Work vehicles

Abstract

The objective is to achieve energy-saving operation by analyzing images detected by an imaging device and automatically adjusting the rotation speed of the power unit to an appropriate speed according to the vehicle's work settings. [Solution] By comparing the video captured by the imaging device with pre-registered image data, the system determines whether the land is uncultivated (where crops have not yet been harvested) or cultivated (where crops have already been harvested). If the land is uncultivated, the vehicle and implement are set to the uncultivated rotation speed, which is the rotation speed at which the vehicle is stopped. If the land is cultivated, the vehicle remains operational, and the implement is set to the cultivated rotation speed, which is the rotation speed at which the vehicle is stopped.

Description

Technical Field

[0001] The present invention relates to a work vehicle that performs energy-saving operation by analyzing an image detected by an imaging device and automatically changing the rotation speed of a power device to an appropriate rotation speed according to the work settings of the vehicle.

Background Art

[0002] In the prior art, there is a work vehicle that includes a detection sensor for detecting a work load, and performs predetermined automatic control based on a detection signal from the detection sensor to automatically control the traveling speed. (Patent Document 1)

Prior Art Literature

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] In the prior art, since control is performed only on the traveling speed and direct rotation speed control of an engine or motor serving as a power device is not performed, energy-saving control has not been achieved.

[0005] It is an object of the present invention to provide a work vehicle that enables energy-saving operation by using an imaging device provided in the work vehicle to control the rotation speed of a power device to an optimal rotation speed based on the actual state of the ground in a farm field, the state of crops in the farm field, and the work settings of the work vehicle.

Means for Solving the Problem

[0006] The first invention is solved by the following technical means.

[0007] Power unit 3 distributes power to the traveling device and to the working devices, which are the harvesting device, threshing device, discharge device, and straw discharge device. By comparing the video captured by the imaging device 23 with pre-registered image data, it is determined whether the land is uncultivated land where crop harvesting has not yet been completed or cultivated land where crop harvesting has already been completed. If the land is uncultivated, the traveling device and working devices are set to an uncultivated land rotation speed of 110, which allows them to operate. If the land is cultivated, the traveling device is set to an uncultivated land rotation speed of 120, which is the rotation speed when the traveling device is stopped.

[0008] The second invention is solved by the following technical means.

[0009] When the harvesting device or threshing device is set to operate, the imaging device 23 is set to take a picture in the direction away from the vehicle, and a crop detection image 210 is taken. If crop lodging is detected by comparing this image with pre-registered image data of crops when they have lodged, the rotation speed of the power unit 3 is set to a lodging rotation speed 140, which is a predetermined increase from the uncultivated rotation speed 110.

[0010] The third invention is solved by the following technical means.

[0011] If the harvesting device or threshing device is set to stop, the imaging device 23 is set to capture an image of the ground directly in front of the vehicle's running gear, which is used as the road surface detection image 220. If muddy ground cannot be detected by comparing this image with pre-registered muddy ground image data, the rotation speed of the power unit 3 is set to a hardened field running speed 160, which is a predetermined number of rotation speeds lower than the cultivated field rotation speed 120.

[0012] The fourth invention is solved by the following technical means.

[0013] If the harvesting device or threshing device is set to operate and the main transmission is not set to neutral, the imaging device 23 is set to take a picture of the crop detection image 210, and if crop lodging is detected by comparing it with pre-registered image data of crop lodging, the rotation speed of the power unit 3 is increased by a predetermined amount from the lodging rotation speed 140 to a lodging high rotation speed 141.

[0014] The fifth invention is solved by the following technical means.

[0015] When the harvesting device or threshing device is set to operate and the main transmission is set to neutral, the imaging device 23 is positioned to capture an image of the ground directly in front of the vehicle's running gear, which is used as the road surface detection image 220. By comparing this image with pre-registered muddy ground image data, if muddy ground is detected, the rotational speed of the power unit 3 is reduced by a predetermined amount from the lodging rotational speed 140 to a soft field travel rotational speed 170.

[0016] The sixth invention is solved by the following technical means.

[0017] When the detection sensor in the grain tank 17, which temporarily stores harvested crops, detects crops, the rotation speed of the power unit 3 is set to 120 or higher, the rotation speed for cultivated land. [Effects of the Invention]

[0018] Based on the first invention, energy-saving operation becomes possible by automatically determining whether the land is uncultivated or cultivated and automatically controlling the rotation speed of the power unit.

[0019] The second and fourth inventions enable energy-saving operation by automatically determining the condition of crops in the field and automatically controlling the rotation speed of the power unit.

[0020] The third and fifth inventions enable energy-saving operation by automatically determining the condition of the field ground and automatically controlling the rotation speed of the power unit.

[0021] According to the sixth invention, even when harvested crops are loaded as a heavy load on the work vehicle, appropriate power rotation speed control enables energy-saving operation that can cope with the heavy load. [Brief Description of the Drawings]

[0022] [Figure 1] Front view and side view of the work vehicle in an embodiment of the present invention [Figure 2] Left front perspective view with the protective member of the work vehicle removed in an embodiment of the present invention [Figure 3] Uncultivated land road detection image captured by the imaging device of the present invention [Figure 4] Cultivated land road detection image captured by the imaging device of the present invention [Figure 5] Uncultivated land crop detection image captured by the imaging device of the present invention [Figure 6] Crop detection image of lodged crops in uncultivated land captured by the imaging device of the present invention [Figure 7] Mud detection image of uncultivated land captured by the imaging device of the present invention [Figure 8] Control flow chart of power unit rotation speed for uncultivated land and cultivated land according to the present invention [Figure 9] Control flow chart of power unit rotation speed when lodging detection and mud detection are performed according to the present invention [Figure 10] Control flow chart of power unit rotation speed when lodging detection is performed in a state other than main transmission neutral according to the present invention [Figure 11] Control flow chart of power unit rotation speed when grain is detected in the grain tank of the present invention [Figure 12] Configuration diagram of the radiator fan of the present invention [Mode for Carrying Out the Invention]

[0023] The background of the present invention will be described.

[0024] A work vehicle used in agriculture receives power from a single power unit to drive the traveling device and the working implement device In most cases, the power is distributed to the motor. When performing many tasks, the rotation speed of the motor unit is set to high speed and high output, and the power settings for the travel device and implement device are controlled appropriately by separate operations. In this method, even if the working speed is increased during work, or if the load on the implement device suddenly increases due to clogging during crop harvesting in the case of a harvesting vehicle, it is sufficient to have enough power output to withstand the workload, so it is common practice to keep the output of the motor unit set to high output while working.

[0025] However, constantly operating the power unit at high output will not result in energy-saving operation. When the workload is light, an appropriate output is sufficient, and when moving across cultivated land, such as when turning or moving to a different work area, the implement is stopped while moving, so it is considered that the power output necessary for movement is sufficient.

[0026] In recent years, even in agricultural and construction machinery, the power system utilizes the output of an electric motor powered by a battery, rather than the power of an internal combustion engine. While the power is distributed and shifted via a transmission, there is a growing desire to reduce the electric motor's output if possible, especially during prolonged operation. The control technology of the present invention can address this need for energy conservation.

[0027] The present invention will be described based on the embodiments shown in the drawings.

[0028] The work vehicles shown in Figures 1 to 11 are examples of this embodiment. Figures 1 and 2 show a combine harvester 1, a grain harvesting work vehicle, as an example of a work vehicle according to an embodiment of the present invention. In Figure 2, the external protective devices and component covers have been removed to explain the internal structure, and some parts are hidden in a way that differs from the actual attachment and detachment of components for illustrative purposes.

[0029] In Figures 1 and 2, the lower part of the combine harvester 1's body 2 has a pair of running gears 11 on the left and right sides. In this embodiment, the running gears 11 are, for example, composed of so-called crawler tracks. A passenger compartment 12 is installed on the right front of the body, on which an operator can ride. At the front of the body is a harvesting device 13 for harvesting crops in the field. Behind the harvesting device 13 is a conveying device 14 for transporting the harvested grain. Behind the conveying device 14 is a threshing device 16 for threshing the grain transported by the conveying device 14. To the right of the threshing device 16 is a grain tank 17 for storing the grain processed by the threshing device 16. At the rear of the grain tank 17 is a discharge device 18 for discharging the grain from the grain tank 17 to a container on a truck outside the field. At the rear of the body is a straw discharge device 19 for discharging straw.

[0030] The combine harvester 1 of this embodiment is equipped with a satellite positioning system as an example of a current position measurement unit. The receiver 41 of the satellite positioning system is installed on the upper surface of the boarding section 12. In Japan, the Global Navigation Satellite System version of the satellite positioning system is called GNSS, so it will be referred to as GNSS from now on.

[0031] The receiver 41 can receive signals from GNSS satellites and measure the current position of the combine harvester 1. Therefore, the combine harvester 1 in this embodiment can operate autonomously (automatic driving, unmanned driving) using GNSS, or it can be driven by an operator riding in the passenger compartment 12 according to their commands (manual driving, manned driving). When operating autonomously, the operator who operates the terminal capable of wireless communication with the combine harvester 1 can be outside the combine harvester 1 (outside or inside the field), or they can ride in the passenger compartment 12 while carrying the terminal.

[0032] The combine harvester 1 of this embodiment is equipped with an inertial measurement unit (IMU). This IMU 22 calculates three-dimensional angular velocity and acceleration using a three-axis gyroscope and three-directional accelerometers, making it possible to determine the direction of travel and tilt of the machine. By using this to correct the aforementioned satellite positioning system, the machine's own position can be measured more accurately. The IMU 22 may be housed in the same case adjacent to the receiver 41 of the satellite positioning system.

[0033] In the combine harvester 1 of this embodiment, obstacle sensors 31, 32, and 33, as an example of crop detection means, are installed on the front and both sides of the vehicle body 2. Obstacle sensors 31 to 33 can detect crops and obstacles in front of the vehicle body 2 and on both sides. Although obstacle sensors are given as an example of crop detection means, the system is not limited to these, and imaging devices such as cameras can also be used.

[0034] The combine harvester 1 of this embodiment is equipped with a second imaging device 21, which is capable of capturing 360-degree panoramic images. The second imaging device 21 is equipped with LIDAR. LIDAR is a remote sensing technology that uses light to measure scattered light from pulsed laser irradiation, making it possible to analyze the shape and properties of objects. It can also measure the distance to an object, from long distances to short distances, and can measure the speed of movement of objects. Therefore, it is possible to distinguish between people, other animals, and stationary objects. The second imaging device 21 can also use millimeter-wave radar. It has the advantage of being able to capture objects even when working in the early morning with morning fog, sudden weather changes, backlighting, or when the object is in the shadow of the combine harvester's body. Furthermore, a device that converts light rays from the subject into electrical signals using optical methods such as lenses, such as a CCD camera, may also be used. The imaging device 21 is equipped with one of these sensors, or a combination thereof, which can measure the shape, color, movement, and distance of objects.

[0035] In the embodiment of the combine harvester 1, a first imaging device 23 is attached to the tip of the discharge device 18. This first imaging device 23 is a CCD camera capable of clearly detecting the shape, color, and lighting conditions of objects. It is an AI camera with an artificial intelligence function that repeatedly performs difference detection, such as comparing and verifying the shape and color with pre-registered images and combining them, to determine the consistency rate. This function makes it possible to detect the presence or absence of crops in the field, the type of crops, the condition of the crops (such as lodging), and the condition of the field (such as whether it is a dry or muddy wet field). In this invention, this first imaging device, which is an AI camera, will be referred to as imaging device 23 below.

[0036] The imaging device 23 can automatically change the imaging direction. When imaging in the distant direction, the imaging direction becomes 24 as shown in Figure 1(A), and the imaging range becomes the crop detection image range 210E. The captured image is the crop detection image 210 shown in Figures 5 and 6.

[0037] Furthermore, when imaging the ground directly in front of the vehicle, the imaging direction becomes 24(α) as shown in Figure 1(B), resulting in a road detection image range of 220E. The captured image is the road detection image 220 shown in Figures 3, 4, and 7.

[0038] The first invention will be explained using Figure 8.

[0039] The power unit rotation speed control (S8-1) of the present invention is initiated. The power unit 3 may be an internal combustion engine or an electric motor using battery power. Energy-saving operation is made possible by setting the rotation speed of this power unit 3 to a low speed according to the conditions.

[0040] When starting operation of a work vehicle, pre-pressurization is required for the pumps and other components used in the hydraulic system. The minimum rotational speed required for this is the rotational speed under no load (S8-2), and each motor in the control system becomes operational accordingly.

[0041] The imaging direction of the imaging device 23 attached to the discharge device 18 is changed. The imaging direction of the imaging device 23 will be explained in Figure 1. Figure 1(B) shows the direction of the imaging device when it is necessary to check the area immediately in front of the vehicle in order to drive. The imaging device faces in the direction of 24(α), and as in (S8-3), the imaging device captures a downward-facing road detection image 220. If this image detects crops, it is determined that it is uncultivated land 220(Z3) where harvesting has not yet been carried out or the harvesting work has not been completed. Conversely, if an image of harvested rice or tilled land is detected, it is determined that the harvesting work has been completed and it is cultivated land 220(Z4).

[0042] The images from the imaging device are compared in (S8-4) and (S8-6) with pre-registered reference images. The images are compared based on the shape, color, and arrangement of objects, and the determination of whether the rice harvesting work has been completed is made, thereby distinguishing between cultivated and uncultivated land. However, in some cases, distinctive images that cannot be identified in the registered images may be detected, in which case the imaging device may be re-captured or the image matching rate may be adjusted, and the imaging device may be re-captured and analyzed again in (S8-8).

[0043] Based on the images from this imaging device, the work vehicle, if it is on uncultivated land, will significantly increase its rotation speed to 110 (S8-5) to prepare for harvesting. However, if the images from the imaging device indicate that the land is already cultivated, it will be set to the cultivated land rotation speed (S8-7), and the rotation speed of the power unit will be limited to the maximum power equivalent to that of the drive system only, without activating the power of the implement system.

[0044] In this way, reducing the rotation speed of the power unit as much as possible before starting work is an energy-saving measure. When the work vehicle enters the field, if it is already cultivated land, there is no problem as long as it can move, and the system is automatically set to wait at a low rotation speed. These settings are repeated until the end of operation (S8-9).

[0045] The second invention will be explained in Figure 9.

[0046] The settings for the rotation speed of tilled land (S8-5) and uncultivated land (S8-7) are the same as in Figure 8.

[0047] Based on the rotation speeds set for cultivated and uncultivated land, the next thing to be automatically set is the appropriate rotation speed of the power unit when work begins. In this first invention, the setting of the uncultivated rotation speed (110) (S8-5) is the standard setting for harvesting work. However, if the crop in the field is, for example, rice and has lodged, the power required to lift the rice, the power required for sorting, and the power required to travel in muddy fields will increase, and it will be necessary to increase the rotation speed of the power unit (3). In particular, with an automatically operating robot, the field conditions can be detected by an imaging device, and by obtaining the appropriate power, energy-saving operation can be achieved by adjusting the power to suit the work.

[0048] First, it is necessary to determine the imaging direction of the imaging device based on whether or not harvesting work is to be performed. Whether or not the harvesting device or threshing device is operational (S9-2) determines whether or not work has started. If work has started, the imaging device is pointed upward, and the imaging setting is for crop detection image 210. The imaging direction of imaging device 23 will be explained in Figure 1. Figure 1(A) shows the direction of the imaging device when it is necessary to check the distant area of ​​the vehicle for driving. The imaging device faces the distant direction of 24, and as in (S9-2), the imaging device is pointed upward, and the imaging setting is for crop detection image 210.

[0049] Image 210 is shown in Figures 5 and 6. Image 210 (Z5) shows a crop that has not lodged, the harvesting load is low, and the rotation speed of the power unit 3 is sufficient for operation at the standard rotation speed for uncultivated land. However, as shown in Image 210 (Z6), if the crop has lodged, it is necessary to increase the rotation speed of the power unit as described above. Therefore, depending on whether lodging is detected from the image of the imaging device (S9-3), if lodging is detected, the rotation speed for lodging, 140 (S9-4), is taken. However, if lodging is not detected, the current rotation speed, which maintains the standard setting for uncultivated land, is maintained (S9-5).

[0050] As in the second invention, if the harvesting work requires further power increase depending on the condition of the crop, the rotation speed of the power unit is increased by a predetermined amount to perform the heavy load work. If lodging is not detected, the rotation speed of the power unit is kept at the standard rotation speed to perform energy-saving operation. In such work vehicles, the rotation of the power unit is input to the transmission 4, which distributes power and changes speed. Transmission 4 is an HST specification (Hydrostatic Transmission, hydraulic continuously variable transmission), a type of transmission that transmits power using hydraulics and is capable of stepless speed change. It transmits power from the power unit to a hydraulic pump, thereby changing the pressure of the hydraulic fluid and driving a hydraulic motor to transmit power, and the speed and direction of travel of the vehicle can be freely controlled by adjusting the rotation speed and direction of rotation of the hydraulic motor. Therefore, in order to increase the output of transmission 4, the rotation speed of the power unit 3, which is the input power, is increased. Consequently, the rotation speed of the power unit is not directly used for the running gear and work gear, so power loss occurs in transmission 4. However, since the working conditions of work vehicles change, it is difficult to maintain constant load conditions like in automobiles. Therefore, because it requires power input that can withstand sudden workloads, the rotational speed of the power unit is increased unnecessarily during operation, resulting in a problem where energy-saving operation is not possible. With the present invention, the rotational speed of the power unit is always kept at an appropriate level, minimizing power loss in the transmission 4 and enabling energy-saving operation.

[0051] The third invention will be explained using the control flow in Figure 9. Generally, when lodging of crops as described above is detected, the field is also muddy, as shown in the road detection image (220) in Figure 7 (220 (Z3)), and the operation must be performed at a power rotation speed that takes into account the load of the lodged crops and the load on the travel equipment. When work is completed in such poor field conditions, harvesting vehicles often finish work in the middle of the field and may move from there to the entrance of the field. At this time, they may travel through muddy fields, and the load under such conditions can be significantly different from when traveling in a normal dry field. This is an example of what can be used for automatic travel control.

[0052] If the harvesting or threshing equipment is not operating (S9-1), the imaging device is pointed downwards (S9-8) to detect the field conditions. The imaging device checks if the road surface is muddy (S9-9). If muddy, the vehicle maintains the current rotation speed of the power unit (S9-5) while driving. However, if no mud is detected in the field, as shown in the road surface detection image (220) in Figure 4, the field is not muddy (220, Z4), and the vehicle operates in energy-saving mode by reducing the rotation speed of the power unit to 160 (S9-10) for hardened field driving. This detection operation continues until the end of the operation. Therefore, the power unit rotation speed is increased in muddy areas and decreased in areas that are not muddy.

[0053] The fourth invention is based on the following scenario: the harvesting device 13 or the threshing device 16 is set to operate, the work device is in operation, the main transmission is set to a position other than neutral, and the work vehicle is currently performing harvesting or other tasks, and the current workload is considered to be appropriate. In this work state, if the imaging device detects lodged crops, it is predicted that the workload will increase beyond the current level. Conventional work vehicles have their power unit rotation speed set with a margin to account for such situations, but in the present invention, the power unit rotation speed is set to the rotation speed necessary for the work, so there is not enough margin. Therefore, if the power unit rotation speed is appropriate for the current work, it is necessary to increase the rotation speed of the power unit when lodged crops are detected.

[0054] The harvesting vehicle distributes power to the drivetrain and work equipment via the HST mechanism's transmission 4, adjusting output and changing rotational speed. The power to the drivetrain is switched on and off by setting the main transmission. In neutral, the transmission receives power input from the drivetrain, but when transmission 4 is in neutral, the output from transmission 4 is not transmitted to the drivetrain. In positions other than neutral, the drivetrain moves forward or backward, and the vehicle speed is changed depending on the setting. When operated by a worker, this is done by operating the main transmission lever, while in unmanned and robotic vehicles, the setting value equivalent to the main transmission is changed via an operating terminal.

[0055] Figure 10 shows the control from setting the uncultivated field rotation speed in Figure 8 (S8-5) until the end of operation. It checks whether the harvesting device or threshing device is operating (S10-1) and whether the main transmission is set to anything other than neutral (S10-2). If work is in progress, it checks whether the imaging device is turned upward and the settings for capturing crop detection image 210 are changed (S10-3), and whether lodging has been detected (S10-4). If lodging is detected by comparing it with the registered lodging image confirmation, the rotation speed of the power unit is set to the maximum rotation speed of 141 for lodging. However, if lodging is not detected, the current rotation speed is maintained (S10-6).

[0056] The key feature of this control is that it is performed while the work is in progress. For normal harvesting, a rotation speed of 110 on uncultivated land is sufficient, and even if lodging is detected afterward, there is no problem as the rotation speed can be changed to 140 when lodging occurs, as in the second invention. However, the difference in the fourth invention is that it is performed while the work is in progress. If work is in progress, the power unit is already under load from the harvesting and threshing equipment, and in order to detect lodging in an already optimal state, the fourth invention sets the maximum rotation speed for lodging to 141, which is even higher than the 140 rotation speed for lodging. This maximum rotation speed for lodging of 141 consumes a lot of power, and if the power unit is an electric motor, it will consume a lot of battery power, so it is desirable to reduce the rotation speed of the power unit once it is confirmed that lodging has not occurred.

[0057] The current rotation speed (S10-6) is the same as the rotation speed of the power unit during the operation before lodging detection. If lodging cannot be detected even when the rotation speed is increased to the maximum lodging rotation speed (S10-5), the control will return to the rotation speed before lodging detection.

[0058] In the fifth invention, the rotation speed is set to uncultivated land (S8-5), and the main transmission is set to neutral. In this case, it is before the start of work, and it is necessary to check the condition of the road. The imaging device is facing downwards to set the imaging settings of the road detection device 220 (S10-9). Then, depending on whether the road on the imaging screen is muddy (S10-10), if mud is detected, the rotation speed for soft field travel is controlled to 170 (S10-11), which is a higher rotation speed for the power unit than the rotation speed for hardened field travel is 160. The condition of a soft field corresponds to 220 (Z7) in Figure 7, and the condition of a hardened field corresponds to 220 (Z3) in Figure 3. This is a condition where the soil is soft, ruts are formed by water flow, the root state of crops, and vehicle traffic, and it is viscous, resulting in high driving resistance.

[0059] The sixth invention involves a control mechanism to address situations where, if the detection sensor in the grain tank (17) for temporarily storing harvested crops detects crops, the work vehicle is heavy and may not be able to move unless the rotation speed is increased to 120 or more on cultivated land (S11-2). In the control flow of Figure 11, up to the aforementioned steps, it is the first invention, which is the control for determining whether the land is cultivated or uncultivated as shown in Figure 8. However, even if there is no problem as long as there is enough power to move at 120 on cultivated land, this control mechanism requires more power than when empty in order to move with the increased weight of the harvested crops.

[0060] In this case, if the uncultivated field rotation speed is 110, the power equivalent to the working device is high, so there is enough power to move even if there are crops in the grain tank 17, and it falls under a rotation speed of 120 or higher for cultivated land (S11-2), so it continues at an uncultivated field rotation speed of 110.

[0061] The rotational speed settings for the power unit invented here follow this sequence. The power unit has a minimum rated rotational speed of 150, which allows it to stably maintain the lowest rotational speed, and a maximum rated rotational speed of 130, which is the limit of the power unit's performance. The settings are within this range.

[0062] The minimum rated rotation speed is 150 < hardened field rotation speed 160 < cultivated field rotation speed 120 < uncultivated field rotation speed 110 < soft field rotation speed 170 < lodged field rotation speed 140 < high lodged field rotation speed 141 < maximum rated rotation speed 130.

[0063] Another embodiment of the present invention will be described.

[0064] As a means of energy-saving operation, a method has been devised to equip the combine harvester 1's radiator fan 200 with two fans: an intake fan 201 and an exhaust fan 202. In conventional technology, a single motor is used to reverse the rotation of the same fan, thereby changing the airflow for intake and exhaust. The purpose of reversing the rotation is to remove dust and debris that accumulates on the radiator's intake filter during harvesting by changing the airflow using the reverse rotation. In this configuration, reversing the rotation of an axial-flow fan is not efficient. In relation to the shroud, there are cases where air cannot be blown in the opposite direction even when the fan is rotated in the opposite direction.

[0065] Therefore, the radiator fan 200 is configured by overlapping fans with the direction of the axial flow fan blades facing in opposite directions. Each fan can rotate independently, but the central axis 203 of the fans is the same, and they rotate around this axis. One-way clutches 204 are installed in the central axis and the bearings of each fan. The central axis has a double structure, with a one-way clutch between the outer cylinder 205 and the inner cylinder 206. For example, the outer cylinder is connected to the intake fan 201, and the inner cylinder is connected to the exhaust fan 202. The power input section 207 of the bearings is separated, and by inputting power to either the outer cylinder or the inner cylinder bearing, it is possible to rotate only one side of the fan.

[0066] This makes it possible to generate different airflow patterns even when rotating in the same direction. [Explanation of Symbols]

[0067] 1 combine harvester 2 car bodies 3 Power plant 4 transmissions 11. Running gear 23 Imaging device 210 Crop detection images 210 (Z5) Image of a plant that has not fallen over Image of a fallen plant (210(Z6)). 220 Roadside detection images 220(Z3) Uncultivated land image 220(Z4) Cultivated land image 220 (Z7) Condition of soft soil

Claims

1. The power unit (3) distributes power to the traveling device and to the working devices, namely the harvesting device, threshing device, discharge device, and straw discharge device. The imaging device (23) captures images and compares them with pre-registered image data to determine whether the land is uncultivated, where crop harvesting has not yet been completed, or cultivated, where crop harvesting has already been completed. In the case of uncultivated land, set the travel device and working device to the uncultivated land rotation speed (110) that allows them to operate. This work vehicle is characterized by the fact that, in the case of already cultivated land, the driving system is operational, and the implement system is set to the rotation speed when stopped, which is the rotation speed for already cultivated land (120).

2. When the harvesting device or threshing device is set to operate, the imaging device (23) is set to take a picture in the direction away from the vehicle, and a crop detection image (210) is taken and compared with pre-registered image data of crop lodging, if crop lodging is detected, The work vehicle according to claim 1, characterized in that the rotation speed of the power unit (3) is set to a lodged rotation speed (140), which is an increased rotation speed for uncultivated land (110) by a predetermined number.

3. If the harvesting device or threshing device is set to stop, and the imaging device (23) is set to capture an image of the ground directly in front of the vehicle's running gear, and this image is used as a road detection image (220), and if muddy ground cannot be detected by comparing it with pre-registered muddy ground image data, The work vehicle according to claim 1 and claim 2, characterized in that the rotation speed of the power unit (3) is set to a hardened field travel rotation speed (160), which is a predetermined number of rotation speeds lower than the rotation speed for cultivated land (120).

4. If the harvesting device or threshing device is set to operate and the main transmission is not set to neutral, the imaging device (23) is set to take a picture in the direction away from the vehicle, and a crop detection image (210) is taken and compared with pre-registered image data of crop lodging. If crop lodging is detected, The work vehicle according to claim 2, characterized in that the rotational speed of the power unit (3) is set to a high rotational speed during lodging (141), which is increased by a predetermined amount compared to the rotational speed during lodging (140).

5. When the harvesting device or threshing device is set to operate, When the main transmission is set to neutral, the imaging device (23) captures an image of the ground directly in front of the vehicle's running gear, which is used as the road surface detection image (220). By comparing this image with pre-registered muddy ground image data, if muddy ground is detected, The work vehicle according to claim 3, characterized in that the rotational speed of the power unit (3) is set to a soft field travel rotational speed (170), which is lower than the rotational speed during lodging (140) by a predetermined amount.

6. When a detection sensor in a grain tank (17) for temporarily storing harvested crops detects crops, The work vehicle according to claim 1, characterized in that the rotational speed of the power unit (3) is set to the rotational speed of cultivated land (120) or higher.

Images