WO2021261415A1

WO2021261415A1 - Harvester, harvester control program, recording medium in which harvester control program is stored, and harvester control method

Info

Publication number: WO2021261415A1
Application number: PCT/JP2021/023303
Authority: WO
Inventors: 藤田敏章; 瀬川卓二; 中西雄大
Original assignee: 株式会社クボタ
Priority date: 2020-06-23
Filing date: 2021-06-21
Publication date: 2021-12-30
Also published as: CN115666223A

Abstract

A harvester comprises a harvesting/conveying device 2 that has a harvesting unit H and a conveying unit, the harvesting unit H including a header 5 that accepts harvested material and a rotationally driven auger 6, the harvesting unit being configured to be raised or lowered in relation to the harvester body, and to harvest crops in a field. The conveying unit is provided with: a clogging assessment unit that conveys the harvested material that was harvested by the harvesting unit H to the rear of the harvester body, and assesses whether the harvesting/conveying device 2 is clogged; and a reverse control unit that drives the auger 6 in reverse when the clogging assessment unit has assessed that the harvesting/conveying device 2 is clogged.

Description

Harvester, harvester control program, recording medium recording harvester control program, harvester control method

The present invention relates to a harvester provided with a harvesting and transporting device having a harvesting section and a transporting section.

Further, the present invention relates to a harvester provided with a harvesting device for harvesting crops in a field.

[1] As the above-mentioned harvester, for example, the one described in Patent Document 1 is already known. The harvesting section (“cutting section” in Patent Document 1) in this harvester (“combine” in Patent Document 1) includes a rotation-driven auger (“horizontal feed auger” in Patent Document 1). Further, the transport unit (“feeder” in Patent Document 1) in this harvester transports the harvested product harvested by the harvester to the rear of the machine.

[2] For example, the harvester disclosed in Patent Document 2 is provided with a detection unit (“image recognition module and data processing module” in the document) capable of detecting a fallen crop in front of the harvester. The detection unit is configured to be able to detect weeds. Information such as fallen crops is used to generate field maps.

Japanese Patent Application Laid-Open No. 2017-3517 Japanese Patent Application Laid-Open No. 2019-8536

[1] The problems corresponding to the background technology [1] are as follows.
Here, in the harvest transfer device of the harvester described in Patent Document 1, clogging may occur due to a harvested product or the like. When the harvest transfer device is clogged, the clog can be cleared by reversely driving the auger.

At that time, the operator needs to switch the power transmission path from the power source to the auger in order to drive the auger in the reverse direction. The operation of switching the power transmission path is generally performed by operating an operating tool such as a lever.

However, if the operator's skill level is relatively low, it is assumed that the harvesting operation will be continued without noticing that the harvesting and transporting device is clogged. Also, even if the harvest transfer device is noticed to be clogged, the operator may not know how to clear the clog.

An object of the present invention is to provide a harvester in which the clogging can be easily cleared automatically when the harvesting and transporting device is clogged.

[2] The issues corresponding to the background technology [2] are as follows.
By the way, in order to perform the harvesting work favorably, it is desirable to have a configuration in which at least one of the type of crop and the type of weed is grasped. In particular, when the commercial value of the crop is high, it is important to control the vehicle speed according to the change in the state of the field, and it is important to select at least one of the type of crop and the type of weed. It is desirable that the vehicle speed is controlled to the low speed side accordingly.

An object of the present invention is to provide a harvester capable of performing suitable harvesting work according to at least one of a crop type and a weed type.

[1] The solutions corresponding to the problem [1] are as follows.
A feature of the present invention is a harvesting and transporting device having a harvesting section and a transporting section, the harvesting section including a header for receiving the harvested material and a rotary-driven auger, and is configured to be able to move up and down with respect to the aircraft. At the same time, the crops in the field are harvested, and the transport unit transports the harvested product harvested by the harvesting unit to the rear of the machine body, and determines whether or not the harvest transport device is clogged. It is provided with a reversing control unit for reversing driving the auger when it is determined by the determination unit that the harvesting and transporting device is clogged.

According to the present invention, when the harvest transfer device is clogged, the jam determination unit determines that the harvest transfer device is clogged. Then, in that case, the reverse control unit drives the auger in reverse. That is, according to the present invention, the auger is automatically reverse-driven when the harvest transfer device is clogged. This makes it easier to clear the blockage.

Therefore, according to the present invention, it is possible to realize a harvester in which the clogging can be easily cleared automatically when the harvesting and transporting device is clogged.

Further, in the present invention, a height changing device for changing the height position of the auger with respect to the header and a height control unit for controlling the height position of the auger with respect to the header by controlling the height changing device. It is preferable that the height control unit raises the height position of the auger with respect to the header when the jamming determination unit determines that the harvest transfer device is clogged.

According to this configuration, the height position of the auger with respect to the header is automatically raised when the harvest transfer device is clogged. As a result, the gap between the bottom plate of the header and the auger is widened. As a result, when the crop or the like is clogged between the bottom plate of the header and the auger, the clogging can be easily cleared.

Further, in the present invention, the reversing control unit raises the harvesting unit and reversely drives the auger when the jamming determination unit determines that the harvesting and transporting device is clogged. It is preferable that the above is feasible.

If the auger is driven in reverse when the harvest transfer device is clogged, the clogged crops, etc. will be discharged forward from the harvesting section.

Here, according to the above configuration, when the harvest transport device is clogged, the clogged harvest or the like is discharged forward from the raised harvesting section. At this time, if an unharvested crop (for example, a planted culm) exists in front of the machine, the discharged harvested product or the like is likely to be placed on the unharvested crop.

As a result, when the harvesting run is resumed after the clogging of the harvesting and transporting device is cleared, the harvested crops and the like on the unharvested crops can be accepted by the harvesting department. As a result, it is possible to reduce the harvest loss as compared with the case where the clogged harvest or the like is discharged to the ground and discarded.

Further, in the present invention, it is preferable that the reverse rotation control unit reversely drives the auger after moving the machine forward in the first clogging control.

According to this configuration, after the aircraft has moved forward, the jammed crops etc. are discharged forward from the harvesting section. This makes it easier for the discharged crops and the like to be reliably placed on the unharvested crops. As a result, it becomes possible to reduce the harvest loss more reliably.

Further, in the present invention, when the jamming determination unit determines that the harvesting and transporting device is clogged, the reversing control unit reversely drives the auger after reversing the machine body at the time of the second clogging. It is preferable that the control can be executed.

As mentioned above, when the jammed crops are placed on the unharvested crops, when the harvesting run is resumed, the unharvested crops and the harvested crops on it are harvested. Will be accepted by. In this case, a relatively large amount of harvested products will be accepted by the harvesting department. Therefore, immediately after resuming harvesting, it is necessary to temporarily set the traveling speed of the aircraft to a relatively low speed so that clogging does not occur again. This tends to increase the time required for harvesting work.

Here, according to the above configuration, when the harvest transport device is clogged, the clogged harvest or the like is discharged from the harvesting section to the ground. Therefore, it is not necessary to temporarily reduce the traveling speed of the aircraft to a relatively low speed immediately after restarting the harvesting operation. As a result, it is easy to shorten the time required for the harvesting work as compared with the case where the clogged harvested product or the like is placed on the unharvested crop.

Further, in the present invention, the harvesting unit includes a reel that scrapes the planted culm while being driven to rotate, and when the jamming determination unit determines that the harvesting and transporting device is clogged, the header is used. On the other hand, it is preferable to include a reel control unit for raising the reel.

According to this configuration, when the harvest transfer device is clogged, the reel rises with respect to the header. As a result, it is easy to avoid a situation in which the reel interferes with the discharge when the jammed crop or the like is discharged forward from the harvesting section.

Further, in the present invention, it is preferable to include a detection unit for detecting the rotation speed of the auger, and the clogging determination unit determines whether or not the harvest transfer device is clogged based on the detection result by the detection unit. be.

If the harvest etc. is clogged between the bottom plate of the header and the auger, the rotation speed of the auger tends to decrease. That is, the rotation speed of the auger is a value related to whether or not the harvest transfer device is clogged.

Here, according to the above configuration, the clogging determination unit determines whether or not the harvest transfer device is clogged based on the rotation speed of the auger. This makes it easy to realize a harvester that determines whether or not the harvest transfer device is clogged with a relatively simple configuration.

Further, in the present invention, it is preferable that the auger is provided with an electric motor that gives reverse power to the auger, and the reverse control unit drives the auger in reverse by driving the electric motor.

According to this configuration, it is not necessary to provide a forward / reverse switching mechanism capable of switching the power from the power source between the forward rotation direction and the reverse rotation direction in the power transmission path from the power source (for example, the engine) to the auger. Therefore, it is possible to make the power transmission path from the power source to the auger a relatively simple configuration.

Another feature of the present invention is a harvesting and transporting device having a harvesting section and a transporting section, wherein the harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and can be raised and lowered with respect to the machine body. The transport unit is a harvester control program that controls a harvester that transports the harvested product harvested by the harvest unit to the rear of the machine, and is a harvest transport device. To realize a clogging determination function for determining whether or not the harvesting is clogged, and a reversing control function for reversing driving the auger when the harvesting and transporting device is determined to be clogged by the jamming determination function. It is in.

Another feature of the present invention is a harvesting and transporting device having a harvesting section and a transporting section, wherein the harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and can be raised and lowered with respect to the machine body. A recording medium recording a harvester control program that controls a harvester that harvests crops in the field and transports the harvested product harvested by the harvester to the rear of the machine. , A jam determination function for determining whether or not the harvest transfer device is clogged, and a reverse control function for reversing driving the auger when the harvest transfer device is determined to be clogged by the jam determination function. It is to record the harvester control program to be realized on the computer.

Another feature of the present invention is a harvesting and transporting device having a harvesting section and a transporting section, wherein the harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and can be raised and lowered with respect to the machine body. The transport unit is a harvester control method for controlling a harvester that transports the harvested product harvested by the harvest unit to the rear of the machine, and the harvest transport unit. It is provided with a clogging determination step for determining whether or not the harvester is clogged, and a reversal control step for reversing driving the auger when it is determined by the jamming determination step that the harvesting and transporting device is clogged.

[2] The solutions corresponding to the problem [2] are as follows.
The harvester according to the present invention includes a traveling device capable of traveling in a field, a harvesting device for harvesting crops in the field, a detection unit for detecting a weed region in which weeds are present in the crop in front of the harvesting device, and the above. A state changing unit for changing the vehicle speed of the traveling device in the weed region to a lower speed side than the vehicle speed when traveling outside the weed region is provided, and the detecting unit is provided with a crop type and a weed region. It is configured so that at least one of the type of weed can be acquired, and the state changing unit changes the vehicle speed of the traveling device to the low speed side according to at least one of the type of crop and the type of weed. It is characterized in that it is configured to be determinable.

According to the present invention, at least one of the crop type and the weed type is grasped by the detection unit, and the vehicle speed is controlled to the low speed side according to at least one of the crop type and the weed type. Therefore, when the commercial value of the crop is high, careful harvesting is possible in the weed area. As a result, a harvester capable of performing suitable harvesting work is realized according to at least one of the type of crop and the type of weed.

In the present invention, the threshing section for threshing the crops harvested by the harvesting apparatus and the threshing process provided below the threshing section while receiving the threshing processed product and rocking and transporting the crop backward. A threshing device comprising a sorting processing unit for sorting the material into harvested and non-harvested material is provided, and the sorting processing unit has a plurality of chaflip arranged along the transport direction of the threshing processed material. It also has a chaff sheave whose leakage opening can be changed by changing the postures of the plurality of chaflip, and the state changing unit has a type of the crop when selecting the crops harvested in the weed area. It is preferable that the chaff sheave is configured to reduce the leakage opening degree according to at least one of the weed type and the weed type.

When selecting crops harvested in the weed area, the risk of weeds being mixed with the harvested products selected by the sorting processing unit increases. In this configuration, the vehicle speed is changed to the low speed side in the weed area and the leakage opening of the chaf sheave becomes smaller, so that the harvested products carefully harvested in the weed area are carefully sorted by the sorting processing unit. To. As a result, the risk of weeds being mixed with the harvested products selected by the sorting processing unit is reduced.

In the present invention, the detection unit is configured to be able to acquire the type of the crop, and the state change unit detects the weed area in front of the harvesting device and the type of the crop is beans. , It is preferable to stop the traveling device.

Some beans have high commercial value. Therefore, when 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. With this configuration, when the type of crop is beans, such inconvenience can be avoided by stopping the traveling device.

In the present invention, the detection unit is configured to be able to acquire both the type of the crop and the type of the weed, and the state changing unit detects the weed region in front of the harvesting device and the crop. When the type of the above is other than beans, it is preferable to determine the degree of change of the vehicle speed of the traveling device to the low speed side according to the type of the weed.

With this configuration, it is possible to optimally adjust the vehicle speed based on both the type of crop and the type of weed, and it is possible to achieve both efficient harvesting work and careful harvesting work in the weed area. ..

In the present invention, it is preferable that the state changing unit determines the degree of change of the vehicle speed of the traveling device to the low speed side according to the weed rate, which is the amount of the weeds per unit area in the weed area.

With this configuration, it is possible to finely adjust the vehicle speed according to the amount of weeds in the weed area, and it is possible to achieve both efficient harvesting work and careful harvesting work in the weed area.

Another feature of the present invention is a harvester control program for controlling a harvester provided with a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field. A detection function that detects a weed area where weeds are present mixed with crops in front, and a state change function that changes the vehicle speed of the traveling device in the weed area to a speed lower than the vehicle speed when traveling outside the weed area. The detection function acquires at least one of the crop type and the weed type in the weed region, and the state change function obtains the crop type and the weed type. The purpose is to determine the degree of change of the vehicle speed of the traveling device to the low speed side according to at least one of the above.

Another feature of the present invention is a recording medium recording a harvester control program for controlling a harvester equipped with a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field. , A detection function for detecting a weed area where weeds are present mixed with crops in front of the harvesting device, and a vehicle speed of the traveling device in the weed area set to a lower speed side than the vehicle speed when traveling outside the weed area. The harvester control program that realizes the state change function to be changed on the computer is recorded, and the detection function acquires at least one of the crop type and the weed type in the weed area, and the detection function obtains the above. The state change function is to record a harvester control program that determines the degree of change of the vehicle speed of the traveling device to the low speed side according to at least one of the crop type and the weed type.

Another feature of the present invention is a harvester control method for controlling a harvester provided with a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field. A detection step for detecting a weed area in which weeds are present mixed with crops in front, and a state change step for changing the vehicle speed of the traveling device in the weed area to a speed lower than the vehicle speed when traveling outside the weed area. In the detection step, at least one of the crop type and the weed type in the weed region is acquired, and in the state change step, at least one of the crop type and the weed type is obtained. On the other hand, the degree of change of the vehicle speed of the traveling device to the low speed side is determined.

It is a figure which shows the 1st Embodiment (hereinafter, the same is applied to FIG. 8), and is the left side view of a combine. It is a figure which shows the orbit running in a field. It is a figure which shows the cutting running along the cutting running path. It is a block diagram which shows the structure about the control part. It is a figure which shows the structure of a height changing device and the like. It is a figure which shows the change of the height position of an auger with respect to a header. It is a figure which shows the example when the 1st clogging control is executed. It is a figure which shows the example when the 2nd clogging control is executed. It is a figure which shows the 2nd Embodiment (hereinafter, it is the same until FIG. 18), and is the whole side view of the harvester. It is the whole plan view of the harvester. It is a functional block diagram which shows the control system of a harvester. It is explanatory drawing which shows typically the flow of the generation of recognition output data by a recognition part. It is a side view of the main part which shows the working state of a harvesting apparatus. It is a side view of the main part which shows the working state of a harvesting apparatus. It is a flowchart which shows the state change process of the state determination part. It is a schematic plan view which shows the image of the field by the 2nd image pickup apparatus. It is explanatory drawing which shows that the working state is changed at the time of the detection of a fallen crop. It is explanatory drawing which shows that the working state is changed at the time of the detection of a fallen crop.

[First Embodiment]
Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 8. In the following description, unless otherwise specified, the direction of the arrow F shown in FIGS. 1, 5 and 6 is referred to as “front” and the direction of arrow B is referred to as “rear”. Further, the direction of the arrow U shown in FIGS. 1, 5, and 6 is "up", and the direction of the arrow D is "down".

[Overall composition of combine harvester]
As shown in FIG. 1, the ordinary type combine 1 (corresponding to the “harvester” according to the present invention) includes a harvest transfer device 2, a crawler type traveling device 11, an operation unit 12, a threshing device 13, and a grain tank 14. , Equipped with a grain discharging device 18, a satellite positioning module 80, and an engine E. The harvest transfer device 2 has a harvest unit H and a transfer unit 16.

That is, the combine 1 includes a harvesting and transporting device 2 having a harvesting section H and a transporting section 16.

The traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by the power from the engine E. The combine 1 can be self-propelled by the traveling device 11.

Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the work of the combine 1 can be boarded on the driving unit 12. The operator may monitor the work of the combine 1 from outside the combine 1.

The grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.

The harvesting section H is provided in the front portion of the combine 1. The transport section 16 is provided on the rear side of the harvest section H. Further, the harvesting unit H includes a header 5, an auger 6, a cutting device 15, and a reel 17.

The reaping device 15 cuts the planted culm in the field. Further, the reel 17 is driven to rotate around the reel axis 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested.

That is, the harvesting unit H includes a reel 17 that scrapes the planted culm while being rotationally driven.

The harvested grain culm (corresponding to the "harvest" according to the present invention) cut by the harvesting device 15 is accepted in the header 5. Further, the auger 6 is configured in a cylindrical shape extending in the left-right direction of the machine body. The auger 6 is rotationally driven around an auger shaft 6b extending in the left-right direction of the machine body. As a result, the harvested culm received in the header 5 is sent to the transport unit 16 by the auger 6.

With this configuration, the harvesting unit H harvests the grain in the field (corresponding to the "crop" according to the present invention). Then, the combine 1 can be cut and run by the running device 11 while cutting the planted culms in the field by the cutting device 15.

The harvested culm harvested by the harvesting unit H is transported to the rear of the machine by the transporting unit 16. As a result, the harvested grain culm is transported to the threshing device 13.

That is, the transport unit 16 transports the harvested grain culms harvested by the harvesting unit H to the rear of the machine body.

In the threshing device 13, the harvested grain culm is threshed. The grains obtained by the threshing treatment 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.

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

Here, the combine 1 is circulated while harvesting grains in the outer peripheral region of the field as shown in FIG. 2, and then harvested in the inner region of the field as shown in FIG. , Is configured to harvest field grain.

In the present embodiment, the lap running shown in FIG. 2 is performed by manual running. Further, the cutting run in the inner region shown in FIG. 3 is performed by automatic running. That is, the combine 1 can run automatically.

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

Further, as shown in FIG. 1, the driving unit 12 is provided with a main speed change lever 19. The main shift lever 19 is artificially operated. When the operator operates the main shift lever 19 while the combine 1 is manually traveling, the vehicle speed of the combine 1 changes. That is, when the combine 1 is manually traveling, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.

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

Growth characteristics such as ease of threshing and ease of lodging differ depending on the type of crop. Therefore, the appropriate working speed differs depending on the type of crop. If the operator operates the communication terminal 4 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.

[Structure related to power transmission]
As shown in FIG. 4, the combine 1 includes a cutting clutch C1. The power output from the engine E is distributed to the cutting clutch C1 and the traveling device 11. The traveling device 11 is driven by power from the engine E.

Further, the cutting clutch C1 is configured so that the state can be changed between the on state in which power is transmitted and the off state in which power is not transmitted.

When the cutting clutch C1 is in the engaged state, the power output from the engine E is transmitted to the transport unit drive shaft 16a. As a result, the transport unit drive shaft 16a rotates in the forward rotation direction. Here, the transport unit drive shaft 16a is a drive shaft of the transport unit 16. The transport unit 16 is driven in the normal rotation direction by rotating the transport unit drive shaft 16a in the normal rotation direction.

Further, as shown in FIG. 4, the power transmitted from the engine E to the transport unit drive shaft 16a is distributed to the one-way clutch C2, the reaping device 15, and the auger 6. As a result, the cutting device 15 is driven and the auger 6 is rotationally driven in the forward rotation direction.

The one-way clutch C2 is configured to transmit the rotational power in the forward rotation direction to the reel 17 and not to transmit the rotational power in the reverse rotation direction to the reel 17. Therefore, when the transport unit drive shaft 16a is rotating in the forward rotation direction, the rotational power of the transport unit drive shaft 16a is transmitted to the reel 17 via the one-way clutch C2. As a result, the reel 17 is driven.

Further, when the cutting clutch C1 is in the disengaged state, the power output from the engine E is not transmitted to the transport unit drive shaft 16a. At this time, the power output from the engine E is not transmitted to any of the reel 17, the cutting device 15, and the auger 6.

Further, as shown in FIG. 4, the combine 1 includes an electric motor 7. The electric motor 7 is configured to give reverse power to the transport unit drive shaft 16a. That is, the transport unit drive shaft 16a is rotated in the reverse direction by the power from the electric motor 7. The transport unit 16 is driven in the reverse direction by rotating the transport unit drive shaft 16a in the reverse direction.

Then, the power transmitted from the electric motor 7 to the transport unit drive shaft 16a is distributed to the one-way clutch C2, the cutting device 15, and the auger 6. As a result, the cutting device 15 is driven and the auger 6 is rotationally driven in the reverse direction.

Further, when the transport unit drive shaft 16a is rotating in the reverse direction, the one-way clutch C2 does not transmit the rotational power of the transport unit drive shaft 16a to the reel 17. Therefore, at this time, the reel 17 is not driven.

With the above configuration, the electric motor 7 gives the auger 6 reverse power. That is, the combine 1 includes an electric motor 7 that gives reverse power to the auger 6.

The transport unit 16 is configured to transport the harvested grain culm to the rear of the machine body when it is driven in the forward rotation direction. Further, the transport unit 16 is configured to transport the cut grain culm to the front of the machine body when it is driven in the reverse direction.

Further, the auger 6 is configured to send the cut grain culm to the transport unit 16 when it is driven in the forward rotation direction. Further, the auger 6 is configured to send the cut grain culm to the front of the machine body when it is driven in the reverse direction.

[Structure related to control unit]
As shown in FIG. 4, the combine 1 includes a control unit 20. The control unit 20 includes a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, and a travel control unit 24.

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

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

The area calculation unit 22 calculates the outer peripheral area SA and the work target area CA as shown in FIG. 3 based on the temporal position coordinates of the combine 1 received from the vehicle position calculation unit 21.

More specifically, the area calculation unit 22 calculates the traveling locus of the combine 1 in the orbital traveling on the outer peripheral side of the field based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. .. Then, the region calculation unit 22 calculates the region on the outer peripheral side of the field in which the combine 1 circulates while harvesting grains as the outer peripheral region SA, based on the calculated travel locus of the combine 1. Further, the area calculation unit 22 calculates the area inside the field from the calculated outer peripheral area SA as the work target area CA.

For example, in FIG. 2, the traveling path of the combine 1 for orbiting traveling on the outer peripheral side of the field is indicated by an arrow. In the example shown in FIG. 2, the combine 1 makes three laps. Then, when the cutting run along this running path is completed, the field is in the state shown in FIG.

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

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

The route calculation unit 23 calculates the mowing travel route LI, which is the travel route for the mowing operation in the work target area CA, as shown in FIG. 3, based on the calculation result received from the area calculation unit 22. As shown in FIG. 3, in the present embodiment, 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.

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

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

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

First, the operator manually operates the combine 1 and performs a cutting run so as to orbit along the boundary line of the field in the outer peripheral portion of the field as shown in FIG. In the example shown in FIG. 2, the combine 1 makes three laps. When this lap run is completed, the field is in the state shown in FIG.

The area calculation unit 22 calculates the travel locus of the combine 1 in the orbital travel shown in FIG. 2 based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Then, as shown in FIG. 3, the area calculation unit 22 sets the outer peripheral region SA of the region on the outer peripheral side of the field in which the combine 1 orbits while cutting the planted culm, based on the calculated travel locus of the combine 1. Calculated as. Further, the area calculation unit 22 calculates the area inside the field from the calculated outer peripheral area SA as the work target area CA.

Next, the route calculation unit 23 sets the cutting travel route LI in the work target area CA as shown in FIG. 3 based on the calculation result received from the area calculation unit 22.

Then, when the operator presses the automatic running start button (not shown), automatic running along the cutting running path LI is started as shown in FIG. At this time, the traveling control unit 24 controls the traveling of the combine 1 so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI.

When the automatic traveling in the work target area CA is started, as shown in FIG. 3, the combine 1 repeats traveling along the cutting travel path LI and changing the direction to cover the entire work target area CA. Perform a harvesting run to cover it.

In this embodiment, as shown in FIGS. 2 and 3, the carrier CV is parked outside the field. Then, in the outer peripheral region SA, the stop position PP is set at a position near the carrier CV.

The carrier CV can collect and transport the grains discharged from the grain discharge device 18 by the combine 1. At the time of grain discharge, the combine 1 stops at the stop position PP, and the grain is discharged to the carrier CV by the grain discharge device 18.

Then, when the cutting run along all the cutting running paths LI in the work target area CA is completed, the entire field is harvested.

In the present embodiment, in the work target area CA, the portion where the cutting run is completed is the outer peripheral area SA. The area calculation unit 22 is configured to calculate the outer peripheral area SA and the work target area CA over time during the execution of the cutting run in the field.

[Structure related to raising / lowering control of harvesting section, reel, and auger]
As shown in FIGS. 1, 4, and 5, the combine 1 includes a cutting cylinder 15A, a reel cylinder 17A, and a height changing device 6A.

Further, as shown in FIG. 4, the control unit 20 has a clogging control unit 25. The jam control unit 25 includes a reverse rotation control unit 26.

The reverse rotation control unit 26 is configured to be able to control the cutting cylinder 15A. When the reverse rotation control unit 26 controls the cutting cylinder 15A in the extension direction, the harvest transfer device 2 swings in the direction in which the front end portion of the harvest transfer device 2 rises. As a result, the harvesting section H rises with respect to the aircraft.

Further, when the reversing control unit 26 controls the cutting cylinder 15A in the contraction direction, the harvest transfer device 2 swings in the direction in which the front end portion of the harvest transfer device 2 descends. As a result, the harvesting section H descends with respect to the aircraft.

With this configuration, the reverse rotation control unit 26 can control the raising and lowering of the harvesting unit H with respect to the machine body. Further, the harvesting unit H can be raised and lowered with respect to the machine body.

That is, the harvesting unit H includes a header 5 for receiving the harvested grain culm and a rotary-driven auger 6, and is configured to be able to move up and down with respect to the machine body, and harvests the grain in the field.

Further, as shown in FIG. 4, the jam control unit 25 includes a reel control unit 27.

The reel control unit 27 is configured to be able to control the reel cylinder 17A. When the reel control unit 27 controls the reel cylinder 17A in the extension direction, the reel 17 rises with respect to the header 5.

Further, when the reel control unit 27 controls the reel cylinder 17A in the contraction direction, the reel 17 descends with respect to the header 5.

With this configuration, the reel control unit 27 can control the raising and lowering of the reel 17 with respect to the header 5. Further, the reel 17 can be raised and lowered with respect to the header 5.

Further, as shown in FIG. 5, the height changing device 6A is composed of a telescopic cylinder. Further, as shown in FIG. 4, the clogging control unit 25 includes a height control unit 28. The height control unit 28 is configured to be able to control the height changing device 6A.

As shown in FIG. 5, the header 5 has a shaft support portion 51 and a device support portion 52. The device support portion 52 is provided so as to project outward from the side plate 53 of the header 5 in the left-right direction of the machine body. The device support portion 52 supports the height changing device 6A.

Further, the shaft support portion 51 is configured to be slidable up and down with respect to the side plate 53. The shaft support portion 51 is supported by the device support portion 52 via the height changing device 6A. The auger shaft 6b is supported by the shaft support portion 51.

When the height control unit 28 controls the height changing device 6A in the extension direction, the shaft support portion 51 and the auger shaft 6b rise with respect to the side plate 53, as shown in FIG. As a result, as shown in FIG. 6, the auger 6 rises with respect to the header 5.

Further, when the height control unit 28 controls the height changing device 6A in the contraction direction, the shaft support portion 51 and the auger shaft 6b descend with respect to the side plate 53, as shown in FIG. As a result, as shown in FIG. 6, the auger 6 descends with respect to the header 5.

In the present embodiment, the shaft support portion 51, the device support portion 52, and the height changing device 6A are provided at the left end and the right end of the header 5, respectively. The shaft support portion 51, the device support portion 52, and the height changing device 6A at the left end of the header 5 and the shaft support portion 51, the device support portion 52, and the height changing device 6A at the right end of the header 5 have similar structures to each other. Have. The auger shaft 6b is provided so as to extend over the left and right shaft support portions 51.

With the above configuration, the height changing device 6A changes the height position of the auger 6 with respect to the header 5. Further, the height control unit 28 controls the height position of the auger 6 with respect to the header 5 by controlling the height changing device 6A.

As shown in FIG. 6, the higher the height position of the auger 6 with respect to the header 5, the wider the distance between the bottom plate 5a of the header 5 and the auger 6. In the present embodiment, when the height position of the auger 6 with respect to the header 5 is the lowest, the distance between the bottom plate 5a and the auger 6 is the first distance D1. Further, when the height position of the auger 6 with respect to the header 5 is the highest, the distance between the bottom plate 5a and the auger 6 is the second distance D2. The second interval D2 is wider than the first interval D1.

That is, the combine 1 is provided with a height changing device 6A that changes the height position of the auger 6 with respect to the header 5. Further, the combine 1 includes a height control unit 28 that controls the height position of the auger 6 with respect to the header 5 by controlling the height changing device 6A.

[Structure related to control when the harvest transfer device is clogged]
As shown in FIG. 4, the combine 1 includes a detection unit SE. Further, the control unit 20 has a clogging determination unit 29.

The detection unit SE detects the rotation speed of the auger 6 while the combine 1 is harvesting in the field. The detection result by the detection unit SE is sent to the clogging determination unit 29.

The clogging determination unit 29 determines whether or not the harvest transfer device 2 is clogged based on the detection result by the detection unit SE. More specifically, the clogging determination unit 29 determines whether or not the rotation speed of the auger 6 is less than a predetermined threshold value based on the detection result by the detection unit SE. Then, when the rotation speed of the auger 6 is equal to or higher than a predetermined threshold value, the clogging determination unit 29 determines that the harvest transfer device 2 is not clogged. Further, when the rotation speed of the auger 6 is less than a predetermined threshold value, the clogging determination unit 29 determines that the harvest transfer device 2 is clogged.

That is, the combine 1 is provided with a detection unit SE that detects the rotation speed of the auger 6. Further, the combine 1 includes a clogging determination unit 29 for determining whether or not the harvesting and transporting device 2 is clogged.

The jam determination unit 29 may be configured to determine whether or not the harvesting unit H is clogged in the harvesting and transporting device 2, or may determine whether or not the transporting unit 16 is clogged. It may be configured in.

When the jam determination unit 29 determines that the harvest transfer device 2 is clogged, the jam determination unit 29 sends a predetermined signal to the jam control unit 25 as shown in FIG. This signal is a signal indicating that the harvest transfer device 2 is clogged. When the jam control unit 25 receives this signal, the reverse control unit 26, the reel control unit 27, and the height control unit 28 in the jam control unit 25 execute control for clearing the jam of the harvest transfer device 2. .. In the following, the control for clearing the clogging of the harvest transfer device 2 will be described in detail.

As shown in FIG. 4, the reverse rotation control unit 26 is configured to be able to control the cutting clutch C1 and the electric motor 7. Then, the reverse rotation control unit 26 can execute the first clogging control when it is determined by the clogging determination unit 29 that the harvest transfer device 2 is clogged. The first clogging control is a control in which the harvesting portion H is raised and the auger 6 is reversely driven.

More specifically, when the first clogging control is executed, first, the reverse rotation control unit 26 raises the harvesting unit H with respect to the machine body by controlling the cutting cylinder 15A in the extension direction. Next, the reverse rotation control unit 26 sends a predetermined command to the travel control unit 24. This command commands the aircraft to move forward by a predetermined distance.

When the travel control unit 24 receives this command, the travel control unit 24 controls the travel device 11 to advance the aircraft by a predetermined distance.

Next, the reverse rotation control unit 26 switches the cutting clutch C1 from the on state to the off state and drives the electric motor 7. As a result, the power in the forward rotation direction output from the engine E is cut off by the cutting clutch C1, and the power in the reverse rotation direction output from the electric motor 7 drives the auger 6 in the reverse direction. As a result, the first clogging control is completed.

That is, the combine 1 includes a reverse control unit 26 that reversely drives the auger 6 when the jam determination unit 29 determines that the harvest transport device 2 is clogged. Further, the reverse rotation control unit 26 can execute the first jamming control that raises the harvesting unit H and reversely drives the auger 6 when the jamming determination unit 29 determines that the harvesting and transporting device 2 is clogged. be. Further, the reverse rotation control unit 26 reversely drives the auger 6 after moving the aircraft forward in the first jam control. Further, the reverse rotation control unit 26 drives the auger 6 in reverse direction by driving the electric motor 7.

Further, the reverse rotation control unit 26 can execute the second clogging control when it is determined by the clogging determination unit 29 that the harvest transfer device 2 is clogged. The second clogging control is a control in which the auger 6 is reversely driven after the aircraft is moved backward.

More specifically, when the second clogging control is executed, the reverse rotation control unit 26 first sends a predetermined command to the travel control unit 24. This command commands the aircraft to move backward by a predetermined distance.

When the travel control unit 24 receives this command, the travel control unit 24 controls the travel device 11 to move the aircraft backward by a predetermined distance.

The present invention is not limited to this, and the reversing control unit 26 controls the cutting cylinder 15A in the extension direction to raise the harvesting unit H with respect to the aircraft prior to moving the aircraft backward by a predetermined distance. It may be configured in.

Next, the reverse rotation control unit 26 switches the cutting clutch C1 from the on state to the off state and drives the electric motor 7. As a result, the power in the forward rotation direction output from the engine E is cut off by the cutting clutch C1, and the power in the reverse rotation direction output from the electric motor 7 drives the auger 6 in the reverse direction. As a result, the second clogging control is completed.

That is, the reverse rotation control unit 26 can execute the second jamming control that reversely drives the auger 6 after moving the machine backward when the jamming determination unit 29 determines that the harvest transfer device 2 is clogged. be.

In the present embodiment, the communication terminal 4 is configured to be able to select which of the first clogging control and the second clogging control is executed. More specifically, the communication terminal 4 can display a control selection screen (not shown). Then, when the control selection screen is displayed on the communication terminal 4, the operator arbitrarily selects either the first clogging control or the second clogging control by operating the communication terminal 4. can.

Then, as shown in FIG. 4, a signal indicating the selection content by the operator is sent from the communication terminal 4 to the clogging control unit 25. When the jamming determination unit 29 determines that the harvest transfer device 2 is clogged, the reversing control unit 26 receives one of the first clogging control and the second clogging control in response to this signal. Run. That is, the reverse rotation control unit 26 executes which of the first clogging control and the second clogging control is selected by the operator.

The present invention is not limited to this, and the reverse rotation control unit 26 automatically selects and executes the appropriate one of the first clogging control and the second clogging control according to the work situation. It may be configured in.

Further, as shown in FIG. 4, the reel control unit 27 can execute the reel ascending control when it is determined by the jam determination unit 29 that the harvest transfer device 2 is clogged. The reel raising control is a control for raising the reel 17 with respect to the header 5.

More specifically, when the reel raising control is executed, the reel control unit 27 raises the reel 17 with respect to the header 5 by controlling the reel cylinder 17A in the extension direction. This completes the reel rise control.

That is, the combine 1 includes a reel control unit 27 that raises the reel 17 with respect to the header 5 when the jamming determination unit 29 determines that the harvest transport device 2 is clogged.

In the present embodiment, the reel rise control is executed at the same time as the first jam control or the second jam control.

Further, as shown in FIG. 4, the height control unit 28 can execute the auger rise control when it is determined by the clogging determination unit 29 that the harvest transfer device 2 is clogged. The auger rise control is a control for raising the height position of the auger 6 with respect to the header 5.

More specifically, when the auger rise control is executed, the height control unit 28 raises the height position of the auger 6 with respect to the header 5 by controlling the height changing device 6A in the extension direction. This completes the auger rise control.

That is, the height control unit 28 raises the height position of the auger 6 with respect to the header 5 when the jam determination unit 29 determines that the harvest transfer device 2 is clogged.

In the present embodiment, the auger rise control is executed at the same time as the first clogging control or the second clogging control.

[Flow of control at the time of first clogging]
In the following, as an example of the case where the first clogging control is executed during the harvesting operation, the case where the combine 1 is controlled as shown in FIG. 7 will be described.

In the example shown in FIG. 7, the combine 1 is controlled in the order of step S01 to step S06.

First, the harvest transfer device 2 is clogged (step S01). As a result, it is assumed that the rotation speed of the auger 6 is less than a predetermined threshold value. At this time, the clogging determination unit 29 determines that the harvest transfer device 2 is clogged. As a result, the reverse rotation control unit 26 executes the first clogging control. Further, the reel control unit 27 executes reel ascending control. Further, the height control unit 28 executes the auger rise control.

In this example, the reverse rotation control unit 26 controls to temporarily stop the traveling of the combine harvester 1 via the traveling control unit 24 when executing the first jam control.

Next, the harvesting section H rises due to the first clogging control (step S02). At the same time, the reel 17 is raised with respect to the header 5 by the reel raising control. At the same time, the height position of the auger 6 with respect to the header 5 is raised by the auger rise control.

Next, the combine harvester 1 moves forward by a predetermined distance by the first jam control (step S03). Then, the auger 6 is reversely driven by the first clogging control (step S04). As a result, the harvested grain culms and the like clogged in the harvesting and transporting device 2 are discharged forward from the harvesting section H. As a result, the discharged cut grain culms and the like are placed on the unharvested planted culms.

Next, the reverse rotation control unit 26 controls the combine 1 to move backward by a predetermined distance via the travel control unit 24 (step S05). The forward distance in step S03 and the reverse distance in step S05 may be the same or different from each other.

Next, the reversing control unit 26 lowers the harvesting unit H (step S06). At the same time, the reel control unit 27 lowers the reel 17 with respect to the header 5. At the same time, the height control unit 28 lowers the height position of the auger 6 with respect to the header 5.

When the control up to step S06 is completed, the combine 1 resumes the harvesting run.

In the example described above, the first clogging control is completed by steps S02 to S04. That is, step S05 and step S06 are not included in the first clogging control. However, the present invention is not limited to this, and steps S05 and S06 may be included in the first clogging control.

[Flow of control at the time of second clogging]
In the following, as an example of the case where the second clogging control is executed during the harvesting operation, the case where the combine 1 is controlled as shown in FIG. 8 will be described.

In the example shown in FIG. 8, the combine 1 is controlled in the order of step S11 to step S15.

First, the harvest transfer device 2 is clogged (step S11). As a result, it is assumed that the rotation speed of the auger 6 is less than a predetermined threshold value. At this time, the clogging determination unit 29 determines that the harvest transfer device 2 is clogged. As a result, the reverse rotation control unit 26 executes the second clogging control. Further, the reel control unit 27 executes reel ascending control. Further, the height control unit 28 executes the auger rise control.

In this example, the reverse rotation control unit 26 controls to temporarily stop the traveling of the combine harvester 1 via the traveling control unit 24 when the second jamming control is executed.

Next, the harvesting section H rises due to the second clogging control (step S12). At the same time, the reel 17 is raised with respect to the header 5 by the reel raising control. At the same time, the height position of the auger 6 with respect to the header 5 is raised by the auger rise control.

Next, the combine harvester 1 moves backward by a predetermined distance by the second jam control (step S13). Then, the auger 6 is reversely driven by the second clogging control (step S14). As a result, the harvested grain culms and the like clogged in the harvesting and transporting device 2 are discharged forward from the harvesting section H. As a result, the discharged cut grain culms and the like fall to the ground in the harvested area.

As described above, in this example, the control at the time of the second clogging includes the control of raising the harvesting portion H before the aircraft moves backward. However, the present invention is not limited to this, and the control at the time of the second clogging may not include the control for raising the harvesting portion H. That is, it is not necessary to control the harvesting portion H to be raised before the aircraft moves backward.

Next, the reversing control unit 26 lowers the harvesting unit H (step S15). At the same time, the reel control unit 27 lowers the reel 17 with respect to the header 5. At the same time, the height control unit 28 lowers the height position of the auger 6 with respect to the header 5.

When the control up to step S15 is completed, the combine 1 resumes the cutting run.

In the example described above, the second clogging control is completed by steps S12 to S14. That is, step S15 is not included in the second clogging control. However, the present invention is not limited to this, and step S15 may be included in the second clogging control.

With the configuration described above, when the harvest transfer device 2 is clogged, the jam determination unit 29 determines that the harvest transfer device 2 is clogged. Then, in that case, the reverse rotation control unit 26 reversely drives the auger 6. That is, according to the configuration described above, the auger 6 is automatically reversely driven when the harvest transfer device 2 is clogged. This makes it easier to clear the blockage.

Therefore, with the configuration described above, it is possible to realize a combine 1 in which the clogging is easily cleared automatically when the harvesting and transporting device 2 is clogged.

It should be noted that the above-described embodiment is only an example, and the present invention is not limited to this, and can be appropriately modified.

[Another Embodiment of the First Embodiment]
Hereinafter, another embodiment obtained by modifying the above-described embodiment will be described. Except for the matters described in each of the following separate embodiments, the matters are the same as those described in the above-described embodiments. The above-described embodiment and the following separate embodiments may be appropriately combined as long as there is no contradiction. The scope of the present invention is not limited to the above-described embodiment and the following separate embodiments.

(1) The traveling device 11 may be a wheel type or a semi-crawler type.

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

(3) In the above embodiment, the operator manually operates the combine 1 and, as shown in FIG. 2, performs a cutting run so as to orbit along the boundary line of the field in the outer peripheral portion of the field. However, the present invention is not limited to this, and the combine 1 may be configured to automatically travel and perform cutting traveling so as to orbit along the boundary line of the field in the outer peripheral portion of the field. Further, the number of laps at this time may be a number other than three laps. For example, the number of laps at this time may be one lap.

(4) Own vehicle position calculation unit 21, area calculation unit 22, route calculation unit 23, travel control unit 24, jam control unit 25, reverse rotation control unit 26, reel control unit 27, height control unit 28, jam determination unit. A part or all of the 29 may be provided outside the combine 1, and may be provided, for example, in a management server provided outside the combine 1.

(5) The height changing device 6A may not be provided. That is, it may be configured so that the height position of the auger 6 with respect to the header 5 cannot be changed.

(6) The reverse rotation control unit 26 may be configured so that the first clogging control cannot be executed.

(7) The reverse rotation control unit 26 may be configured so that the second clogging control cannot be executed.

(8) The reverse rotation control unit 26 may be configured so that the aircraft does not move forward before the auger 6 is reversely driven in the first jam control.

(9) Combine 1 may be configured so that it cannot run automatically. For example, when the harvest transfer device 2 is not clogged, the harvesting operation is performed manually by the operator, and when the harvest transfer device 2 is clogged, the reverse control unit 26 described in the above embodiment automatically controls the harvest operation. It may be a configuration to be executed.

(10) It may be configured as a harvester control program that realizes the function of each member in the above embodiment on a computer. Further, the harvester control program for realizing the function of each member in the above embodiment may be configured as a recording medium on which the harvester control program is recorded. Further, it may be configured as a harvester control method in which what is performed by each member in the above embodiment is performed by one or a plurality of steps.

[Second Embodiment]
Hereinafter, the second embodiment of the present invention will be described with reference to FIGS. 9 to 18.

An embodiment of the combine as an example of the harvester according to the present invention is described below based on the drawings. In this embodiment, when the front-rear direction of the machine 101 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. 9 and 10 is the front side of the machine, and the direction indicated by reference numeral (B) in FIGS. 9 and 10 is the rear side of the machine body. The direction indicated by the reference numeral (U) in FIG. 9 is the upper side of the machine, and the direction indicated by the reference numeral (D) in FIG. 9 is the lower side of the machine body. The direction indicated by the reference numeral (L) in FIG. 10 is the left side of the machine, and the direction indicated by the reference numeral (R) in FIG. 10 is the right side of the machine body. When defining the left-right direction of the aircraft 101, the left-right direction is defined in the state of being viewed in the traveling direction of the aircraft.

[Basic configuration of harvester]
As shown in FIGS. 9 and 10, a conventional combine harvester, which is a form of a harvester, is provided with a machine body 101 and a pair of left and right crawler type traveling devices 111. The machine 101 is provided with a boarding unit 112, a threshing device 113, a grain tank 114, a harvesting device 115, a transport device 116, and a grain discharging device 118.

The traveling device 111 is provided at the lower part of the combine. The traveling device 111 has a pair of left and right crawler traveling mechanisms. The combine can travel in the field by the traveling device 111. Further, 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 101 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 101 by changing the height position of the machine 101 with respect to each of the left and right crawler traveling mechanisms.

The boarding unit 112, the threshing device 113, and the grain tank 114 are provided above the traveling device 111, and these are configured as the upper part of the machine body 101. A passenger of the combine harvester or an observer who monitors the work of the combine harvester can board the boarding unit 112. 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 112. The grain discharge device 118 is connected to the lower rear portion of the grain tank 114.

The harvesting device 115 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. Then, the combine can be run by the traveling device 111 while harvesting the crops in the field by the harvesting device 115. The transport device 116 is provided adjacent to the rear side of the harvest device 115. The harvesting device 115 and the transport device 116 are supported on the front portion of the machine body 101 so as to be able to move up and down. The harvesting device 115 and the transport device 116 are integrally swung up and down by being moved up and down by the header actuator 115H capable of expanding and contracting.

The harvesting device 115 is provided with a harvesting header 115A, a scraping reel 115B, a horizontal feed auger 115C, and a hair clipper-shaped cutting blade 115D. The harvest header 115A 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 115B is located above the harvest header 115A. The reel support arm 115K is swingably supported by the harvest header 115A. The reel support arm 115K is oscillated by a reel actuator 115J capable of expanding and contracting. The rotation shaft core portion of the suction reel 115B is supported by the free end region of the reel support arm 115K. For this reason, the suction reel 115B is configured to be able to swing up and down by the expansion and contraction operation of the reel actuator 115J.

The scraping reel 115B is configured to be rotatable around the lateral axis of the machine while being supported by the reel support arm 115K. Further, the rotation shaft core portion of the suction reel 115B is configured to be slidable along the front-rear direction in the free end region of the reel support arm 115K. That is, the scraping reel 115B is configured to be swingable up and down with respect to the harvest header 115A, and is configured to be repositionable back and forth with respect to the harvest header 115A.

The scraping reel 115B is equipped with a plurality of tines 115T, and the tines 115T act on the planted crops. When the planted crop is harvested from the field, the scraping reel 115B scrapes the portion of the planted crop near the tip with the tine 115T toward the rear.

The cutting blade 115D cuts the root side of the planted crop that has been scraped backward by the scraping reel 115B. The lateral feed auger 115C is rotationally driven to the lateral axis of the machine body, laterally feeds the harvested crops cut by the cutting blade 115D to the middle side in the left-right direction, collects them, and sends them to the rear transport device 116. Although the details will be described later, the lateral feed auger 115C is configured so that the position can be changed in the vertical direction.

In order to reduce the threshing load in the threshing device 113, the ground height H1 (see FIG. 13) of the harvest header 115A 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 119 is provided behind the harvesting device 115. The residual culm processing unit 119 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 115 (for example, harvested grain culms) are transported to the threshing device 113 by the transport device 116. The harvested crop is threshed by the threshing device 113. The threshing device 113 has a threshing unit 113A, a sorting processing unit 113B, and a wall insert 113C. Although the threshing section 113A is shown as a handling cylinder in FIG. 9, 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 located net and also included in the threshing section 113A. The dust valve guides the processed crop harvested by the harvesting device 115 backward. The threshing unit 113A threshes the crops transported by the transport device 116, that is, the processed crops to be processed by the threshing device 113. The sorting processing unit 113B is provided below the threshing unit 113A, and while receiving the processed crops that have been threshed by the threshing unit 113A and rocking and transporting them backward, the processed crops are sieved into harvested and non-harvested products. do.

Although not shown because it is a known technique, the sorting processing unit 113B 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. Specifically, the closer the chaflip is parallel to the front-rear direction, the smaller the leakage opening degree, and the closer the chaflip is parallel to the vertical direction, the larger the leakage opening degree. The treated crop is rocked backwards over the chaflip and the crop grain leaks downward through the gaps between the chaflip. The sorting processing unit 113B has a plurality of chaflip arranged along the transport direction of the threshed 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 113C supplies the sorting wind to the sorting processing unit 113B.

The grains obtained by the threshing process are stored in the grain tank 114. The grains stored in the grain tank 114 are discharged to the outside of the machine by the grain discharging device 118, if necessary. The grain discharge device 118 is configured to swing around the vertical axis core at the rear of the machine. That is, the free end portion of the grain discharge device 118 protrudes to the lateral outside of the machine body 101 so that the crop can be discharged, and the free end portion of the grain discharge device 118 is within the range of the machine width of the machine body 101. The grain discharge device 118 is configured so that it can be switched between the stored storage state and the position. When the grain discharging device 118 is in the retracted state, the free end portion of the grain discharging device 118 is located in front of the boarding section 112 and above the harvesting device 115.

A first image pickup device 121A and a distance measuring sensor 122 are provided on the front upper part of the boarding section 112. The first image pickup apparatus 121A is a color camera capable of capturing visible light, and is, for example, a CCD camera or a CMOS camera. The first imaging device 121A is provided at the front of the machine 101 and at a position higher than the harvesting device 115 so as to look down on the unharvested crops in front of the harvesting device 115. That is, the first image pickup apparatus 121A 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 121A in the front-rear direction is, for example, 15 meters or 25 meters.

The imaging data acquired by the first imaging device 121A is converted into imaging data and sent to the combine control system. The first image pickup device 121A images the field during the harvesting operation. 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 121A. As such specific objects, in FIGS. 9 and 10, 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 122 is configured to be capable of measuring the distance between the image pickup target in the field existing in front of the aircraft 101 and the aircraft 101. The ranging sensor 122 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 122 is a sonar, it is advantageous in terms of cost. If the range-finding sensor 122 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. 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. If the distance measuring sensor 122 is LIDAR, the separation distance can be measured accurately. In addition, if 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. Further, the range-finding sensor 122 may be configured by a combination of sonar, radar, and LIDAR.

In the present embodiment, the second image pickup device 121B is provided at the lower rear portion of the harvesting device 115. The second image pickup device 121B is a color camera capable of capturing visible light, and is, for example, a CCD camera or a CMOS camera. The second image pickup apparatus 121B can image the harvest trace region S (see FIG. 16) behind the harvesting apparatus 115. Therefore, the second image pickup apparatus 121B is configured to be able to detect the field state after the work while the work is running.

A satellite positioning module 180 is provided on the ceiling of the boarding section 112. The satellite positioning module 180 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. In addition, in order to complement the satellite navigation by the satellite positioning module 180, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic orientation sensor is incorporated in the satellite positioning module 180. Of course, the inertial navigation unit may be arranged at a place different from the satellite positioning module 180 in the combine.

[Control unit configuration]
The control unit 130 shown in FIG. 11 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 130 includes a first crop detection unit 131A, a second crop detection unit 131B, a state determination unit 132, a storage unit 133, a notification unit 134, a travel control unit 135, and a work control unit 136. It is prepared. The first crop detection unit 131A is the "detection unit" of the present invention. The state determination unit 132 is the "state change unit" of the present invention.

Positioning data output from the satellite positioning module 180, imaging data from the first imaging device 121A, imaging data from the second imaging device 121B, distance data output from the ranging sensor 122, and cutting height detection. The height position information output from the unit 123, the height position information output from the reel height detection unit 124, and the height position information output from the auger height detection unit 125 are controlled by a control unit through a wiring network. It is input to 130. As described above, the harvesting device 115 and the transport device 116 (see FIG. 9 and the like) are configured to swing up and down, and the cutting height detection unit 123 is provided at the swing axis core portion of the transport device 116. The cutting height detecting unit 123 is configured to be able to detect the ground height H1 (see FIGS. 13 and 14) at the lower end of the harvesting device 115 by detecting the swing angle of the transport device 116. The reel height detection unit 124 can detect the height position H2 (see FIGS. 13 and 14) of the suction reel 115B with respect to the harvest header 115A by detecting the swing angle of the reel support arm 115K with respect to the harvest header 115A. It is configured in. The auger height detection unit 125 can detect the height position H3 (see FIGS. 13 and 14) of the lateral auger 115C by detecting the vertical position of an actuator (not shown) that raises and lowers the lateral auger 115C up and down. It is configured in.

The first crop detection unit 131A is a planted crop based on the imaging data sequentially acquired by the first imaging device 121A and the distance data sequentially acquired by the distance measuring sensor 122 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 131A determines the type of crop by using, for example, a machine-learned (deep learning) neural network. In other words, the first crop detection unit 131A is configured to be able to acquire the type of crop to be harvested by the harvesting device 115. 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 131A is configured to be able to detect the size and length of the tip of the crop based on the imaging data.

In the present embodiment, the first crop detection unit 131A is configured to be able to detect a fallen crop (for example, a fallen grain culm) based on the height of the planted crop. The flow of generation of recognition output data by the first crop detection unit 131A is shown in FIG. The RGB pixel value of the imaging data is input to the first crop detection unit 131A from the first imaging device 121A as an input value. This imaging data is associated with the distance data acquired by the distance measuring sensor 122, and the fallen crop is detected based on the crop height in the area where the planted crop exists. The first crop detection unit 131A 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.

Further, the first crop detection unit 131A is configured to detect a weed region in which weeds are present mixed with the crop in front of the harvesting device 115, and can acquire the type of weeds (including the size of weeds) in the weed region. It is configured in.

In the example of FIG. 12, lodging crops and weeds are shown in normal planted culms. The weed area in which weeds are present is indicated by a rectangular frame assigned the symbol F1, and the area in which the fallen crop is present is indicated by a rectangular frame assigned the reference numeral F2. Further, the first crop detection unit 131A 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 131A is configured to be able to discriminate crop lodging and weeds from the field. Since the first imaging device 121A 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 131A, the first crop detection unit 131A also , Output recognition output data at the same time interval.

In the automatic traveling, the first image pickup device 121A captures the image in front of the aircraft, and the distance measuring sensor 122 measures the distance between the aircraft 101 and the object in front of the aircraft. Then, based on the image pickup data captured by the first image pickup device 121A and the distance data in front of the aircraft measured by the distance measurement sensor 122, the first crop detection unit 131A 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 131B 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 121B. be. Further, the second crop detection unit 131B 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 130 is provided with a storage unit 133, and the storage unit 133 is provided with a plurality of harvest control patterns and a plurality of travel control patterns. The storage unit 133 is a semiconductor storage element such as 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 115A, the height position H2 of the scraping reel 115B, and the height position H3 of the lateral feed auger 115C. And, are stored in the storage unit 133 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 132. Then, the target value is output from the state determination unit 132 to the work control unit 136 according to the selected harvest control pattern and travel control pattern.

The travel control pattern is stored in the storage unit 133 as a look-up table for adjusting the vehicle speed and the vehicle height of the travel device 111, 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 132. Then, the target value is output from the state determination unit 132 to the travel control unit 135 according to the selected travel control pattern.

The travel control unit 135 has a vehicle speed control unit 135A and a vehicle height control unit 135B. 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 132. The vehicle speed control unit 135A performs speed adjustment control of the traveling device 111 with reference to the target value of the vehicle speed. The vehicle height control unit 135B controls the elevating mechanism of the traveling device 111 with reference to the target value of the vehicle height.

That is, the travel control unit 135 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 111. In the case of manual steering, the travel control unit 135 generates a control signal and controls the travel device 111 based on the operation by the passenger. In the case of automatic steering, the travel control unit 135 controls steering and vehicle speed based on the automatic travel command given by the automatic travel control module of the control unit 130 and the positioning data from the satellite positioning module 180. To do.

The work control unit 136 has a header control unit 136A, a reel control unit 136B, and an auger control unit 136C. The target value of the ground height H1, the target value of the height position H2, the target value of the front-rear position of the suction reel 115B, and the target of the height position H3 based on the harvest control pattern selected by the state determination unit 132. The value and is determined. The header control unit 136A controls the raising and lowering of the harvest header 115A with reference to the target value of the ground height H1. The reel control unit 136B adjusts and controls the vertical position and the front-rear position of the suction reel 115B with reference to the target value of the height position H2 and the target value of the front-rear position of the suction reel 115B. Further, the auger control unit 136C adjusts and controls the vertical position of the lateral feed auger 115C with reference to the target value of the height position H3.

That is, the work control unit 136 has a function of controlling devices related to harvesting and threshing of crops in the field, such as the harvesting device 115 and the threshing device 113. In the case of manual steering, the work control unit 136 generates a control signal and controls the harvesting device 115 and the like based on the operation by the passenger. In the case of automatic steering, the work control unit 136 sets the height H1 of the harvesting device 115 to the ground and the height of the scraping reel 115B based on the imaging data obtained by the first imaging device 121A and the distance information obtained by the distance measuring sensor 122. The position H2, the front-rear position of the scraping reel 115B, the height position H3 of the lateral feed auger 115C, and the like are controlled. In addition, the harvest control pattern also includes parameters relating to the operating speed of the harvest device 115, where the work control unit 136 is a transmission (eg, static) for the harvest device 115 based on the harvest control pattern selected by the state determination unit 132. The hydraulic continuously variable transmission) is configured to be capable of speed change control.

The control unit 130 of this embodiment is configured to be connectable to a communication network. The control unit 130 is provided with a communication unit 137, and the communication unit 137 can communicate with the management computer 102 via a wired or wireless communication network. For example, crop lodging information, weed information, etc. in the field are transmitted to the field management computer 102 via the wireless communication network together with the position information positioned by the satellite positioning module 180, and the field map information in the management computer 102. Recorded in. As a result, the farm manager can utilize the crop lodging information, weed information, etc. in the field for the next year's agricultural plan.

[About the working condition of the harvester]
The harvest control pattern will be described with reference to FIGS. 11, 13 and 14. The parameters of the harvest control pattern include a target value of the ground height H1 of the harvest header 115A, a target value of the height position H2 of the scraping reel 115B, and a target value of the front and rear positions of the scraping reel 115B. If the height position H2 of the scraping reel 115B is too high, it becomes difficult for the scraping reel 115B to scrape the crop. Further, if the height position H2 of the scraping reel 115B is too low, the crop is likely to be entangled with the scraping reel 115B. As shown in FIGS. 13 and 14, when the crop in the field is harvested by the harvesting device 115, the rotation trajectory of the tine 115T is such that the tine 115T of the scraping reel 115B scrapes the tip from the front upper part to the rear. Should overlap with the tip area of the crop.

In each of the plurality of harvest control patterns, the ground height H1 and the height position H2 are set as different parameters for each harvest control pattern. The appropriate harvest control pattern among the plurality of harvest control patterns is selected by the state determination unit 132 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. Then, 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 sent from the state determination unit 132 to the work control unit. Sent to 136. 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.

As described above, the state determination unit 132 is configured so that the working state of the harvesting device 115 can be changed by operating the header actuator 115H according to the height of the planted crop. At this time, in the working state of the harvesting device 115, the ground height H1 of the harvesting device 115, the height position H2 of the scraping reel 115B, the front-rear position of the scraping reel 115B, the rotation speed of the scraping reel 115B, and so on. The rotation locus of the tine 115T and the like are included. Further, the state determining unit 132 is configured to be able to change the vehicle speed of the traveling device 111 in addition to the working state of the harvesting device 115. The ground height H1 of the harvesting device 115 is the “harvesting height” and also the “working height” of the harvesting header 115A. In other words, the state determination unit 132 is configured to be able to change the harvest height of the harvesting device 115 according to at least one of the crop type and the crop height by operating the header actuator 115H. Further, the state determination unit 132 is configured to be able to change the height position H2 of the scraping reel 115B according to at least one of the crop type and the crop height by operating the reel actuator 115J.

When the crops in the field are harvested by the harvesting device 115, the harvest control pattern is selected by the state determining unit 132 so that the tine 115T of the scraping reel 115B scrapes the tips from the front upper part to the rearward, and the ground height H1. And the height position H2 is adjusted. When the ground height H1 is adjusted, the lower end portion (the portion where the cutting blade is located) of the harvest header 115A is located below the tip region of the crop. Further, when the height position H2 is adjusted, the front end position of the scraping reel 115B is located above the tip of the crop. As a result, the tip region of the crop is scraped backward by the scraping reel 115B. That is, based on the crop height and the type of crop detected by the first crop detection unit 131A, only the tip region of the crop is efficiently harvested by the harvesting device 115, and the tip region is transported by the rear transport device 116. The crop is threshed by the threshing device 113. Therefore, the transport load of the transport device 116 and the threshing load of the threshing device 113 are reduced, and the harvesting efficiency of the harvesting device 115 is improved, as compared with the configuration in which the harvesting device 115 is used to harvest the crop to the root region.

The horizontal feed auger 115C is configured so that the position can be changed in the vertical direction according to the type of crop. Although not shown, the harvest header 115A is provided with an actuator capable of raising and lowering the lateral feed auger 115C in the vertical direction. The actuator may be hydraulic or electric. A harvest control pattern having an appropriate height position H3 target value according to the crop type is selected by the state determination unit 132. Then, based on the selected harvest control pattern, the target value of the height position H3 is sent from the state determination unit 132 to the work control unit 136, and the lateral feed auger 115C is controlled to move up and down.

The harvested crop whose stock is cut by the cutting blade 115D is laterally fed to the side where the transport device 116 is located by the lateral feed auger 115C on the bottom plate 115u of the harvest header 115A. At this time, when the height position H3 of the horizontal feed auger 115C is changed along the vertical direction, the vertical gap between the lower end portion of the horizontal feed auger 115C and the bottom plate 115u of the harvest header 115A changes.

When the type of crop is rice or wheat, the shape of the crop is elongated up and down, and the grain is small and granular. Therefore, in the harvest control pattern when the type of crop is rice or wheat, the target value of the height position H3 is set to the lower height position H31. Therefore, when harvesting rice or wheat is performed, the horizontal feed auger 115C is located lower than the harvest header 115A, and the lower end portion of the horizontal feed auger 115C and the bottom plate 115u of the harvest header 115A 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 115C.

When the type of crop is beans, the tip of beans has larger grains than the tip of rice or wheat. Therefore, when the tip portion of beans is laterally fed by the laterally fed auger 115C, if the vertical gap between the lower end of the laterally fed auger 115C and the bottom plate 115u of the harvest header 115A is too narrow, the beans or 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 115C is located higher than the case of rice grains and wheat. From this, as compared with the case where the type of crop is rice or wheat, the vertical gap between the lower end of the laterally fed auger 115C and the bottom plate 115u of the harvest header 115A becomes wider. As a result, when the tip portion of the beans is laterally fed by the laterally fed auger 115C, the beans and the like are less likely to be damaged.

In this way, the state determination unit 132 changes the vertical width of the transport path in the harvesting device 115 by changing the height position H3 according to the type of crop. That is, the state determination unit 132 sets the lower end portion of the horizontal feed auger 115C and the bottom plate 115u of the harvest header 115A as the vertical width of the transport path by operating an actuator capable of raising and lowering the horizontal feed auger 115C in the vertical direction. Change the vertical width of the gap between.

[Status change processing of the status determination unit]
The processing of the state determination unit 132 is performed based on the flowchart shown in FIG. 15, and the processing from the start to the end in the flowchart of FIG. 15 is periodically executed. As described above, the first crop detection unit 131A 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 132 executes different processes depending on whether the crop to be harvested is detected, the fallen crop is detected, or the weed is detected.

First, the state determination unit 132 determines the detection result of the second crop detection unit 131B (step # 01). The second crop detection unit 131B detects the harvest trace after the harvesting operation by the harvesting device 115. As shown in FIG. 16, the second image pickup apparatus 121B images the harvest trace region S which is the region behind the harvesting apparatus 115 and in front of the traveling apparatus 111, that is, the region between the harvesting apparatus 115 and the traveling apparatus 111. do. In FIG. 16, the residual culm processing unit 119 is omitted in order to simply show how the second image pickup apparatus 121B captures the harvest trace region S. When the second crop detection unit 131B detects the residual crop in the harvest trace region S based on the image pickup data captured by the second image pickup device 121B, in step # 01, "detection of the uncut portion" is determined. That is, the rear of the harvesting device 115 is imaged by the second image pickup device 121B, and whether or not the image pickup data of the second image pickup device 121B includes a crop (for example, a fallen crop) is determined by the second crop detection unit 131B.

When there is no detection result in the second crop detection unit 131B (step # 01: no detection result), the state determination unit 132 determines the detection result of the first crop detection unit 131A (step # 03). When the crop to be harvested is detected by the first crop detection unit 131A (step # 03: crop to be harvested), the state determination unit 132 so that the harvesting device 115 can 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 132 outputs a control signal to the travel control unit 135 and the work control unit 136 based on the selected harvest control pattern. That is, the ground height H1 of the harvest header 115A, the height position H2 of the scraping reel 115B, and the lateral feed auger 115C so that the tine 115T of the scraping reel 115B scrapes the tip from the front upper part to the rear. The height position H3 of is adjusted.

When the second crop detection unit 131B detects the uncut portion (step # 01: detection of the uncut portion), the state determination unit 132 selects the 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 135 and the work control unit 136 (step # 02). In step # 02, the harvesting operation is retried in the uncut area.

The second image pickup device 121B is configured to be capable of detecting residual crops left unharvested after the harvesting operation by the harvesting device 115. As shown in FIG. 17, when the fallen crop is not harvested by the harvesting device 115 and the harvesting device 115 passes above the fallen crop, the fallen crop is provided by the second image pickup device 121B provided below the harvesting device 115. Is imaged, and the presence of the fallen crop is determined by the second crop detection unit 131B (step # 01: detection of uncut portion). Then, based on the process of step # 02, the traveling device 111 reversely operates, and the aircraft 101 retracts by a preset distance. That is, when the residual crop is detected by the second image pickup device 121B, the state determination unit 132 moves the traveling device 111 backward by a preset distance. Since the processing of the flowchart shown in FIG. 15 is performed periodically, in the state where the harvesting device 115 is separated from the upper side of the fallen crop and the detected fallen crop is located in front of the harvesting device 115, the “detection” is performed in step # 01. It switches to the judgment of "no result". As described above, the state determining unit 132 is configured so that the working states of the traveling device 111 and the harvesting device 115 can be changed according to the field state after the work. Then, the fallen crop is detected by the first crop detection unit 131A (step # 03: fallen crop), and the process of step # 05 described later is performed. That is, the state determination unit 132 is configured to change the ground height H1 of the harvesting device 115 to a low value when it is determined that the ground height H1 of the harvesting device 115 is too high based on the harvest trace.

When the fallen crop is detected by the first crop detection unit 131A (step # 03: the fallen crop), the state determination unit 132 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 135 and the work control unit 136 (step # 05). As shown in FIG. 18, by the process of step # 05, the ground height H1 of the harvest header 115A is adjusted to the lowest region, and the height position H2 of the scraping reel 115B is adjusted to the lowest region. Then, the position of the scraping reel 115B in the front-rear direction is adjusted to the frontmost region. Further, by the process of step # 05, the speed change device for the harvesting device 115 (for example, the hydrostatic continuously variable transmission) is speed-controlled to the high speed side, and the rotation speed of the suction reel 115B is increased. In addition, the process of step # 05 reduces the vehicle speed of the traveling device 111.

That is, when the first crop detection unit 131A detects a crop in a fallen state, the state determination unit 132 switches to the harvest control pattern for harvesting the fallen crop, and the ground height H1 of the harvest header 115A and the scraping reel 115B. The height position H2 becomes lower. Then, in the collapsed region of the crop in the field, the scraping reel 115B 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 115A by the scraping reel 115B. .. In other words, when the fallen crop is detected, the state determination unit 132 positions the scraping reel 115B in the lowermost region and the frontmost region, increases the rotational speed of the scraping reel 115B, and increases the rotation speed of the scraping reel 115B. The vehicle speed of the traveling device 111 is reduced. As a result, the combine harvests the leftover crops while gradually advancing.

Since the processing of the flowchart shown in FIG. 15 is performed periodically, when the first crop detection unit 131A does not detect the crop in the collapsed state (step # 03: ≠ collapsed crop), step # 04 or step # described later. The processing of 06 is performed. When the determination in step # 03 is "the crop to be harvested", the process of step # 04 is performed again, and at this time, the vehicle speed of the traveling device 111 is increased as compared with the time when the crop in the collapsed state is harvested.

The case where weeds are detected by the first crop detection unit 131A (step # 03: weeds) will be described. Although crops are planted in the field, weeds may be mixed in the crops. In this case, when the planted crops are harvested by the harvesting device 115, the weeds are also planted by the scraping reel 115B. It is scraped together and sent to the rear grain removal device 113 by the transport device 116. Therefore, the state determination unit 132 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).

In cases where there are few weeds, small weeds, and cases where weeds do not affect the threshing load and sorting accuracy even if weeds enter the threshing device 113, the state determination unit 132 sets "small" in step # 06. select. In this case, as in step # 04, the state determining unit 132 selects a harvest control pattern according to at least one of the crop type and the crop height so that the harvesting device 115 can efficiently harvest the tip region of the crop. (Step # 07). Then, the state determination unit 132 outputs a control signal to the travel control unit 135 and the work control unit 136 based on the selected harvest control pattern.

If weeds enter the threshing device 113, the threshing load and sorting accuracy are affected, but if the vehicle speed slows down, the degree of influence on the threshing load and sorting accuracy is reduced. Select "Medium". In this case, it is determined whether or not the type of crop to be harvested is beans (step # 08).

When the type of crop to be harvested is other than beans (step # 08: other than beans), the state determination unit 132 slows down the vehicle speed and allows the harvesting device 115 to efficiently harvest the tip region of the crop. A harvest control pattern for performing the harvesting operation by the harvesting apparatus 115 is selected according to at least one of the crop type and the crop height (step # 09). Then, the state determination unit 132 outputs a control signal to the travel control unit 135 and the work control unit 136 based on the selected harvest control pattern. That is, the state determination unit 132 changes the vehicle speed of the traveling device 111 in the weed region to a lower speed side than the vehicle speed when traveling in a region other than the weed region.

In step # 09, when the weed area is detected in front of the harvesting device 115 and the crop type is other than beans, the state determining unit 132 determines the degree of change in the vehicle speed of the traveling device 111 according to the type of weeds. do. Specifically, the state determination unit 132 determines the degree of change in the vehicle speed of the traveling device 111 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 132 changes the vehicle speed of the traveling device 111 to the lower speed side. Further, the state determination unit 132 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.

Further, in step # 09, the state determination unit 132 reduces the leakage opening degree of the chaff sheave provided in the sorting processing unit 113B. 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. To. That is, the state determination unit 132 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. ..

In the present embodiment, when the weed area is detected in front of the harvesting device 115 and the crop type is beans (step # 08: beans), the state determining unit 132 stops the traveling device 111 (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 legumes, such inconvenience can be avoided by stopping the traveling device 111.

For example, when the stem of a weed is thick, there is a possibility that the lateral feed auger 115C, the transport device 116, or the threshing device 113 may be clogged. Further, if weeds with thick stems enter the threshing device 113, the sorting accuracy of the threshing device 113 may decrease. When there is a high possibility that these inconveniences will occur, the state determination unit 132 determines "large" in step # 06, selects a harvest control pattern for stopping the traveling device 111, and the aircraft 101 stops (step # 10). .. Then, after the worker manually removes the weeds, the harvesting work by the harvesting device 115 is restarted. Further, the state determination unit 132 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 111.

As described above, the state determination unit 132 is configured to be able to determine the degree of change in the vehicle speed of the traveling device 111 according to the type of weeds.

[Another Embodiment of the Second Embodiment]
Hereinafter, another embodiment obtained by modifying the above-described embodiment will be described. Except for the matters described in each of the following separate embodiments, the matters are the same as those described in the above-described embodiments. The above-described embodiment and the following separate embodiments may be appropriately combined as long as there is no contradiction. The scope of the present invention is not limited to the above-described embodiment and the following separate embodiments.

The present invention is not limited to the configuration exemplified in the above-described embodiment, and the following will exemplify another typical embodiment of the present invention.

(1) In the above-described embodiment, the first crop detection unit 131A is constructed with a neural network that can be learned by using deep learning, but the first crop detection unit 131A does not have to be constructed with a neural network. .. In this case, the neural network is constructed on the management computer 102 and other terminals, and the first crop detection unit 131A and the management computer 102 and other terminals communicate with each other to perform input / output in the neural network. There may be. That is, the first crop detection unit 131A may have a configuration capable of acquiring at least one of the type of crop and the type of the weed in the weed region.

(2) In the above-described embodiment, the traveling device 111 is configured as a crawler type, but the traveling device 111 may be configured as a wheel type.

(3) In the above-described embodiment, the first crop detection unit 131A is configured to be able to acquire both the type of crop and the type of weed in the weed region, but is not limited to this embodiment. The first crop detection unit 131A may be configured to be able to acquire at least one of the type of crop and the type of weed in the weed area.

(4) In the above-described embodiment, the state determination unit 132 stops the traveling device 111 when the weed area is detected in front of the harvesting device 115 and the crop type is beans. Not limited. For example, if the weed area is detected in front of the harvesting device 115 and the crop type is beans, the state determining unit 132 may decelerate the traveling device 111 at a lower speed than in the case of other than beans. good.

(5) In the above-described embodiment, the state determination unit 132 determines the degree of change of the vehicle speed of the traveling device 111 to the low speed side according to the weed rate, which is the amount of weeds per unit area in the weed area. It is not limited to the embodiment. For example, the state determination unit 132 determines the degree of change of the vehicle speed of the traveling device 111 to the low speed side according to the height of the weed, the thickness of the stem of the weed, etc. in addition to the weed rate (or instead of the weed rate). It may be configured to be used.

(6) In the above-described embodiment, when the state determination unit 132 selects the crops harvested in the weed area, the leakage opening degree of the chaff sheave is reduced according to at least one of the crop type and the weed type. However, the present invention is not limited to this embodiment. For example, the state determination unit 132 may be configured to control the increase or decrease of the rotation speed of the wall insert 113C according to at least one of the type of crop and the type of weed. Further, the state determining unit 132 may be configured to control the increase or decrease of the rotation speed of the handling cylinder of the threshing unit 113A according to at least one of the type of crop and the type of weed. In addition, the state determining unit 132 may be configured to adjust the angle of the dust feed valve of the threshing unit 113A according to at least one of the type of crop and the type of weed.

(7) It may be configured as a harvester control program that realizes the function of each member in the above embodiment on a computer. Further, the harvester control program for realizing the function of each member in the above embodiment may be configured as a recording medium on which the harvester control program is recorded. Further, it may be configured as a harvester control method in which what is performed by each member in the above embodiment is performed by one or a plurality of steps.

It should be noted that the configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. Moreover, the embodiment disclosed in the present specification is an example, and the embodiment of the present invention is not limited to this, and can be appropriately modified without departing from the object of the present invention.

The present invention can be used for a harvester equipped with a harvesting and transporting device having a harvesting section and a transporting section. Further, the present invention can be applied 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).

(First Embodiment)
1 combine (harvester)
2 Harvesting and transporting device 5 Header 6 Auger 6A Height changing device 7 Electric motor 16 Transporting section 17 Reel 26 Reverse control control section 27 Reel control section 28 Height control section 29 Clog determination section H Harvesting section SE detection section

(Second Embodiment)
111 Traveling device 113 Threshing device 113A Threshing section 113B Sorting process section 115 Harvesting device 131A First crop detection section (detection section)
132 Status determination unit (status change unit)
F1 weed area

Claims

Equipped with a harvesting and transporting device having a harvesting section and a transporting section,
The harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and is configured to be able to move up and down with respect to the airframe, and harvests the crops in the field.
The transport unit transports the harvested product harvested by the harvesting unit to the rear of the machine.
A clogging determination unit that determines whether or not the harvest transfer device is clogged, and a clogging determination unit.
A harvester including a reversing control unit that reversely drives the auger when it is determined by the clogging determining unit that the harvesting and transporting device is clogged.
A height changing device that changes the height position of the auger with respect to the header, and
A height control unit for controlling the height position of the auger with respect to the header by controlling the height changing device is provided.
The harvester according to claim 1, wherein the height control unit raises the height position of the auger with respect to the header when the jam determination unit determines that the harvest transfer device is clogged.
A claim that the reverse control unit can execute a first jam control that raises the harvest unit and reversely drives the auger when the jam determination unit determines that the harvest transfer device is clogged. Item 2. The harvester according to item 1 or 2.
The harvester according to claim 3, wherein the reversing control unit reversely drives the auger after advancing the machine in the first clogging control.
When the jamming determination unit determines that the harvesting and transporting device is clogged, the reversing control unit can execute a second jamming control that reversely drives the auger after moving the machine backward. The harvester according to any one of claims 1 to 4.
The harvesting section includes a reel that squeezes the planted culm while being rotationally driven.
The harvester according to any one of claims 1 to 5, further comprising a reel control unit that raises the reel with respect to the header when the jam determination unit determines that the harvest transfer device is clogged.
It is equipped with a detector that detects the rotation speed of the auger.
The harvester according to any one of claims 1 to 6, wherein the jam determination unit determines whether or not the harvest transfer device is clogged based on the detection result by the detection unit.
Equipped with an electric motor that gives reverse power to the auger,
The harvester according to any one of claims 1 to 7, wherein the reverse control unit reversely drives the auger by driving the electric motor.
It is equipped with a harvesting and transporting device having a harvesting section and a transporting section, and the harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and is configured to be able to move up and down with respect to the aircraft and to produce crops in the field. The transport unit is a harvester control program that controls a harvester that harvests and transports the harvested product harvested by the harvest unit to the rear of the machine.
A clogging determination function for determining whether or not the harvest transfer device is clogged, and a clogging determination function.
A harvester control program that enables a computer to realize a reverse control function for reverse-driving the auger when it is determined by the jam determination function that the harvest transfer device is jammed.
It is equipped with a harvesting and transporting device having a harvesting section and a transporting section, and the harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and is configured to be able to move up and down with respect to the aircraft and to produce crops in the field. The transport unit is a recording medium on which a harvester control program for controlling a harvester that harvests and transports the harvested product harvested by the harvest unit to the rear of the machine is recorded.
A clogging determination function for determining whether or not the harvest transfer device is clogged, and a clogging determination function.
A recording medium recording a harvester control program that realizes a reverse control function for reverse-driving the auger when it is determined by the jam determination function that the harvest transfer device is clogged, and a harvester control program that realizes a computer.
It is equipped with a harvesting and transporting device having a harvesting section and a transporting section, and the harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and is configured to be able to move up and down with respect to the aircraft and to produce crops in the field. The transport unit is a harvester control method for controlling a harvester that harvests and transports the harvested product harvested by the harvesting unit to the rear of the machine.
A jam determination step for determining whether or not the harvest transfer device is jam, and a jam determination step.
A harvester control method comprising a reverse rotation control step for reversely driving the auger when it is determined by the jam determination step that the harvest transfer device is clogged.
A traveling device that can travel in the field and
A harvesting device that harvests crops in the field,
A detection unit that detects the weed area where weeds are present mixed with the crop in front of the harvesting device.
A state changing unit for changing the vehicle speed of the traveling device in the weed region to a lower speed side than the vehicle speed when traveling outside the weed region is provided.
The detection unit is configured to be able to acquire at least one of the type of crop and the type of weed in the weed area.
The state changing unit is a harvester configured to be able to determine the degree of change of the vehicle speed of the traveling device to the low speed side according to at least one of the type of crop and the type of weed.
A threshing section for threshing the crops harvested by the harvesting device, and a threshing section provided below the threshing section, and the threshed product is harvested while receiving the threshed product that has been threshed and rocking and transporting it backward. It is equipped with a threshing device, which has a sorting processing unit for sorting and non-harvested products.
The sorting processing unit 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 state changing unit is configured to reduce the leakage opening degree of the chaff sheave according to at least one of the type of the crop and the type of the weed when selecting the crop harvested in the weed area. The harvester according to claim 12.
The detection unit is configured to be able to acquire the type of the crop.
The harvester according to claim 12 or 13, wherein the state changing unit stops the traveling device when the weed area is detected in front of the harvesting device and the type of the crop is beans.
The detection unit is configured to be able to acquire both the type of crop and the type of weed.
When the weed area is detected in front of the harvesting device and the type of the crop is other than beans, the state changing unit changes the vehicle speed of the traveling device to the low speed side according to the type of the weed. The harvester according to any one of claims 12 to 14, wherein the degree is determined.
One of claims 12 to 15, wherein the state changing unit determines the degree of change of the vehicle speed of the traveling device to the low speed side according to the weed rate, which is the amount of the weeds per unit area in the weed area. The harvester described in.
It is a harvester control program that controls a harvester equipped with a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field.
A detection function that detects weed areas where weeds are present in the crops in front of the harvesting device.
A computer is provided with a state change function for changing the vehicle speed of the traveling device in the weed area to a speed lower than the vehicle speed when traveling outside the weed area.
The detection function acquires at least one of the crop type and the weed type in the weed area.
The state change function is a harvester control program that determines the degree of change of the vehicle speed of the traveling device to the low speed side according to at least one of the type of crop and the type of weed.
A recording medium that records a harvester control program that controls a harvester equipped with a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field.
A detection function that detects weed areas where weeds are present in the crops in front of the harvesting device.
A harvester control program that realizes a computer with a state change function for changing the vehicle speed of the traveling device in the weed region to a speed lower than the vehicle speed when traveling outside the weed region is recorded.
The detection function acquires at least one of the crop type and the weed type in the weed area.
The state change function is a recording medium recording a harvester control program that determines the degree of change of the vehicle speed of the traveling device to the low speed side according to at least one of the type of crop and the type of weed.
It is a harvester control method for controlling a harvester equipped with a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field.
A detection step for detecting a weed area in which weeds are present mixed with crops in front of the harvesting device.
A state change step of changing the vehicle speed of the traveling device in the weed region to a lower speed side than the vehicle speed when traveling outside the weed region is provided.
In the detection step, at least one of the crop type and the weed type in the weed area is acquired.
A harvester control method in which in the state change step, the degree of change of the vehicle speed of the traveling device to the low speed side is determined according to at least one of the type of crop and the type of weed.