JP2016101131A

JP2016101131A - Combine automatic control device

Info

Publication number: JP2016101131A
Application number: JP2014241623A
Authority: JP
Inventors: 松澤　宏樹; Hiroki Matsuzawa; 宏樹松澤
Original assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Current assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Priority date: 2014-11-28
Filing date: 2014-11-28
Publication date: 2016-06-02

Abstract

PROBLEM TO BE SOLVED: To achieve easy steering of a combine such that when a lodging area, in which grain culm is lodged, in a farm field is to be travelled for reaping, the combine automatically turns into a lodged culm reaping mode.SOLUTION: The combine automatic control device is configured in such a manner that: a combine (1), which acquires position information of a body of the combine via a GPS reception unit (83), and a communication terminal (3) for inputting the lodging area of the farm field in a map are communicatably coordinated with each other; map information inputted in the communication terminal (3), in which the lodging area is written, is transmitted to the combine (1); and when the combine (1) determines that a current position of the body of the combine is in the lodging area or close to the lodging area with a predetermined distance or closer on the basis of the map information, in which the lodging area is written, received from the communication terminal (3) and the position information of the body of the combine according to the GPS reception unit (83), the combine (1) is automatically set to the predetermined lodged culm reaping mode.SELECTED DRAWING: Figure 5

Description

本発明は、コンバインの自動制御装置に関する。 The present invention relates to an automatic control device for a combine.

コンバインの無人操縦装置として、下記の特許文献１には、人工衛星によるＧＰＳを利用して刈取幅側端部の分草位置を記憶しながら、この分草軌跡を追跡して隣接域を刈取走行する無人操縦コンバインが記載されている。 As an unmanned maneuvering device for a combine, the following Patent Document 1 describes that the weeding locus on the side of the cutting width side is stored using GPS by an artificial satellite, and this weeding locus is tracked to cut and travel in the adjacent area. An unmanned maneuvering combine is described.

特開２００１−１２５８３１０号公報JP 2001-1258310 A

コンバインが稲や麦等の穀粒を収穫する圃場で、稲や麦等の穀稈は倒伏している場合があり、その際には刈取方法を倒伏穀稈の刈取に適した倒伏刈取モードにする必要があるが、この倒伏刈取モードは、走行速度を低速にすると共に刈取装置を地面に近づけて刈取速度と引起し速度を速くするが、コンバインの操縦に慣れていない作業者には倒伏刈取モードの設定を的確に行うことが難しい。 In a field where combine harvests grains such as rice and wheat, grain straws such as rice and wheat may be lying down.In this case, the harvesting method is changed to the lodging harvesting mode suitable for harvesting the fallen grain straws. However, this fall cutting mode reduces the traveling speed and brings the cutting device closer to the ground to increase the cutting speed and speed, but it is recommended for workers who are not familiar with the operation of the combine. It is difficult to set the mode accurately.

そこで、本発明は、圃場の穀稈が倒伏している倒伏域を刈取走行しようとすると、コンバインが自動的に倒伏刈取モードになって、コンバインの操縦を容易化することを課題とする。 Therefore, an object of the present invention is to facilitate the operation of the combine by automatically setting the combine harvesting mode when attempting to cut and travel in the lying area where the grain culm is lying down.

本発明の課題は、次の技術手段により解決される。
請求項１に記載の発明は、ＧＰＳ受信ユニット（８３）により機体の位置情報を取得するコンバイン（１）と圃場の倒伏域を地図に入力する通信端末（３）を通信可能に連携し、通信端末（３）に入力した倒伏域記載地図情報をコンバイン（１）に送信し、コンバイン（１）が通信端末（３）から受信した倒伏域記載地図情報とＧＰＳ受信ユニット（８３）による機体の位置情報に基づいて機体の現在位置が倒伏域であること或いは倒伏域に所定距離以上接近していることを判定した場合に、コンバイン（１）を所定の倒伏刈取モードに自動的に設定することを特徴とするコンバインの自動制御装置とする。 The problems of the present invention are solved by the following technical means.
According to the first aspect of the present invention, the combine (1) that acquires the position information of the airframe by the GPS receiving unit (83) and the communication terminal (3) that inputs the lodging area of the field into the map are linked in a communicable manner. The lodging area description map information input to the terminal (3) is transmitted to the combine (1), and the lodging area description map information received from the communication terminal (3) by the combine (1) and the position of the aircraft by the GPS receiving unit (83) It is possible to automatically set the combine (1) to a predetermined fall trimming mode when it is determined based on the information that the current position of the aircraft is a fall range or that it is closer to the fall range by a predetermined distance or more. The automatic combine control device is a feature.

請求項２に記載の発明は、前記コンバイン（１）が倒伏域から脱すると、前記倒伏刈取モードを自動的に解除することを特徴とする請求項１に記載のコンバインの自動制御装置とする。 According to a second aspect of the present invention, there is provided the automatic control device for a combine according to the first aspect, wherein when the combine (1) leaves the lodging area, the lodging cut mode is automatically canceled.

請求項１に記載の発明によれば、コンバイン（１）はＧＰＳ受信ユニット（８３）による地図上機***置を通信端末（３）から入手した倒伏域記載地図情報と対比して、機体が倒伏域に近づくか浸入すると自動的に倒伏刈取モードに変更するので、コンバイン（１）の操縦者の熟練度に関らず、倒伏刈取モードの設定を的確に行うことができ、倒伏穀稈を能率的に刈取ることができる。 According to the first aspect of the present invention, the combine (1) compares the position of the aircraft on the map with the GPS receiving unit (83) with the map information described in the lodging area obtained from the communication terminal (3). Since it automatically changes to the fall harvest mode when approaching or enters, it is possible to accurately set the fall harvest mode regardless of the skill level of the combine (1) operator, and to efficiently set the fall kernel Can be mowed.

請求項２に記載の発明によれば、請求項１に記載の発明による効果に加えて、コンバイン（１）が倒伏域を脱出すると、倒伏刈取モードから通常の刈取モードに戻って、更に効率的に収穫作業を行うことができる。 According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, when the combine (1) escapes from the lodging area, it returns to the normal cutting mode from the lodging cutting mode, and is more efficient. Harvesting work can be done.

コンバインの正面図。The front view of a combine. コンバインの側面図。The side view of a combine. コンバイン走行用ミッションケースの断面図。Sectional drawing of the mission case for combine driving | running | working. 倒伏域の識別機能を備えたコンバインの自動制御ブロック図。The block diagram of the automatic control of the combine equipped with the identification function of the lodging area. 携帯端末との通信機能を備えたコンバインの自動制御ブロック図。The automatic control block diagram of the combine provided with the communication function with a portable terminal.

以下、本発明の実施形態を図面に示す実施例を参照しながら説明する。なお、本明細書においてコンバインの前進方向に向かって左右方向をそれぞれ左、右といい、前進方向を前、後進方向を後という。 Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. In this specification, the left and right directions in the forward direction of the combine are referred to as left and right, respectively, the forward direction is referred to as forward, and the reverse direction is referred to as rear.

図１と図２はコンバインの全体構成を示すもので、車台６の下部側に土壌面を走行する左右一対の走行クローラ７を有する走行装置８を配設すると共に、該車台６上に、フィードチェン９に挟持して供給される穀稈を脱穀し、この脱穀された穀粒を選別回収して一時貯留するグレンタンク５と、このタンク５に貯留された穀粒を機外へ排出する排穀オーガ１０を備えた脱穀装置１１を載置し、この脱穀装置１１の後端部に排藁処理装置１２を装架している。 1 and 2 show the overall structure of the combine. A traveling device 8 having a pair of left and right traveling crawlers 7 traveling on the soil surface is disposed on the lower side of the chassis 6, and a feed is provided on the chassis 6. A grain tank 5 sandwiched between the chains 9 is threshed, a grain tank 5 that selectively collects the threshed grains and temporarily stores them, and an exhaust that discharges the grains stored in the tank 5 to the outside of the machine. A threshing device 11 provided with a cereal auger 10 is placed, and a waste disposal device 12 is mounted on the rear end of the threshing device 11.

該脱穀装置１１の前方側に、前端位置から未刈穀稈を分草する分草体１３と、分草された穀稈を引き起こす引起部１４と、引き起こされた穀稈を刈り取る刈刃部１５と、この刈り取られた穀稈を後方へ搬送して該フィードチェン９へ受け渡しする穀稈搬送部１６等を有する刈取装置１７を、油圧駆動による刈取昇降シリンダ１７ａにより土壌面に対して昇降自在に該車台６の前端部へ懸架構成している。 On the front side of the threshing device 11, a weed body 13 for weeding uncut cereals from the front end position, a pulling part 14 for causing the weeded cereals, and a cutting blade part 15 for cutting the caused cereals The reaping device 17 having the cereal transporting part 16 and the like for transporting the harvested cereal to the rear and delivering it to the feed chain 9 is moved up and down with respect to the soil surface by a hydraulically driven mowing lifting cylinder 17a. It is suspended from the front end of the chassis 6.

該刈取装置１７の一側にコンバインの操作制御を行う操作装置１８と、この操作装置１８を操縦操作する作業者のための操作席１９とを設け、この操作席１９の後方側にグレンタンク５を配置し下方側にエンジン２０を搭載すると共に、これら走行装置８，脱穀装置１１，刈取装置１７，操作装置１８，エンジン２０等によってコンバインの機体１を構成している。 An operating device 18 for controlling the operation of the combine and an operating seat 19 for an operator who operates the operating device 18 are provided on one side of the mowing device 17, and the Glen tank 5 is provided on the rear side of the operating seat 19. And the engine 20 is mounted on the lower side, and the traveling machine 8, the threshing device 11, the reaping device 17, the operating device 18, the engine 20 and the like constitute the combine body 1.

前記操作装置１８前部外壁面の右側上方位置に、刈取圃場面を撮像可能なＣＣＤカメラ等による電子カメラ２を固定して設け、この電子カメラ２により圃場における未刈穀稈の撮像を行う。 An electronic camera 2 such as a CCD camera capable of imaging a harvested farming scene is fixedly provided at a position on the upper right side of the front outer wall surface of the operating device 18, and an image of an uncut grain cereal in the farm field is captured by the electronic camera 2.

車台６の前端部に走行用ミッションケース２１を装架すると共に、図３に示す如く、このミッションケース２１の第１軸としての入力軸２２に主変速としての油圧式無段変速装置２３の出力軸２３ａを連動連結すると共に、該入力軸２２の左右側に普通速側と増速側の二段に車速を切り替える普通速ギヤ２４と増速ギヤ２５を各々遊転軸承し、この普通速及び増速ギヤ２４，２５を各々油圧力により軸回転させる増速クラッチ２６をその中間位置に配設して構成させる。 A traveling transmission case 21 is mounted at the front end of the chassis 6 and, as shown in FIG. 3, the output of the hydraulic continuously variable transmission 23 as the main transmission is applied to the input shaft 22 as the first shaft of the transmission case 21. The shaft 23a is interlocked and connected to the left and right sides of the input shaft 22, and a normal speed gear 24 and a speed increasing gear 25 for switching the vehicle speed between the normal speed side and the speed increasing side are respectively idled. A speed increasing clutch 26 for rotating the speed increasing gears 24 and 25 by oil pressure is disposed at an intermediate position thereof.

第２軸としてのカウンタ軸２７に、該普通速ギヤ２４と増速ギヤ２５とに各々噛合して常時回転する普通速カウンタギヤ２８と増速カウンタギヤ２９、及びその中間に中間カウンタギヤ３０を配置させると共に、第３軸としての変速伝動軸３１に、該中間カウンタギヤ３０と噛合連動する作業速としての二連の低速伝動ギヤ３２、及び普通速カウンタギヤ２８と噛合連動する走行速としての高速伝動ギヤ３３を各々遊転軸承して構成させる。 A counter shaft 27 as a second shaft is meshed with the normal speed gear 24 and the speed increasing gear 25, respectively, and a normal speed counter gear 28 and a speed increasing counter gear 29 that are always rotated, and an intermediate counter gear 30 in the middle. In addition to the transmission transmission shaft 31 serving as the third shaft, the two low-speed transmission gears 32 serving as the working speed meshing with the intermediate counter gear 30 and the traveling speed serving as the meshing interlocking with the normal speed counter gear 28 are provided. The high-speed transmission gears 33 are each configured with a free-wheeling bearing.

該低速伝動ギヤ３２と高速伝動ギヤ３３との間に、この両ギヤ３２，３３に各々切替え接続して軸回転させる変速伝動クラッチ３４を配置し、この変速伝動クラッチ３４の左右摺動により走行速位置と中立位置と作業速位置とに各々変速する副変速を構成させると共に、該変速伝動軸３１の一側に変速伝動ギヤ３５を軸止して構成させる。 Between the low-speed transmission gear 32 and the high-speed transmission gear 33, a shift transmission clutch 34 that is switched and connected to both the gears 32 and 33 to rotate the shaft is disposed. A sub-shift that shifts to a position, a neutral position, and a work speed position is configured, and a shift transmission gear 35 is fixed to one side of the shift transmission shaft 31.

該変速伝動ギヤ３５と噛合連動する二連の操向センタギヤ３６を、第４軸としての操向クラッチ軸３７に軸止すると共に、該操向センタギヤ３６の左右側面に接して左右の操向ギヤ３８を各々遊転軸承し、更にこの左右の操向ギヤ３８の各外側面に接して、側面間の爪の噛み合いをバネ力と油圧力とによって入り作用して各々左右の操向ギヤ３８を軸回転させる左右の操向クラッチ３９と、この操向クラッチ３９の切りによって制動力を作用させる左右の走行ブレーキ４０とを各々連接軸止して構成させる。 The two steering center gears 36 meshed with the transmission gear 35 are fixed to the steering clutch shaft 37 as the fourth shaft, and the left and right steering gears are in contact with the left and right side surfaces of the steering center gear 36. 38, and the left and right steering gears 38 are in contact with the outer side surfaces of the left and right steering gears 38. The left and right steering clutch 39 that rotates the shaft and the left and right traveling brakes 40 that apply a braking force when the steering clutch 39 is disengaged are connected to each other and connected to each other.

第５軸としての旋回切替軸４１の左右側に、前記二連の低速伝動ギヤ３２の片方の小径ギヤ３２ａと噛み合う緩旋回ギヤ４２と、該二連の操向センタギヤ３６の片方の小径ギヤ３６ａと噛み合うスピン旋回ギヤ４３とを各々遊転軸承すると共に、この緩旋回ギヤ４２とスピン旋回ギヤ４３との間において、この両ギヤ４２，４３を切り替えて各々軸回転させる外周にギヤを設けた旋回切替ギヤ４４を左右摺動により接続可能に配置構成させる。 On the left and right sides of the turning switching shaft 41 as the fifth axis, a slow turning gear 42 that meshes with one small-diameter gear 32a of the double low-speed transmission gear 32, and one small-diameter gear 36a of the double steering center gear 36. Each of the spin swiveling gears 43 meshing with the free swivel bearings and the swiveling gears provided on the outer periphery of the slow swiveling gear 42 and the spin swiveling gear 43 for switching the two gears 42 and 43 to rotate the shafts. The switching gear 44 is arranged and configured to be connectable by sliding left and right.

該旋回切替ギヤ４４の外周ギヤと噛み合う旋回センタギヤ４５を、第６軸としての旋回クラッチ軸４６に軸止すると共に、該旋回センタギヤ４５の左右側面に接して、前記左右の操向ギヤ３２と各々噛み合いする左右の二連の操向伝動ギヤ４７を遊転軸承して配置し、この左右の操向伝動ギヤ４７の各外側面に接して該ギヤ４７を各々油圧力により軸回転させる左右の旋回クラッチ４８を連接軸止して構成させる。 A turning center gear 45 that meshes with the outer peripheral gear of the turning switching gear 44 is fixed to a turning clutch shaft 46 serving as a sixth shaft, and is in contact with the left and right side surfaces of the turning center gear 45 to be connected to the left and right steering gears 32, respectively. The left and right swivel transmission gears 47 that are meshed with each other are arranged so as to be free-wheeling bearings, and the left and right swivels that are in contact with the outer surfaces of the left and right steering transmission gears 47 and rotate the shafts by hydraulic pressure. The clutch 48 is configured to be connected to the connecting shaft.

該左右の二連操向伝動ギヤ４７の片方の各小径ギヤ４７ａと各々噛合連動する左右の中間車軸ギヤ４９を、第７軸としての左右の中間車軸５０の一端部に各々軸止すると共に、その他端部に左右の中間車軸ギヤ小５１を各々軸止して設け、左右の中間車軸ギヤ小５１と各々噛合連動する左右の車軸ギヤ５２を、第８軸としての左右の車軸５３の一端部に各々軸止し、その他端部に前記左右の走行クローラ７を駆動させる左右の走行スプロケット５４を各々軸止して構成させる。 The left and right intermediate axle gears 49 meshed with the respective small-diameter gears 47a on one side of the left and right double steering transmission gears 47 are respectively fixed to one end portions of the left and right intermediate axles 50 as the seventh axis, The left and right intermediate axle gears 51 are fixed to the other ends, respectively, and the left and right axle gears 52 meshed with the left and right intermediate axle gears 51 are respectively connected to one end of the left and right axles 53 as the eighth axis. The left and right traveling sprockets 54 for driving the left and right traveling crawlers 7 are axially fixed to the other ends.

図４は、コンバイン１が穀稈の倒伏識別機能を備えている場合における制御コントローラ６０の制御ブロック図で、自動倒伏制御解除スイッチ５９で倒伏刈取モードの解除信号を入力し、刈脱モノレバー６１のオン・オフ信号を入力し、走行変速操作具の操作を検出する走行変速レバーセンサ６２と刈取昇降操作具の操作を検出する刈取昇降レバーセンサ６３と刈高接地センサ６４のアナログ信号を入力し、電子カメラ２の映像を入力し、車速センサ６５の速度が入力する。 FIG. 4 is a control block diagram of the controller 60 in the case where the combine 1 has the function of identifying the cedar lodging, and the release signal of the lodging cutting mode is input by the automatic lodging control release switch 59, and Input an on / off signal, and input analog signals of a travel shift lever sensor 62 for detecting the operation of the travel shift operation tool, a cutting lift lever sensor 63 for detecting the operation of the cutting lift operation tool, and a cutting height grounding sensor 64; The image of the electronic camera 2 is input, and the speed of the vehicle speed sensor 65 is input.

制御コントローラ６０には、デジタル入力回路６６とアナログ入力回路６７と画像解析回路６８と割り込み入力回路６９が有り、さらに、タイマカウンタ手段７３と診断機能７０と走行制御機能７１とパルスカウント機能７２と走行ＨＳＴ制御機能７９と刈高制御機能７５と刈高昇降出力機能７６がある。 The controller 60 includes a digital input circuit 66, an analog input circuit 67, an image analysis circuit 68, and an interrupt input circuit 69. Furthermore, a timer counter means 73, a diagnostic function 70, a travel control function 71, a pulse count function 72, and a travel There are an HST control function 79, a cutting height control function 75, and a cutting height raising / lowering output function 76.

制御コントローラ６０の出力は、ＨＳＴバルブ出力７４と刈取上昇出力油圧バルブ７７と刈取下降出力油圧バルブ７８である。
図５は、穀稈の倒伏識別機能を備えていないコンバイン１で、制御コントローラ６０に外部の通信端末３との通信機能を持たせた実施例で、入力側に、電子カメラ２に代わり、ＧＰＳ受信ユニット８３と携帯端末受信ユニット８４と無線受信ユニット８５とインターネット回線受信ユニット８６を追加し、制御コントローラ６０内に、画像解析回路６８の代わりに、ＧＰＳ位置情報処理回路８７と通信データ受信回路８８と追加している。 The outputs of the control controller 60 are an HST valve output 74, a cutting up output hydraulic valve 77, and a cutting down output hydraulic valve 78.
FIG. 5 shows an embodiment in which the combiner 1 does not have the function of identifying the cedar lodging, and the controller 60 has a communication function with the external communication terminal 3. A receiving unit 83, a portable terminal receiving unit 84, a wireless receiving unit 85, and an Internet line receiving unit 86 are added, and a GPS position information processing circuit 87 and a communication data receiving circuit 88 are provided in the controller 60 instead of the image analysis circuit 68. And added.

制御コントローラ６０での自動制御は、次の如く行う。
倒伏刈取モードは、刈取高さを最低に設定し、走行速度を低速として刈取と引起し速度を速くする制御であるが、倒伏刈取モードにすると、走行変速レバーセンサ６２が前進或いは後進で増速を検出しても一定速度以上は増速しなく、かつ急増速しない。 Automatic control by the controller 60 is performed as follows.
In the lodging cut mode, the cutting height is set to the minimum, and the running speed is set to a low speed to increase the cutting and pulling speed. However, in the lying cutting mode, the traveling speed change lever sensor 62 is accelerated forward or backward. Even if is detected, the speed does not increase beyond a certain speed and does not increase rapidly.

また、走行変速レバーセンサ６２が増速を検出すると、所定の操作位置までは緩やかに増速し、最高速付近では最高速に増速する。
また、刈取昇降レバーセンサ６３が上昇操作を検出すると、一定時間或いは一定位置までは刈取装置１７を一定高さずつ間欠的に上昇し、さらに一定時間或いは一定位置を越えて上昇操作を続けると、連続で上昇する。 When the speed change lever sensor 62 detects an increase in speed, the speed increases gradually to a predetermined operating position, and increases to the maximum speed near the maximum speed.
Further, when the cutting lift lever sensor 63 detects the raising operation, the cutting device 17 is intermittently raised by a certain height until a certain time or a certain position, and further when the raising operation is continued beyond the certain time or the certain position, It rises continuously.

また、刈取昇降レバーセンサ６３が下降操作を検出すると、一定時間或いは一定位置までは刈取装置１７を一定高さずつ間欠的に下降し、さらに一定時間或いは一定位置を越えて下降操作を続けると、連続で下降し、最低高さで下降を停止し、車速センサ６５が最低高さ以下を検出すると走行速度を減速する。 Further, when the cutting lift lever sensor 63 detects a lowering operation, the cutting device 17 is intermittently lowered by a certain height until a certain time or a certain position, and further when the lowering operation is continued beyond a certain time or a certain position, The vehicle descends continuously, stops descending at the minimum height, and decelerates when the vehicle speed sensor 65 detects the minimum height or less.

図４のコンバイン１が穀稈の倒伏識別機能を備えている場合は、電子カメラ２で前方を撮影し、一定高さの穀稈で、立植した穀稈が例えば４０％以上検出されない場合、或いは稈部とそれ以外に２分化して稈部が例えば２０％以上の場合は、倒伏していると判断して倒伏刈取モード制御を開始する。 When the combine 1 of FIG. 4 has the function of identifying the lodging of a rice cake, when the front is photographed with the electronic camera 2 and the planted rice cake is not detected by 40% or more, for example, with a certain height of rice cake, Alternatively, when the hip part is divided into two parts and the hip part is, for example, 20% or more, it is determined that it is lying down, and the fall trimming mode control is started.

自動倒伏制御解除スイッチ５９をオンすると、倒伏判定を行わない。
また、走行変速レバーセンサ６２を所定以上増速操作し一定距離以上走行或いは一定時間以上経過を検出すると、倒伏判定を解除する。 When the automatic lodging control release switch 59 is turned on, the lodging determination is not performed.
Further, when the traveling speed change lever sensor 62 is operated at a predetermined speed or more to detect traveling over a certain distance or elapse of a certain time, the lodging determination is canceled.

図５の穀稈の倒伏識別機能を備えていないコンバイン１では、携帯端末受信ユニット８４や無線受信ユニット８５やインターネット回線受信ユニット８６で外部の通信端末３等からから倒伏域を記載した倒伏域地図情報を入力し、ＧＰＳ受信ユニット８３で入力する機***置情報を倒伏域地図情報に重ねて、刈取走行状態で機体が倒伏域に接近したり入り込んだりすると、倒伏刈取モードに変更する。 In the combine 1 that does not have the function of identifying the cedar lodging of FIG. 5, the lodging area map that describes the lodging area from the external communication terminal 3 or the like by the mobile terminal reception unit 84, the wireless reception unit 85, or the Internet line reception unit 86. When the information is input and the aircraft position information input by the GPS receiving unit 83 is superimposed on the lodging area map information, and the aircraft approaches or enters the lodging area in the cutting and traveling state, the vehicle changes to the lodging and cutting mode.

また、刈取走行が進んで、倒伏域を脱すると、倒伏刈取モードは自動的に解除する。
通信端末３で倒伏域設定を解除すると、倒伏刈取モード制御中であれば中断しまだであればその後に倒伏刈取モード制御を行わない。 In addition, when the cutting operation is advanced and the lodging area is removed, the lodging cutting mode is automatically canceled.
When the lodging range setting is canceled by the communication terminal 3, the suspension trimming mode control is not performed after that.

１コンバイン
３通信端末
８３ＧＰＳ受信ユニット 1 Combine 3 Communication terminal 83 GPS receiver unit

Claims

ＧＰＳ受信ユニット（８３）により機体の位置情報を取得するコンバイン（１）と圃場の倒伏域を地図に入力する通信端末（３）を通信可能に連携し、通信端末（３）に入力した倒伏域記載地図情報をコンバイン（１）に送信し、コンバイン（１）が通信端末（３）から受信した倒伏域記載地図情報とＧＰＳ受信ユニット（８３）による機体の位置情報に基づいて機体の現在位置が倒伏域であること或いは倒伏域に所定距離以上接近していることを判定した場合に、コンバイン（１）を所定の倒伏刈取モードに自動的に設定することを特徴とするコンバインの自動制御装置。 The combine (1) that acquires the position information of the aircraft by the GPS receiver unit (83) and the communication terminal (3) that inputs the lodging area of the field into the map are connected in a communicable manner, and the lodging area that is input to the communication terminal (3) The described map information is transmitted to the combine (1), and the current position of the aircraft is determined based on the lodging map described map information received by the combine (1) from the communication terminal (3) and the position information of the aircraft by the GPS receiving unit (83). An automatic combine control device that automatically sets a combine (1) to a predetermined fall pruning mode when it is determined that the area is a lodging area or is closer to the lodging area by a predetermined distance or more.

前記コンバイン（１）が倒伏域から脱すると、前記倒伏刈取モードを自動的に解除することを特徴とする請求項１に記載のコンバインの自動制御装置。 The automatic control device for a combine according to claim 1, wherein when the combine (1) leaves the lodging area, the lodging cut mode is automatically canceled.