WO2022181074A1 - 収穫機 - Google Patents
収穫機 Download PDFInfo
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- WO2022181074A1 WO2022181074A1 PCT/JP2022/000481 JP2022000481W WO2022181074A1 WO 2022181074 A1 WO2022181074 A1 WO 2022181074A1 JP 2022000481 W JP2022000481 W JP 2022000481W WO 2022181074 A1 WO2022181074 A1 WO 2022181074A1
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- Prior art keywords
- height
- lowering
- mode
- reaping
- command
- Prior art date
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- 238000003306 harvesting Methods 0.000 claims description 42
- 230000004044 response Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 20
- 230000002093 peripheral effect Effects 0.000 description 16
- 238000012545 processing Methods 0.000 description 13
- 238000004891 communication Methods 0.000 description 11
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 230000008602 contraction Effects 0.000 description 6
- 238000007599 discharging Methods 0.000 description 6
- 241001124569 Lycaenidae Species 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000002123 temporal effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 240000000111 Saccharum officinarum Species 0.000 description 1
- 235000007201 Saccharum officinarum Nutrition 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
- A01D34/24—Lifting devices for the cutter-bar
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
Definitions
- the present invention relates to a harvester.
- Patent Document 1 discloses a cutting height control system for a combine harvester.
- the disclosed combine includes a cutting height detection device and a control unit that maintains the pre-cutting treatment section at a constant height from the field based on the detection signal of the device.
- the combine raises the reaping device when traveling on already-harvested land, and lowers the reaping device before entering uncut land.
- the harvesting device is lowered until the cutting height detection device detects the field.
- the combine disclosed in Patent Document 1 cannot cope with a field in which there is a part protruding from the field.
- the purpose of the present invention is to provide a harvester that can handle various types of fields.
- the harvester of the present invention comprises a body, a reaping device supported by the body in a vertically movable state for reaping crops in a field, and an actuator for elevating the reaping device.
- a cutting height sensor for detecting the ground height of the reaper
- a lowering command section for issuing a lowering command for lowering the reaper
- an elevation control section for controlling the operation of the actuator; The elevation control section lowers the reaper until the ground height detected by the cutting height sensor reaches a predetermined first height when the descent command section issues the descent command.
- a first mode for executing the operation a first mode for executing the operation; and a second mode for lowering the reaper until the height of the reaper with respect to the machine body reaches a predetermined second height when the descent command unit issues the descent command. and a second mode for executing a descending operation.
- the elevation control unit by switching the elevation control unit between the first mode and the second mode, it is possible to deal with various types of fields. For example, in a field where there are no protruding parts such as ridges or ruts, it is preferable to set the elevation control section to the first mode. In this case, when a lowering command is issued, the reaping device is lowered until the ground height reaches the predetermined first height, so that the reaping device can be quickly lowered to a height suitable for reaping crops. . On the other hand, it is preferable to set the elevation control unit to the second mode in a field where there are portions such as ridges and ruts that protrude from the field. In this case, when the descent command is issued, the reaper is lowered until the height with respect to the machine body reaches the predetermined second height. It can be lowered to a height where harvesting is possible.
- the elevation control section is configured to be capable of executing a cutting height control operation of controlling the actuator so that the height to the ground detected by the cutting height sensor becomes the first height, and When set to the first mode, the elevation control section preferably executes the cutting height control operation after executing the first lowering operation.
- the actuator is controlled so that the height from the ground reaches the first predetermined height after the reaper is lowered until the height from the ground reaches the predetermined first height. Crops can be cut while maintaining proper height.
- an operation tool for receiving a manual operation is provided, and the elevation control section controls the cutting height control to control the actuator so that the height to the ground detected by the cutting height sensor becomes the first height.
- the actuator is configured to operate to move the harvesting device up and down in response to a manual operation input to the operating tool, and when the second mode is set, After executing the second lowering operation, the cutting height is waited for input of a manual operation to the operation tool, and the cutting height is detected in response to the ground height detected by the cutting height sensor becoming the first height. It is preferable to carry out a thickness control operation.
- the reaper height control operation is performed. It is possible to cut crops while maintaining the height.
- an operation tool for receiving a manual operation is provided, and the elevation control section controls the cutting height control to control the actuator so that the height to the ground detected by the cutting height sensor becomes the first height.
- the operation is set to the second mode, after executing the second lowering operation, the input of the manual operation to the operation tool is waited, and the operation tool receives the input of the manual operation. It is preferable to execute the first lowering operation in response to the reception, and then execute the cutting height control operation.
- the reaping device after executing the second lowering operation, the reaping device lowers until the height to the ground reaches the first height (first lowering operation) in response to the manual operation, and then the cutting height control operation is performed. is executed, the crop can be reaped while the reaping device is maintained at an appropriate height.
- an operating tool that accepts a human operation is provided, and the lowering command unit issues the lowering command in response to the operating tool accepting the human operation.
- an automatic travel control section for automatically traveling the machine body is provided, and the descent command section issues the descent command before the machine body automatically travels and the reaper enters an uncut area. be.
- an operation display device capable of receiving a human operation and displaying information, and setting the elevation control section to either the first mode or the second mode according to the human operation received by the operation display device. and a mode setting unit to set the mode.
- the elevation control unit is set to either the first mode or the second mode according to the manual operation, so the operator can adapt the harvester to various types of fields.
- FIG. 4 shows a reaping run along a reaping run path; It is a functional block diagram which shows the structure regarding control. It is a figure for demonstrating 1st height and 2nd height. It is a flow chart which shows descent processing. It is a graph which shows the aspect of the descent of the reaping device in descent processing. It is a flowchart which shows the descending process of a modification.
- the direction of arrow F shown in FIG. 1 is defined as “front” and the direction of arrow B is defined as “rear” unless otherwise specified.
- the direction of arrow U shown in FIG. 1 is defined as “up”, and the direction of arrow D is defined as “down”.
- the present invention is not limited to the following embodiments, and various modifications are possible without departing from the gist of the present invention.
- a normal combine harvester 1 (corresponding to the "harvester” according to the present invention) includes a crawler type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a harvesting device H , a conveying device 16, a grain discharging device 18, a satellite positioning module 80 and an engine E.
- the travel device 11 is provided in the lower part of the combine harvester 1. Further, the travel device 11 is driven by power from the engine E. As shown in FIG. The combine 1 can be self-propelled by the travel device 11 .
- the driving unit 12, the threshing device 13, and the grain tank 14 are provided on the traveling device 11.
- An operator who monitors the work of the combine harvester 1 can board the operation section 12 . Incidentally, the operator may monitor the work of the combine harvester 1 from outside the combine harvester 1 .
- the grain discharging device 18 is provided on the grain tank 14. Also, the satellite positioning module 80 is attached to the upper surface of the operating section 12 .
- the harvesting device H is provided at the front of the combine 1.
- the conveying device 16 is provided behind the harvesting device H. As shown in FIG.
- the harvesting device H also has a harvesting device 15 and a reel 17 .
- the harvesting device 15 is supported by the machine body of the combine harvester 1 in a vertically movable state.
- the reaping device 15 reaps the crops in the field.
- the reel 17 is rotationally driven around a reel axis 17b extending in the left-right direction of the machine body to rake in planted culms (crops) to be harvested.
- the harvesting device H harvests the crops in the field.
- the combine harvester 1 is capable of reaping travel in which the traveling device 11 travels while the reaping device 15 reaps crops in a field.
- the harvested culms harvested by the harvesting device 15 are conveyed to the threshing device 13 by the conveying device 16 .
- harvested grain culms are threshed.
- Grains obtained by the threshing process are stored in the grain tank 14 .
- the grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.
- the operation unit 12 is provided with a communication terminal 4 (an example of an "operation display device").
- the communication terminal 4 is configured to be able to display information as well as to receive manual operations.
- the communication terminal 4 is fixed to the operating section 12 .
- the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the operation unit 12, or the communication terminal 4 may be positioned outside the combine harvester 1. .
- the combine 1 travels in a circular motion while harvesting grain in the outer peripheral area of the field, and then, as shown in FIG. is configured to harvest the grain in the field by performing
- the circling run shown in FIG. 2 is performed manually. Further, the reaping travel in the inner area shown in FIG. 3 is performed by automatic travel. That is, the combine 1 is capable of automatic travel.
- the present invention is not limited to this, and the circuit running shown in FIG. 2 may be performed by automatic running. Reaping travel in the inner region shown in FIG. 3 can also be carried out manually.
- the driving section 12 is provided with a main shift lever 19 .
- the main shift lever 19 is manually operated.
- the vehicle speed of the combine harvester 1 changes when the operator operates the main shift lever 19 . That is, when the combine harvester 1 is manually traveling, the operator can change the vehicle speed of the combine harvester 1 by operating the main shift lever 19 .
- the operator can change the rotation speed of the engine E.
- the appropriate working speed differs depending on the type of crop. If the operator operates the communication terminal 4 to set the rotational speed of the engine E to an appropriate rotational speed, the work can be performed at a working speed suitable for the type of crop.
- the combine 1 includes a reaping clutch C1 and a control device 20. As shown in FIG. Power output from the engine E is distributed to the reaping clutch C ⁇ b>1 and the travel device 11 . The travel device 11 is driven by power from the engine E. As shown in FIG.
- the reaping clutch C1 is configured to be able to change its state between an ON state in which power is transmitted and an OFF state in which power is not transmitted.
- the reaping clutch C1 When the reaping clutch C1 is in the disengaged state, the power output from the engine E is not transmitted to the reaping device 15 and the reel 17. At this time, the harvesting device 15 and the reel 17 are in a non-driving state.
- the reaping clutch C1 When the reaping clutch C1 is in the engaged state, the power output from the engine E is transmitted to the reaping device 15 and the reel 17. At this time, the reaper 15 and the reel 17 are driven by the power from the engine E.
- the reaping clutch C1 interrupts power transmission to the reel 17 and the reaping device 15 .
- the control device 20 is a so-called ECU, and includes a memory (HDD, non-volatile RAM, etc., not shown) that stores programs corresponding to function units to be described later, and a CPU (not shown) that executes the programs. ing. The functions of each functional unit are realized by executing the program by the CPU. That is, the control device 20 has a non-transitory recording medium storing the program.
- the control device 20 has a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, and a travel control unit 24 (an example of an "automatic travel control unit").
- the satellite positioning module 80 receives GNSS (Global Navigation Satellite System) signals from artificial satellites and generates positioning data indicating the position of the combine 1's own vehicle based on the received signals. and sends the positioning data to the vehicle position calculator 21 .
- GNSS Global Navigation Satellite System
- GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used.
- the own vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80 .
- the calculated temporal positional coordinates of the combine harvester 1 are sent to the area calculation unit 22 and the traveling control unit 24 .
- the area calculation unit 22 calculates the outer peripheral area SA and the work target area CA as shown in FIG.
- the area calculation unit 22 calculates the travel locus of the combine harvester 1 in the circular travel on the outer circumference side of the field based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21. . Then, based on the calculated travel locus of the combine 1, the area calculation unit 22 calculates an area on the outer peripheral side of the field where the combine 1 traveled around while harvesting the grain as an outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.
- arrows indicate the traveling route of the combine harvester 1 for traveling around the outer circumference of the field.
- the combine 1 travels three rounds. Then, when the reaping travel along this travel route is completed, the field is in the state shown in FIG.
- the area calculation unit 22 calculates the area on the outer peripheral side of the field where the combine harvester 1 traveled around while harvesting the grain as the outer peripheral area SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.
- the calculation result by the area calculation unit 22 is sent to the route calculation unit 23 .
- the route calculation unit 23 calculates a reaping travel route LI, which is a travel route for reaping travel in the work target area CA, as shown in FIG.
- the reaping travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Also, the plurality of mesh lines may not be straight, and may be curved.
- the reaping 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 harvester 1 based on the position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23 . More specifically, as shown in FIG. 3, the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI.
- the operator manually operates the combine harvester 1, and as shown in FIG. In the example shown in FIG. 2, the combine 1 travels three rounds. When this round trip is completed, the field will be in the state shown in FIG.
- the area computation unit 22 Based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21, the area computation unit 22 computes the running locus of the combine harvester 1 in the circuit running shown in FIG. Then, as shown in FIG. 3, based on the calculated running locus of the combine harvester 1, the area calculating unit 22 determines the area on the outer peripheral side of the field where the combine harvester 1 traveled around while cutting the planted grain culms as the outer peripheral area. Calculate as SA. Further, the area calculation unit 22 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.
- the route calculation unit 23 sets the reaping travel route LI in the work target area CA as shown in FIG.
- an automatic travel start button (not shown)
- automatic travel along the reaping travel route LI is started as shown in FIG.
- the travel control unit 24 controls travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI.
- the combine harvester 1 reaps and travels along the outline of the work area CA in the outer peripheral portion of the work area CA. conduct. Then, the combine 1 repeats traveling along the reaping travel route LI and changing direction by an ⁇ -turn, thereby performing reaping travel so as to cover the entire work target area CA.
- the transport vehicle CV is parked outside the field.
- a stop position PP is set in the vicinity of the transport vehicle CV in the outer peripheral area SA.
- the transport vehicle CV can collect and transport the grain discharged from the grain discharging device 18 by the combine 1.
- the combine 1 stops at the stop position PP, and the grain discharging device 18 discharges the grain to the transport vehicle CV.
- the combine 1 includes a reaping cylinder 15A (an example of an "actuator”), a reel cylinder 17A, a cutting height sensor S, and an operating lever 40 (an example of an "operating tool”). ing.
- the combine 1 has a reel up button 41 and a reel down button 42 .
- Both the reel up button 41 and the reel down button 42 are provided above the operating lever 40 .
- the operating lever 40, the reel up button 41, and the reel down button 42 all accept manual operations.
- the cutting height sensor S is a sensor that detects the height of the cutting device 15 above the ground.
- the cutting height sensor S is provided at the bottom of the cutting device 15 .
- the cutting height sensor S is composed of a plate-like member supported by the cutting device 15 in a swingable state about an axis extending in the lateral direction of the machine body, and an angle sensor for detecting the swinging angle of the plate-like member. be done.
- the plate-shaped member comes into contact with the ground.
- the distance between the harvesting device 15 and the ground (height of the harvesting device 15 from the ground) becomes smaller, the posture of the plate-shaped member approaches the horizontal. That is, the output of the angle sensor changes according to the ground height of the reaper 15 .
- the output of the cutting height sensor S is input to the control device 20 . Based on the output of the cutting height sensor S, the control device 20 calculates the height of the cutting device 15 from the ground.
- the control device 20 has a clutch control section 25, a descent command section 26, an elevation control section 27, and a mode setting section 28.
- a signal corresponding to the operation is sent to the elevation control unit 27 .
- the elevation control unit 27 controls the reel cylinder 17A in the extension direction in response to this signal. This causes the reel 17 to rise relative to the reaping device 15 .
- the elevation control unit 27 controls the reel cylinder 17A in the contraction direction in response to this signal. Thereby, the reel 17 is lowered with respect to the reaping device 15 .
- the elevation control unit 27 controls elevation of the reel 17 with respect to the harvesting device 15 in accordance with the manual operation of the reel up button 41 and the reel down button 42 .
- the combine harvester 1 when the combine harvester 1 is manually traveling, when the operator swings the operation lever 40 backward, a signal corresponding to the operation is sent to the elevation control unit 27 .
- the up-and-down control part 27 controls the reaping cylinder 15A in the extension direction according to this signal. As a result, the harvesting device 15 rises with respect to the machine body.
- the elevation control unit 27 controls the reaping cylinder 15A in the contraction direction in response to this signal. As a result, the harvesting device 15 descends with respect to the machine body.
- the elevation control section 27 controls the operation of the reaping cylinder 15A according to the manual operation of the operating lever 40 to raise and lower the reaping device 15 with respect to the machine body.
- the elevation control unit 27 is configured to be able to detect the height of the reaper 15 relative to the machine body based on the output of a sensor (not shown) provided on the reaper cylinder 15A. Therefore, the elevation control unit 27 can control the reaping cylinder 15A so that the height of the reaping device 15 with respect to the body becomes a set value (for example, a second height H2 described later).
- the lowering command unit 26 lowers the reaping device 15 during automatic traveling based on the position coordinates of the combine harvester 1 received from the own vehicle position calculating unit 21 and the reaping travel route LI received from the route calculating unit 23. Issue a descent command to that effect.
- the descent command unit 26 issues a descent command when the combine harvester 1 enters the work target area CA from the outer peripheral area SA. More specifically, the descent command unit 26 issues a descent command before the body of the combine harvester 1 automatically travels and the reaping device 15 enters the work target area CA (uncut area).
- the descent command unit 26 issues a descent command when the combine harvester 1 enters the reaping travel path LI. More specifically, the descent command unit 26 issues a descent command when the distance between the combine harvester 1 and the starting point of the reaping travel path LI becomes equal to or less than a predetermined distance.
- the elevation control section 27 lowers the reaping device 15 in different manners according to the set mode.
- the elevation control section 27 is set to either the first mode or the second mode by the mode setting section 28 .
- the lift controller 27 moves the reaper until the ground height detected by the cutting height sensor S reaches a predetermined first height H1 when the descent command unit 26 issues a descent command. 15 is lowered to perform the first lowering operation.
- the elevation control unit 27 operates the reaping cylinder 15A in the contraction direction as the first lowering operation, and stops the reaping cylinder 15A when the ground height reaches the first height H1.
- the first height H1 is preset.
- the first height H1 is set by the operator to a height suitable for crops to be harvested.
- the elevation control unit 27 is configured to be able to execute a cutting height control operation for controlling the cutting cylinder 15A so that the height to the ground detected by the cutting height sensor S becomes the first height H1.
- the elevation control section 27 executes the cutting height control operation after executing the first lowering operation.
- the elevation control unit 27 lowers the reaper 15 until the height of the reaper 15 with respect to the machine body reaches a predetermined second height H2 when the descent command unit 26 issues a descent command.
- a second lowering operation is performed to lower the
- the elevation control unit 27 operates the reaping cylinder 15A in the contraction direction as the second lowering operation, and stops the reaping cylinder 15A when the height of the reaping device 15 with respect to the machine body reaches the second height H2. .
- the height of the harvesting device 15 with respect to the machine body is the height of the harvesting device 15 based on a predetermined position of the machine body (for example, the ground surface of the traveling device 11 or the upper limit position of the lifting device 15).
- the second height H2 is preset.
- the second height H2 is set by the operator to a height (height relative to the machine body) at which the harvesting device 15 is positioned above the ridges of the field.
- the second height H2 is such that the reaper 15 when it is at the second height H2 with respect to the machine body is positioned above the reaper 15 when it is at the first height H1 with respect to the ground. , is preferably set.
- the elevation control unit 27 waits for input of manual operation to the operation lever 40 after executing the second lowering operation, and the height to the ground detected by the cutting height sensor S reaches the second level.
- the cutting height reaches 1 height H1
- the cutting height control operation described above is executed.
- the mode setting unit 28 sets the elevation control unit 27 to either the first mode or the second mode according to the human operation received by the communication terminal 4 .
- the mode setting unit 28 causes the display device of the communication terminal 4 to display a screen asking the operator to set the mode, and waits for input of manual operation. Then, the mode setting unit 28 performs mode setting according to the received human operation. It is preferable that the mode setting of the elevation control unit 27 by the mode setting unit 28 is performed before the travel control unit 24 starts automatic travel.
- the mode setting unit 28 may be configured to perform mode setting based on preset work instructions or work instructions from a host system.
- the descending process executed by the control device 20 will be described with reference to the flowchart of FIG.
- the descent process is performed when the combine 1 is automatically traveling in the outer peripheral area SA during the harvesting work performed in the field. Note that the descent process may be performed while the vehicle is manually traveling in the outer peripheral area SA.
- the elevation control unit 27 waits until the descent command unit 26 issues a descent command (step S101: No).
- step S101 Yes
- the elevation control unit 27 confirms the set mode (step S102).
- step S102 first mode
- step S103 the elevation control unit 27 executes the first lowering operation
- step S104 executes the cutting height control operation. Then the descent process ends.
- step S102 second mode
- step S105 the elevation control unit 27 executes the second lowering operation
- step S106 No
- step S106 When the operation lever 40 is manually operated (step S106: Yes), the elevation control unit 27 operates the cutting cylinder 15A according to the input manual operation (S107), and confirms the output of the cutting height sensor S. (S108).
- the elevation control unit 27 waits for manual operation of the operation lever 40 (S106). .
- the elevation control unit 27 executes a reaping height control operation (step S109). Then the descent process ends.
- the graph in FIG. 7 shows a change in the amount of extension of the reaping cylinder 15A due to execution of the lowering process, that is, the manner in which the reaping device 15 is lowered.
- the vertical axis of the graph represents the amount of extension of the reaping cylinder 15A, and the larger the value, the more the reaping cylinder 15A is extended, that is, the reaper 15 is positioned upward.
- the horizontal axis of the graph indicates time.
- the reaping cylinder 15A is greatly extended and the reaping device 15 is in a high position.
- the elevation control unit 27 When a lowering command is issued at time T1, the elevation control unit 27 operates the reaping cylinder 15A in the contraction direction until the ground height reaches the first height H1. After that, the elevation control unit 27 executes the cutting height control operation, and the ground height of the cutting device 15 is maintained at the first height.
- the elevation control unit 27 When a lowering command is issued at time T1, the elevation control unit 27 operates the reaping cylinder 15A in the contraction direction until the height relative to the machine body reaches the second height H2. After that, the elevation control unit 27 waits for input of a manual operation to the operation lever 40 .
- the harvesting device 15 is kept at a second height H2 (height relative to the fuselage).
- the elevation control section 27 When the operator operates the operating lever 40 in the downward direction at time T1, the elevation control section 27 operates the reaping cylinder 15A in the retraction direction. The reaping device 15 is lowered. When the height to the ground reaches the first height H1, the elevation control unit 27 thereafter executes the cutting height control operation, and the height to the ground of the cutting device 15 is maintained at the first height.
- the first mode is preferably used in fields without ridges.
- the second mode is preferably used in ridged fields. Description will be made with reference to FIG.
- the reaping device 15 when a lowering command is issued, the reaping device 15 quickly lowers to the first height H1 (ground level) (left part of FIG. 5). Therefore, crops in the work target area CA are properly harvested.
- the harvesting device 15 When the first mode is used in a field with ridges UN, the harvesting device 15 quickly descends to the first height H1 before the combine harvester 1 enters the work target area CA. If the first height H1 is set lower than the height of the ridge UN, the harvesting device 15 may come into contact with the ridge UN when the combine harvester 1 enters the work area CA. If the harvesting device 15 is soiled with soil due to contact with the ridges UN, there is a risk that the soil will adhere to the crops and reduce the commercial value of the crops.
- the harvesting device 15 lowers to the second height H2 (the height relative to the machine body) before the combine 1 enters the work area CA (central portion in FIG. 5). . If the second height H2 is appropriately set, contact of the reaper 15 with the ridges UN is suppressed. In addition, the crops on the ridges UN can be properly harvested. After that, the harvesting device 15 moves up and down according to the manual operation by the operator. When the reaping device 15 is lowered until its height to the ground reaches the first height, the height to the ground of the reaping device 15 is maintained at the first height. That is, the height of the reaper 15 from the upper surface of the ridge UN is maintained at the first height H1 (right part of FIG. 5). Therefore, crops on the ridges UN can be harvested more appropriately.
- the use of the second mode is not limited to fields with ridges UN. It can be suitably used even in fields with ruts and undulations.
- a computer-implemented method for controlling a harvester comprising a machine body, a reaping device, an actuator for raising or lowering the reaping device, and a cutting height sensor for detecting the height of the reaping device above the ground.
- Set the lifting mode to the first mode or the second mode issuing a lowering command for lowering the reaping device;
- the lifting mode is the first mode
- the lowering command is issued, the reaping device is moved until the height to the ground detected by the reaping height sensor reaches a predetermined first height.
- a program described below is recorded in the memory (recording medium) of the control device 20 and executed.
- a program for controlling a harvester comprising a machine body, a harvesting device, an actuator for raising and lowering the harvesting device, and a cutting height sensor for detecting the ground height of the harvesting device, the program being executed by a computer.
- the computer Set the lifting mode to the first mode or the second mode, issuing a lowering command to lower the reaping device;
- the lifting mode is the first mode
- the reaping device is moved until the height to the ground detected by the reaping height sensor reaches a predetermined first height.
- step S206 When the operating lever 40 is manually operated (step S206: Yes), the elevation control unit 27 executes the first lowering operation (step S207). That is, the elevation control unit 27 lowers the reaper 15 until the height to the ground detected by the reaper height sensor S reaches the predetermined first height H1. Subsequently, the elevation control unit 27 executes a cutting height control operation (step S208). Then the descent process ends.
- the elevation control unit 27 waits for input of manual operation to the operation lever 40 after executing the second lowering operation, and the operation lever 40 is manually operated.
- the first lowering operation is executed in response to receiving the input, and then the cutting height control operation is executed.
- the elevation control unit 27 executes the processing of steps S207 and S208 based on the fact that an operation tool (for example, the communication terminal 4, other buttons, levers, etc.) other than the operation lever 40 has received an input of manual operation. It may be configured as follows.
- the elevation control unit 27 may be configured to selectively execute the processing of the above-described embodiment (lowering processing in FIG. 6) and the processing of this modification (lowering processing in FIG. 8). For example, the elevation control unit 27 sets which of the processing of the above-described embodiment (lowering processing in FIG. 6) and the processing of the present modification (lowering processing in FIG. 8) is to be executed based on the manual operation by the operator. may be configured to be
- the lowering process described above may be performed while the combine harvester 1 is manually traveling.
- the descent command section 26 may be configured to issue a descent command in response to the operation lever 40 (or other manipulator) receiving a manual operation.
- the cutting height sensor S may have a form different from the above example.
- the cutting height sensor S may be a non-contact sensor such as an optical positioning device, or an ON/OFF contact switch.
- the control device 20 may automatically set the first height H1 according to the type of crop. Acquisition of the type of crop by the control device 20 may be performed based on the output of a sensor, camera, or the like, may be performed based on data recorded in the farm management system, or may be performed based on input from the operator. can be
- the control device 20 may automatically set the second height H2 according to the height of the ridge. Acquisition of the ridge height by the control device 20 may be performed based on the output of a sensor, camera, or the like, may be performed based on data recorded in the farm management system, or may be performed based on input from the operator. It may be done.
- the lowering process may end after the first lowering operation in step S103 is completed.
- the lowering process may be finished after the second lowering operation in step S105 is finished.
- the descending process may end after the first descending operation in step S203 ends.
- the lowering process may end after the second lowering operation in step S205 ends.
- the present invention is applicable not only to ordinary combine harvesters, but also to harvesters such as self-throwing combine harvesters, corn harvesters, and sugarcane harvesters.
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Abstract
Description
図1に示されるように、普通型のコンバイン1(本発明に係る「収穫機」に相当)は、クローラ式の走行装置11、運転部12、脱穀装置13、穀粒タンク14、収穫装置H、搬送装置16、穀粒排出装置18、衛星測位モジュール80、エンジンEを備えている。
主変速レバー19は、人為操作される。コンバイン1が手動走行しているとき、オペレータが主変速レバー19を操作すると、コンバイン1の車速が変化する。即ち、コンバイン1が手動走行しているとき、オペレータは、主変速レバー19を操作することにより、コンバイン1の車速を変更することができる。
図4に示されるように、コンバイン1は、刈取クラッチC1及び制御装置20を備えている。エンジンEから出力された動力は、刈取クラッチC1及び走行装置11に分配される。走行装置11は、エンジンEからの動力により駆動する。
以下では、コンバイン1による収穫作業の例として、コンバイン1が、図2に示す圃場で収穫作業を行う場合の流れについて説明する。
図1、図4に示されるように、コンバイン1は、刈取シリンダ15A(「アクチュエータ」の一例)、リールシリンダ17A、刈り高さセンサS、及び操作レバー40(「操作具」の一例)を備えている。また、図4に示されるように、コンバイン1は、リール上昇ボタン41及びリール下降ボタン42を備えている。
図4に示されるように、自車位置算出部21により算出されたコンバイン1の位置座標は、下降指令部26へ送られる。また、経路算出部23により算出された刈取走行経路LIは、下降指令部26へ送られる。
図6のフローチャートを参照しながら、制御装置20で実行される下降処理について説明する。下降処理は、コンバイン1が圃場で行なう収穫作業において、外周領域SAを自動走行しているときに行なわれる。なお、下降処理が、外周領域SAを手動走行しているときに行なわれてもよい。
機体と、刈取装置と、前記刈取装置を昇降させるアクチュエータと、前記刈取装置の対地高さを検出する刈り高さセンサと、を備える収穫機を制御するための、コンピュータにより実行される方法であって、
昇降のモードを第1モードまたは第2モードに設定し、
前記刈取装置を下降させる旨の下降指令を発し、
昇降のモードが前記第1モードである場合には、前記下降指令が発せられたときに、前記刈り高さセンサが検出する前記対地高さが所定の第1高さになるまで前記刈取装置を下降させる第1下降動作を実行し、
昇降のモードが前記第2モードである場合には、前記下降指令が発せられたときに、前記刈取装置の前記機体に対する高さが所定の第2高さになるまで前記刈取装置を下降させる第2下降動作を実行する、方法。
機体と、刈取装置と、前記刈取装置を昇降させるアクチュエータと、前記刈取装置の対地高さを検出する刈り高さセンサと、を備える収穫機を制御するためのプログラムであって、コンピュータにより実行されることにより、コンピュータが、
昇降のモードを第1モードまたは第2モードに設定し、
前記刈取装置を下降させる旨の下降指令を発し、
昇降のモードが前記第1モードである場合には、前記下降指令が発せられたときに、前記刈り高さセンサが検出する前記対地高さが所定の第1高さになるまで前記刈取装置を下降させる第1下降動作を実行し、
昇降のモードが前記第2モードである場合には、前記下降指令が発せられたときに、前記刈取装置の前記機体に対する高さが所定の第2高さになるまで前記刈取装置を下降させる第2下降動作を実行する、プログラム。
図8のフローチャートを参照しながら、下降処理の変形例について説明する。ステップS201からステップS205までの処理は、上述したステップS101からステップS105までの処理と同一であるため、説明を省略する。
例えば、下降指令部26が、操作レバー40(または他の人為操作具)が人為操作を受け付けたことに応じて下降指令を発するように構成されても良い。
15 :刈取装置
15A :刈取シリンダ(アクチュエータ)
24 :走行制御部(自動走行制御部)
26 :下降指令部
27 :昇降制御部
28 :モード設定部
40 :操作レバー(操作具)
CA :作業対象領域(未刈領域)
S :刈り高さセンサ
Claims (7)
- 機体と、
上下に昇降可能な状態で前記機体に支持されると共に圃場の作物を刈り取る刈取装置と、
前記刈取装置を昇降させるアクチュエータと、
前記刈取装置の対地高さを検出する刈り高さセンサと、
前記刈取装置を下降させる旨の下降指令を発する下降指令部と、
前記アクチュエータの動作を制御する昇降制御部と、を備え、
前記昇降制御部は、
前記下降指令部が前記下降指令を発したときに、前記刈り高さセンサが検出する前記対地高さが所定の第1高さになるまで前記刈取装置を下降させる第1下降動作を実行する第1モードと、
前記下降指令部が前記下降指令を発したときに、前記刈取装置の前記機体に対する高さが所定の第2高さになるまで前記刈取装置を下降させる第2下降動作を実行する第2モードと、の何れかに設定される収穫機。 - 前記昇降制御部は、前記刈り高さセンサが検出する前記対地高さが前記第1高さになるように前記アクチュエータを制御する刈り高さ制御動作を実行可能に構成され、
前記昇降制御部は、前記第1モードに設定されているときには、前記第1下降動作を実行した後に前記刈り高さ制御動作を実行する請求項1に記載の収穫機。 - 人為操作を受け付ける操作具を備え、
前記昇降制御部は、前記刈り高さセンサが検出する前記対地高さが前記第1高さになるように前記アクチュエータを制御する刈り高さ制御動作を実行可能に構成されると共に、前記操作具に入力された人為操作に応じて前記アクチュエータを作動させて前記刈取装置を昇降させるように構成され、前記第2モードに設定されているときには、前記第2下降動作を実行した後に前記操作具への人為操作の入力を待機し、前記刈り高さセンサが検出する前記対地高さが前記第1高さになったことに応じて前記刈り高さ制御動作を実行する請求項1又は2に記載の収穫機。 - 人為操作を受け付ける操作具を備え、
前記昇降制御部は、前記刈り高さセンサが検出する前記対地高さが前記第1高さになるように前記アクチュエータを制御する刈り高さ制御動作を実行可能に構成され、前記第2モードに設定されている時には、前記第2下降動作を実行した後に前記操作具への人為操作の入力を待機し、前記操作具が人為操作の入力を受け付けたことに応じて前記第1下降動作を実行し、その後に前記刈り高さ制御動作を実行する請求項1から3のいずれか1項に記載の収穫機。 - 人為操作を受け付ける操作具を備え、
前記下降指令部は、前記操作具が人為操作を受け付けたことに応じて前記下降指令を発する請求項1から4のいずれか1項に記載の収穫機。 - 前記機体を自動走行させる自動走行制御部を備え、
前記下降指令部は、前記機体が自動走行して前記刈取装置が未刈領域に進入する前に前記下降指令を発する請求項1から5のいずれか1項に記載の収穫機。 - 人為操作を受け付けると共に情報を表示可能な操作表示装置と、
前記操作表示装置が受け付けた人為操作に応じて前記昇降制御部を前記第1モード及び前記第2モードの何れかに設定するモード設定部と、を備える請求項1から6のいずれか1項に記載の収穫機。
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JP6345621B2 (ja) | 2015-03-26 | 2018-06-20 | 株式会社クボタ | コンバインのための刈高さ制御システム |
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JP2003143920A (ja) * | 2001-11-07 | 2003-05-20 | Iseki & Co Ltd | コンバインの刈取部昇降装置 |
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