the reel axis 117b along the left-right direction of the machine body to scrape the planted grain culm to be harvested. The cut grain culm cut by the cutting device 115 is sent to the transport device 16.
  • the harvested grain culm harvested by the harvesting unit 110 is transported to the rear of the machine by the transport device 16. As a result, the harvested grain culm is transported to the threshing device 13.
  • the harvesting unit 110 harvests the grain of the field 5 (corresponding to the "crop" according to the present invention). Then, the combine 101 can be cut and run by the running device 11 while cutting the planted culm in the field 5 by the cutting device 115.
  • a communication terminal 4 is arranged in the boarding unit 12.
  • the communication terminal 4 is configured to be able to display various information.
  • the communication terminal 4 is fixed to the boarding unit 12.
  • the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the boarding unit 12, and the communication terminal 4 may be located outside the combine 101. ..
  • the combine 101 is configured to harvest grains in the field 5 located inside the field outer edge portion 6.
  • the field outer edge 6 is provided so as to surround the field 5.
  • the field outer edge 6 includes, for example, a ridge 61, a water supply / drainage pump 62 (see FIG. 26), and the like.
  • the combine 101 is configured to be capable of performing a peripheral harvesting run.
  • the peripheral harvesting run is a run performed along the outer edge portion 6 of the field at the outermost peripheral portion in the field 5.
  • the number of laps in the surrounding harvesting run is one.
  • the present invention is not limited to this, and the number of laps in the surrounding harvesting run may be any number of times of two or more.
  • the combine 101 is configured to harvest the grain of the field 5 by performing a peripheral harvesting run and then performing a cutting run in the inner region of the field 5 as shown in FIGS. 22 and 23. There is.
  • the combine 101 is configured to be capable of performing a peripheral harvesting run, which is a run along the outer edge of the field 6 at the outermost periphery of the field 5.
  • the surrounding harvesting run shown in FIG. 21 is performed by manual running. Further, the cutting run in the inner region shown in FIGS. 22 and 23 is performed by automatic running. That is, the combine 101 is capable of automatic traveling.
  • the present invention is not limited to this, and the surrounding harvesting running shown in FIG. 21 may be performed by automatic running.
  • the operator can change the rotation speed of the engine E by operating the communication terminal 4.
  • the appropriate working 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, the work can be performed at a work speed suitable for the type of crop.
  • the combine 101 includes a control unit 120.
  • the control unit 120 includes a vehicle position calculation unit 121, an area calculation unit 122, a route calculation unit 123, and an automatic driving control unit 124.
  • the automatic traveling control unit 124 controls the automatic traveling of the combine 101.
  • the automatic travel control unit 124 includes a route selection unit 125 and a travel control unit 126.
  • the satellite positioning module 80 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.
  • 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 80.
  • the calculated position coordinates of the combine 101 over time are sent to the area calculation unit 122 and the automatic traveling control unit 124.
  • the area calculation unit 122 calculates the cut area SA and the uncut area CA as shown in FIG. 22 based on the temporal position coordinates of the combine 101 received from the own vehicle position calculation unit 121.
  • the cut area SA is an area in which grains have been harvested in the field 5.
  • the uncut area CA is an area in the field 5 where grains have not been harvested yet.
  • the area calculation unit 122 calculates the travel locus of the combine 101 in the surrounding harvesting operation in the field 5 based on the temporal position coordinates of the combine 101 received from the own vehicle position calculation unit 121. Then, the area calculation unit 122 calculates the area where the combine 101 has performed the surrounding harvesting as the cut area SA based on the calculated travel locus of the combine 101. Further, the area calculation unit 122 calculates the area surrounded by the calculated uncut area SA as the uncut area CA.
  • the traveling path of the combine 101 in the surrounding harvesting traveling in the field 5 is indicated by an arrow.
  • the field 5 is in the state shown in FIG. 22.
  • the area calculation unit 122 calculates the area where the combine 101 has performed the surrounding harvesting run as the already-cut area SA. Further, the area calculation unit 122 calculates the area surrounded by the calculated uncut area SA as the uncut 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 the mowing travel route LI, which is a travel route for the mowing operation in the uncut area CA, as shown in FIG. 22, based on the calculation result received from the area calculation unit 122.
  • the cutting travel path 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 plurality of mowing travel path LIs calculated by the route calculation unit 123 are sent to the automatic travel control unit 124.
  • the route selection unit 125 in the automatic travel control unit 124 determines the combine 101 based on the position coordinates of the combine 101 received from the own vehicle position calculation unit 121 and the plurality of cutting travel routes LI received from the route calculation unit 123. Next, the harvesting route LI to be traveled is selected. Information indicating the cutting travel route LI selected by the route selection unit 125 is sent to the travel control unit 126.
  • the travel control unit 126 is configured to be able to control the travel device 11. Then, the travel control unit 126 automatically travels the combine 101 based on the position coordinates of the combine 101 received from the own vehicle position calculation unit 121 and the information indicating the cutting travel route LI selected by the route selection unit 125. To control. More specifically, as shown in FIG. 22, the traveling control unit 126 controls the traveling of the combine 101 so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI.
  • the traveling control unit 126 of the combine 101 so that the harvesting traveling along the cutting traveling route LI selected by the route selection unit 125 is performed next to the cutting traveling route LI currently being traveled. Control driving.
  • the operator manually operates the combine 101 to perform a surrounding harvesting run as shown in FIG. 21.
  • the field 5 is in the state shown in FIG. 22.
  • the area calculation unit 122 calculates the travel locus of the combine 101 in the surrounding harvesting travel shown in FIG. 21 based on the temporal position coordinates of the combine 101 received from the own vehicle position calculation unit 121. Then, as shown in FIG. 22, the region calculation unit 122 sets the region on the outer peripheral side of the field 5 in which the combine 101 travels while cutting the planted culm, based on the calculated travel locus of the combine 101, as a pre-cut region. Calculated as SA. Further, the area calculation unit 122 calculates the area surrounded by the calculated uncut area SA as the uncut area CA.
  • the route calculation unit 123 sets the cutting travel route LI in the uncut area CA as shown in FIG. 22 based on the calculation result received from the area calculation unit 122.
  • the traveling control unit 126 controls the traveling of the combine 101 so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI. Further, the traveling control unit 126 controls the traveling of the combine 101 so that the harvesting traveling along the cutting traveling route LI selected by the route selecting unit 125 is performed next to the cutting traveling route LI currently traveling. do.
  • the combine 101 repeats running along the cutting running path LI and changing the direction by the ⁇ turn, thereby repeating the uncut area CA.
  • the harvesting run is performed on the outer peripheral part of the combine harvester. As a result, the uncut area CA shrinks and the already cut area SA expands.
  • the area calculation unit 122 is configured to calculate the already-cut area SA and the uncut area CA over time during the cutting run in the field 5.
  • the combine 101 repeats traveling along the cutting travel path LI and changing the direction by the U-turn. As a result, the cutting run is performed so as to cover the entire uncut area CA.
  • the carrier CV is parked at the outer edge portion 6 of the field. Then, in the mowed area SA, a stop position PP is set at a position near the carrier CV.
  • the carrier CV collects and transports the grains discharged from the grain discharge device 18 by the combine 101. At the time of grain discharge, the combine 101 stops at the stop position PP, and the grain is discharged to the carrier CV by the grain discharge device 18.
  • the combine 101 includes a cutting cylinder 115A. Further, as shown in FIG. 24, the automatic traveling control unit 124 has an elevating control unit 127.
  • the elevating control unit 127 is configured to be able to control the cutting cylinder 115A.
  • the elevating control unit 127 controls the cutting cylinder 115A in the extending direction
  • the transport device 16 and the harvesting unit 110 integrally swing in the direction in which the harvesting unit 110 rises. As a result, the harvesting unit 110 rises with respect to the aircraft.
  • the elevating control unit 127 controls the cutting cylinder 115A in the contraction direction
  • the transport device 16 and the harvesting unit 110 integrally swing in the direction in which the harvesting unit 110 descends.
  • the harvesting unit 110 descends with respect to the airframe.
  • the elevating control unit 127 can control the elevating of the harvesting unit 110 with respect to the machine body. Further, the harvesting unit 110 can be raised and lowered with respect to the machine body.
  • the combine 101 is configured to be able to move up and down with respect to the machine body, and is provided with a harvesting section 110 for harvesting grains in the field 5.
  • control unit 120 has a map generation unit 128 and an acquisition unit 129. Further, as shown in FIGS. 24 and 25, the combine 101 includes a detection unit 130.
  • the detection unit 130 is a camera (for example, a CCD camera, a CMOS camera, or an infrared camera). As shown in FIG. 25, the detection unit 130 is provided at the rear end of the combine 101. Further, the detection unit 130 is directed to the rear right of the machine body.
  • a camera for example, a CCD camera, a CMOS camera, or an infrared camera.
  • the combine 101 is executing a peripheral harvesting run.
  • the direction of the surrounding harvesting run is counterclockwise in a plan view. Therefore, as shown in FIG. 25, when the surrounding harvesting run is being executed, the detection unit 130 takes an image of the portion of the field outer edge portion 6 adjacent to the cut area SA. As a result, the detection unit 130 detects the three-dimensional shape of the portion of the field outer edge portion 6 adjacent to the cut area SA.
  • the combine 101 is provided with a detection unit 130 that detects the three-dimensional shape of the portion of the field outer edge 6 adjacent to the region where the grain has been harvested in the field 5 during the execution of the surrounding harvesting run.
  • the detection result by the detection unit 130 is sent to the map generation unit 128.
  • the map generation unit 128 generates an outer edge map based on the detection result of the detection unit 130.
  • the outer edge map is a map showing the distribution of the three-dimensional shape of the field outer edge 6. Further, the outer edge map corresponds to the "outer edge information" according to the present invention. Then, the acquisition unit 129 acquires the outer edge portion map from the map generation unit 128.
  • the combine 101 includes a map generation unit 128 that generates an outer edge map showing the distribution of the three-dimensional shape of the field outer edge 6 based on the detection result of the detection unit 130. Further, the acquisition unit 129 acquires the outer edge portion map. Further, the combine 101 includes an acquisition unit 129 for acquiring information on the outer edge portion indicating the three-dimensional shape of the outer edge portion 6 of the field provided so as to surround the field 5.
  • the detection unit 130 From the start to the end of the surrounding harvesting run, the detection unit 130 will take an image of the entire circumference of the field outer edge portion 6. As a result, the detection unit 130 can detect the three-dimensional shape of the field outer edge portion 6 over the entire circumference of the field outer edge portion 6. As a result, the map generation unit 128 can generate an outer edge portion map corresponding to the entire circumference of the field outer edge portion 6.
  • FIG. 26 shows an example of the outer edge map generated by the map generator 128.
  • the outer edge map shown in FIG. 26 includes the position and three-dimensional shape of the side surface portion 61a of the ridge shore 61, the position and three-dimensional shape of the upper surface portion 61b of the ridge shore 61, and the position and three-dimensional shape of the water supply / drainage pump 62. It has been. As shown in FIG. 27, the side surface portion 61a is inclined so as to be higher toward the outside (the farther from the field 5). Further, the upper surface portion 61b is horizontal.
  • the outer edge map acquired by the acquisition unit 129 is sent to the automatic traveling control unit 124. Then, the elevating control unit 127 controls the elevating of the harvesting unit 110 based on the outer edge map.
  • FIG. 27 shows an example in which the combine 101 changes direction in the vicinity of the outer edge portion 6 of the field.
  • the surrounding harvest run has already been completed.
  • the outer edge map has already been generated by the map generation unit 128. Further, the combine 101 is automatically traveling.
  • the combine 101 first goes straight while performing a mowing run in the uncut area CA. Then, when the harvesting unit 110 enters the uncut area SA from the uncut area CA, the combine 101 changes direction by an ⁇ turn.
  • the combine 101 turns to the left side of the machine while decelerating under the control of the traveling control unit 126. Then, the combine 101 is temporarily stopped in a state where the harvesting portion 110 overlaps the field outer edge portion 6 in a plan view.
  • the combine 101 changes the direction of the aircraft while moving backward and forward. This completes the change of direction of the combine 101.
  • the traveling control unit 126 receives information indicating the cutting traveling route LI selected by the route selection unit 125 and the acquisition unit 129. Based on the outer edge map and the target route of the combine 101 at the time of turning. In addition, in FIG. 27, the illustration of the cutting travel path LI is omitted.
  • the travel control unit 126 controls the travel of the combine 101 so that the combine 101 changes direction along the calculated target route. Further, the traveling control unit 126 sends the calculated target route to the elevating control unit 127 before the harvesting unit 110 enters the uncut area SA from the uncut area CA.
  • the elevating control unit 127 generates elevating schedule information indicating the elevating control schedule of the harvesting unit 110 based on the target route received from the traveling control unit 126 and the outer edge portion map received from the acquisition unit 129. Then, the elevating control unit 127 controls the elevating of the harvesting unit 110 according to the generated elevating schedule information.
  • the elevating control unit 127 generates elevating schedule information so that the harvesting unit 110 does not interfere with the field outer edge portion 6 when the harvesting unit 110 overlaps with the field outer edge portion 6 in a plan view.
  • the raising and lowering of the harvesting section 110 is automatically controlled so that the harvesting section 110 does not interfere with the field outer edge portion 6.
  • the harvesting unit 110 is provided with an elevating control unit 127 that automatically controls the elevating and lowering of the harvesting unit 110.
  • the ascending / descending schedule information includes the aircraft position where the harvesting unit 110 starts to rise, the aircraft position where the harvesting unit 110 ends ascending, and the aircraft position where the harvesting unit 110 starts descending. It contains information indicating the position of the aircraft to end the descent of the harvesting unit 110.
  • the elevating control unit 127 is scheduled to move up and down so that the lower the ground height of the field outer edge portion 6, the closer the position of the machine body at which the harvesting portion 110 starts to rise is to the field outer edge portion 6. Generate information. As a result, the lower the ground clearance of the field outer edge portion 6, the lower the ground clearance reached by the harvesting portion 110 when the harvesting portion 110 overlaps with the field outer edge portion 6 in a plan view.
  • the elevating control unit 127 controls the elevating of the harvesting unit 110 so that the lower the above-ground height of the field outer edge portion 6 is, the lower the above-ground height of the harvesting unit 110 is.
  • FIG. 28 shows a case where the above-ground height of the field outer edge portion 6 is the first height T1 and a case where the above-ground height of the field outer edge portion 6 is the second height T2. ..
  • the second height T2 is lower than the first height T1.
  • the ascending of the harvesting portion 110 is started when the front lower end of the harvesting portion 110 reaches the position P1. Further, when the above-ground height of the field outer edge portion 6 is the second height T2, the ascending of the harvesting portion 110 is started when the front lower end of the harvesting portion 110 reaches the position P2.
  • the distance between the position P2 and the field outer edge 6 is shorter than the distance between the position P1 and the field outer edge 6.
  • the harvesting portion 110 starts to rise as compared with the case where the above-ground height of the field outer edge 6 is the first height T1.
  • the position of the machine is close to the outer edge of the field 6.
  • the harvesting portion 110 is viewed in a plan view as compared with the case where the ground clearance of the field outer edge portion 6 is the first height T1.
  • the ground clearance reached by the harvesting section 110 becomes low when the field overlaps with the field outer edge portion 6.
  • the elevating control unit 127 generates elevating schedule information so that the separation distance D1 between the harvesting unit 110 and the field outer edge portion 6 is maintained wider than a predetermined value. ..
  • the raising and lowering of the harvesting section 110 is controlled so that the separation distance D1 between the harvesting section 110 and the field outer edge portion 6 is maintained to be wider than a predetermined value.
  • the elevating control unit 127 controls the elevating of the harvesting unit 110 so that the separation distance D1 between the harvesting unit 110 and the field outer edge portion 6 is maintained wider than a predetermined value.
  • this predetermined value can be set arbitrarily.
  • the traveling control unit 126 is selected by the route selection unit 125 before the harvesting unit 110 enters the uncut area SA from the uncut area CA.
  • the target route of the combine 101 at the time of turning is calculated based on the information indicating the harvesting travel route LI and the outer edge map received from the acquisition unit 129. Then, the travel control unit 126 controls the travel of the combine 101 so that the combine 101 changes direction along the calculated target route.
  • the combine 101 advances to a position where the harvesting portion 110 overlaps with the field outer edge portion 6 in a plan view.
  • the harvesting portion 110 is on the field outer edge portion 6 in a plan view. It is configured to run so that it does not overlap.
  • the travel control unit 126 performs the ⁇ -turn target route as shown in FIG. 29 when the combine 101 during automatic traveling changes direction. Instead, the target route as shown in FIG. 30 is calculated. Then, the travel control unit 126 controls the travel of the combine 101 so that the combine 101 changes direction along the calculated target route.
  • the combine 101 first goes straight while performing a mowing run in the uncut area CA. Then, after the harvesting section 110 enters the cutting zone SA from the uncut region CA, the combine 101 temporarily stops in a state where the harvesting portion 110 does not overlap the field outer edge portion 6 in a plan view.
  • the combine 101 changes the direction of the aircraft while repeating backward and forward movements. This completes the change of direction of the combine 101.
  • the traveling control unit 126 controls the traveling of the aircraft so that the harvesting unit 110 does not overlap the field outer edge portion 6 in a plan view.
  • the combine 101 includes a traveling control unit 126 that controls the traveling of the machine body so that the harvesting unit 110 does not overlap the field outer edge portion 6 in a plan view when the ground clearance of the field outer edge portion 6 is higher than a predetermined height. ing.
  • this predetermined height can be set arbitrarily. Further, in FIGS. 29 and 30, the illustration of the cutting travel path LI is omitted.
  • the raising and lowering of the harvesting section 110 is automatically controlled so that the harvesting section 110 does not interfere with the field outer edge portion 6 according to the three-dimensional shape of the field outer edge portion 6.
  • the acquisition unit 129 acquires the outer edge portion map generated by the map generation unit 128.
  • the present invention is not limited to this.
  • another embodiment of the third embodiment according to the present invention will be described focusing on the differences from the third embodiment.
  • the configuration other than the parts described below is the same as that of the third embodiment.
  • the same reference numerals are given to the same configurations as those of the third embodiment.
  • control unit 120 in another embodiment of the third embodiment includes a map update unit 132 and an acquisition unit 229.
  • the acquisition unit 229 acquires the outer edge map from the management server 131 located outside the combine 101.
  • the management server 131 stores an outer edge map generated based on the detection result of the detection unit 130 in the harvesting work performed in the field 5 in the past.
  • the present invention is not limited to this, and the outer edge map stored in the management server 131 detects the three-dimensional shape of the field outer edge 6 in the work carried out by a work vehicle such as a tractor or a rice transplanter. It may be generated, or it may be generated by the operation input of the operator.
  • the acquisition unit 229 acquires an outer edge map showing the distribution of the three-dimensional shape of the field outer edge 6.
  • FIG. 32 shows an example of the outer edge map acquired from the management server 131.
  • the outer edge map shown in FIG. 32 includes the position and three-dimensional shape of the side surface portion 61a of the ridge shore 61 and the position and three-dimensional shape of the upper surface portion 61b of the ridge shore 61.
  • the acquisition unit 229 sends the acquired outer edge map to the map update unit 132. Further, the detection result by the detection unit 130 is sent to the map update unit 132.
  • the map update unit 132 updates the outer edge map received from the acquisition unit 229 based on the detection result of the detection unit 130.
  • the combine 101 includes a map update unit 132 that updates the outer edge map based on the detection result of the detection unit 130.
  • the detection unit 130 From the start to the end of the surrounding harvesting run, the detection unit 130 will take an image of the entire circumference of the field outer edge portion 6. As a result, the detection unit 130 can detect the three-dimensional shape of the field outer edge portion 6 over the entire circumference of the field outer edge portion 6. As a result, the map update unit 132 can update the entire outer edge map.
  • FIG. 32 shows an example of the outer edge map before being updated by the map update unit 132.
  • the outer edge map shown in FIG. 32 includes the position and three-dimensional shape of the side surface portion 61a of the ridge shore 61 and the position and three-dimensional shape of the upper surface portion 61b of the ridge shore 61.
  • the outer edge map before being updated by the map update unit 132 does not include information indicating the existence of the water supply / drainage pump 62, but actually, the field outer edge portion 6 includes the water supply / drainage pump 62. It is assumed that there is. In that case, the three-dimensional shape of the water supply / drainage pump 62 is detected by the detection unit 130 during the execution of the surrounding harvesting run. As a result, the outer edge map updated by the map update unit 132 includes the position and the three-dimensional shape of the water supply / drainage pump 62. That is, for example, when the outer edge map shown in FIG. 32 is updated by the map updating unit 132, the existence of the water supply / drainage pump 62 is reflected, and the outer edge map as shown in FIG. 26 is obtained.
  • the outer edge map updated by the map updating unit 132 is sent to the automatic traveling control unit 124. Then, the elevating control unit 127 controls the elevating of the harvesting unit 110 based on the updated outer edge map.
  • the elevating control of the harvesting unit 110 is the same as that of the above embodiment.
  • the elevating control unit 127 controls the elevating of the harvesting unit 110 based on the outer edge portion map updated by the map updating unit 132.
  • the updated outer edge map may be sent from the map update unit 132 to the management server 131.
  • the outer edge map stored in the management server 131 is updated by replacing the outer edge map before the update stored in the management server 131 with the outer edge map sent from the map update unit 132. May be configured.
  • the traveling device 11 may be a wheel type or a semi-crawler type.
  • the cutting travel path 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 cutting travel path LI calculated by the route calculation unit 123 does not have to be a plurality of mesh lines extending in the vertical and horizontal directions.
  • the cutting travel path LI calculated by the route calculation unit 123 may be a spiral travel route.
  • the cutting travel path LI does not have to be orthogonal to another cutting travel route LI.
  • the cutting travel path LI calculated by the route calculation unit 123 may be a plurality of parallel lines parallel to each other.
  • a part or all of the 129, 129 and the map update unit 132 may be provided outside the combine 101, for example, in a management facility or a management server 131 provided outside the combine 101. You may have.
  • the detection unit 130 may be other than the camera.
  • the detection unit 130 may be a radar or a LIDAR (laser radar).
  • the combine 101 may be configured so that it cannot run automatically.
  • the vehicle speed and steering may be controlled by manual operation, and the elevating and lowering of the harvesting unit 110 may be automatically controlled by the elevating control unit 127.
  • the elevating control unit 127 may be configured to control the elevating of the harvesting unit 110 regardless of the ground clearance of the field outer edge portion 6.
  • the elevating control unit 127 of the harvesting unit 110 keeps the distance D1 between the harvesting unit 110 and the field outer edge portion 6 wider than a predetermined value. Control the ascent and descent.
  • a predetermined value may not be set.
  • the detection unit 130 may not be provided on the combine 101.
  • the detection unit 130 may be provided on a flyable multicopter.
  • the map generation unit 128 may generate an outer edge portion map based on information other than the detection result of the detection unit 130. For example, the map generation unit 128 may generate an outer edge map based on the locus of the harvesting unit 110 when the harvesting unit 110 moves up and down manually.
  • the outer edge map shows the position and height of the lowest portion of the side surface portion 61a of the ridge shore 61 and the position and height of the highest portion of the side surface portion 61a of the ridge shore 61. Is also good.
  • the present invention is applicable not only to ordinary combine harvesters but also to general harvesters for harvesting crops such as head-feeding combine harvesters (for example, corn harvesters and carrot harvesters). Further, the technical features of the harvester of the present invention can also be applied to a control system. Therefore, the present invention can also be subject to control systems. In addition, the technical features of the harvester of the present invention are also applicable to control methods. Therefore, the present invention can also be subject to the control method. In addition, the technical features of the harvester of the present invention are also applicable to control programs. Therefore, the present invention can also be subject to control programs. Further, a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.
  • a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory in which a control program having this technical feature is recorded can also be subject to the right.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Outside Dividers And Delivering Mechanisms For Harvesters (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Harvester Elements (AREA)

Abstract

Cette moissonneuse comporte : un dispositif de déplacement (11) pouvant se déplacer dans un champ ; un dispositif de récolte (15) pour récolter une culture dans le champ, supporté de manière verticalement mobile par un corps de machine (1), et comprenant un bec cueilleur de récolte (15A) pour recevoir par l'avant une culture plantée, et une bobine de ratissage (15B) pour ratisser la culture plantée au moyen d'un entraînement rotatif ; un actionneur (15H) pour faire fonctionner le dispositif de récolte (15) ; une unité de détection de culture pour détecter la hauteur de la culture plantée ; et une unité de changement d'état pouvant faire fonctionner l'actionneur (15H) en fonction de la hauteur de la culture plantée, ce qui permet de modifier l'état de fonctionnement du dispositif de récolte (15).
PCT/JP2021/022768 2020-06-23 2021-06-16 Moissonneuse, système de commande de moissonneuse, procédé de commande de moissonneuse, programme de commande de moissonneuse, et support de stockage WO2021261343A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202180024574.0A CN115334867A (zh) 2020-06-23 2021-06-16 收获机、收获机的控制系统、收获机的控制方法、收获机的控制程序、及记录介质

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
JP2020107947A JP7423441B2 (ja) 2020-06-23 2020-06-23 収穫機
JP2020107946A JP7489836B2 (ja) 2020-06-23 2020-06-23 収穫機
JP2020-107944 2020-06-23
JP2020-107946 2020-06-23
JP2020-107943 2020-06-23
JP2020107943A JP2022002475A (ja) 2020-06-23 2020-06-23 収穫機
JP2020-107947 2020-06-23
JP2020-107949 2020-06-23
JP2020107944A JP7433145B2 (ja) 2020-06-23 2020-06-23 収穫機
JP2020107949A JP7423443B2 (ja) 2020-06-23 2020-06-23 収穫機

Publications (1)

Publication Number Publication Date
WO2021261343A1 true WO2021261343A1 (fr) 2021-12-30

Family

ID=79281275

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/022768 WO2021261343A1 (fr) 2020-06-23 2021-06-16 Moissonneuse, système de commande de moissonneuse, procédé de commande de moissonneuse, programme de commande de moissonneuse, et support de stockage

Country Status (2)

Country Link
CN (1) CN115334867A (fr)
WO (1) WO2021261343A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114223386A (zh) * 2022-02-25 2022-03-25 农业农村部南京农业机械化研究所 一种联合收获机拨禾轮作业参数调控系统的调控方法
CN115586538A (zh) * 2022-10-17 2023-01-10 南通大学 基于激光雷达的半喂入联合收割机穗头喂入深度控制方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56121409A (en) * 1980-02-26 1981-09-24 Kubota Ltd Combined harvester
JPH02117303A (ja) * 1988-10-27 1990-05-01 Yanmar Agricult Equip Co Ltd コンバインにおける刈取前処理装置の制御装置
JP2016010371A (ja) * 2014-06-30 2016-01-21 井関農機株式会社 コンバイン
JP2016086668A (ja) * 2014-10-30 2016-05-23 井関農機株式会社 コンバイン
JP2019080496A (ja) * 2017-10-27 2019-05-30 井関農機株式会社 コンバインの操縦アシスト装置
JP2019129760A (ja) * 2018-01-31 2019-08-08 井関農機株式会社 コンバイン

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000083433A (ja) * 1998-09-08 2000-03-28 Kubota Corp 農作業車
DE10129136A1 (de) * 2001-06-16 2002-12-19 Deere & Co Einrichtung zur selbsttätigen Lenkung eines landwirtschaftlichen Arbeitsfahrzeugs
TW201034560A (en) * 2009-03-17 2010-10-01 Iseki Agricult Mach Combined harvester
JP6748869B2 (ja) * 2015-12-03 2020-09-02 三菱マヒンドラ農機株式会社 コンバイン
KR102252840B1 (ko) * 2016-03-29 2021-05-17 얀마 파워 테크놀로지 가부시키가이샤 콤바인
JP6851222B2 (ja) * 2017-02-28 2021-03-31 株式会社クボタ 収穫機
JP6854713B2 (ja) * 2017-06-23 2021-04-07 株式会社クボタ コンバイン
JP6917883B2 (ja) * 2017-12-25 2021-08-11 株式会社クボタ 圃場作業機

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56121409A (en) * 1980-02-26 1981-09-24 Kubota Ltd Combined harvester
JPH02117303A (ja) * 1988-10-27 1990-05-01 Yanmar Agricult Equip Co Ltd コンバインにおける刈取前処理装置の制御装置
JP2016010371A (ja) * 2014-06-30 2016-01-21 井関農機株式会社 コンバイン
JP2016086668A (ja) * 2014-10-30 2016-05-23 井関農機株式会社 コンバイン
JP2019080496A (ja) * 2017-10-27 2019-05-30 井関農機株式会社 コンバインの操縦アシスト装置
JP2019129760A (ja) * 2018-01-31 2019-08-08 井関農機株式会社 コンバイン

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114223386A (zh) * 2022-02-25 2022-03-25 农业农村部南京农业机械化研究所 一种联合收获机拨禾轮作业参数调控系统的调控方法
CN114223386B (zh) * 2022-02-25 2022-05-17 农业农村部南京农业机械化研究所 一种联合收获机拨禾轮作业参数调控系统的调控方法
CN115586538A (zh) * 2022-10-17 2023-01-10 南通大学 基于激光雷达的半喂入联合收割机穗头喂入深度控制方法

Also Published As

Publication number Publication date
CN115334867A (zh) 2022-11-11

Similar Documents

Publication Publication Date Title
US11044847B2 (en) Cutter head with automatic setting of the reel finger orientation
RU2747303C2 (ru) Система для управления рабочим параметром уборочной жатки
WO2021261343A1 (fr) Moissonneuse, système de commande de moissonneuse, procédé de commande de moissonneuse, programme de commande de moissonneuse, et support de stockage
WO2014093814A1 (fr) Estimation de charge prédictive par vision frontale
US11758847B2 (en) Residue quality assessment and performance system for a harvester
WO2020218464A1 (fr) Moissonneuse, programme de détermination d'obstacle, support d'enregistrement sur lequel le programme de détermination d'obstacle est enregistré, procédé de détermination d'obstacle, machine de travail agricole, programme de commande, support d'enregistrement sur lequel est enregistré le programme de commande, et procédé de commande
CN109716917A (zh) 带有云台摄像装置的收割机
WO2022123889A1 (fr) Véhicule de travail, système de détection d'état d'objet, procédé de détection d'état d'objet, programme de détection d'état d'objet, et support d'enregistrement dans lequel un programme de détection d'état d'objet est enregistré
EP3939403B1 (fr) Système et procédé de synchronisation de déchargement assisté ou automatisé
JP7423441B2 (ja) 収穫機
JP7433145B2 (ja) 収穫機
JP7423440B2 (ja) 収穫機
WO2021261415A1 (fr) Moissonneuse, programme de commande de moissonneuse, support d'enregistrement dans lequel un programme de commande de moissonneuse est stocké, et procédé de commande de moissonneuse
JP2022002475A (ja) 収穫機
JP7489836B2 (ja) 収穫機
JP6919678B2 (ja) 作業経路作成システムおよびコンバイン
JP7423443B2 (ja) 収穫機
WO2022124001A1 (fr) Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement sur lequel le programme de commande de machine de travail agricole est enregistré, et procédé de commande de machine de travail agricole
EP3646700B1 (fr) Système d'estimation de biomasse de moissonneuse agricole
EP4295661A1 (fr) Diviseurs d'extrémité pouvant être commandés
US20240074356A1 (en) Method and control device for operating an agricultural harvester and agricultural harvester
KR20230074717A (ko) 수확기
EP3939409A1 (fr) Système et procédé de synchronisation de déchargement de grain assisté ou automatique
KR20230149305A (ko) 수확기
WO2022136980A1 (fr) Automatisation d'une machine agricole

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21830060

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21830060

Country of ref document: EP

Kind code of ref document: A1