Harvester, harvester control program, recording medium on which harvester control program is recorded, harvester control method

Abstract

A harvester includes a harvesting and conveying device (2) having a harvesting portion (H) including a head (5) that receives a harvested product and a rotationally driven auger (6) configured to be able to be raised and lowered relative to a machine body and harvest crops in a field, and a conveying portion that conveys the harvested product harvested by the harvesting portion (H) toward the rear of the machine body, the harvester being provided with a blockage determination portion that determines whether the harvesting and conveying device (2) is blocked, and a reverse control portion that reversely drives the auger (6) in a case where the harvesting and conveying device (2) is determined by the blockage determination portion to be blocked.

Description

Technical Field

[0001] This invention relates to a harvester, which includes a harvesting and conveying device having a harvesting section and a conveying section.

[0002] In addition, the present invention relates to a harvester having a harvesting device for harvesting crops in a field. Background Technology

[0003] [1] As a harvester as described above, for example, there is a harvester described in Patent Document 1. The harvesting section (cutting section) of this harvester (“combiner” in Patent Document 1) includes a rotary-driven auger (“lateral conveying auger” in Patent Document 1). In addition, the conveying section (“feeder” in Patent Document 1) of this harvester conveys the harvested material from the harvesting section to the rear of the machine body.

[0004] [2] For example, the harvester disclosed in Patent Document 2 is equipped with a detection unit (referred to in the document as "image recognition module and data processing module") capable of detecting lodged crops in front of the harvesting device. The detection unit is configured to also detect weeds. Information such as lodged crops is used to generate a field map.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2017-35017

[0008] Patent Document 2: Japanese Patent Application Publication No. 2019-8536 Summary of the Invention

[0009] The problem that the invention will solve

[0010] [1] The topic corresponding to the background technology [1] is as follows.

[0011] In the harvesting conveyor of the harvester described in Patent Document 1, blockages sometimes occur due to the harvested material. When the harvesting conveyor is blocked, the blockage can be cleared by reversing the auger drive.

[0012] At this point, in order to reverse the auger's drive, the operator needs to switch the power transmission path from the power source to the auger. This switching is generally done using control levers or other tools.

[0013] However, in situations where operators have relatively low skill levels, it's conceivable that harvesting operations might continue without noticing a blockage in the harvesting conveyor. Furthermore, even if a blockage is noticed, the operator might not know how to clear it.

[0014] The purpose of this invention is to provide a harvester that can easily and automatically clear blockages in the case of a blockage in the harvesting conveyor.

[0015] [2] The topic corresponding to the background technology [2] is as follows.

[0016] However, for proper harvesting operations, it is desirable to have an understanding of at least one of the crop type and weed type. In particular, when the commercial value of the crop is high, it is important to control the vehicle speed according to changes in the field conditions, and it is desirable to keep the vehicle speed low based on at least one of the crop type and weed type.

[0017] The purpose of this invention is to provide a harvester capable of performing appropriate harvesting operations based on at least one of the crop type and the weed type.

[0018] Methods for solving problems

[0019] [1] The solutions to the problem are as follows.

[0020] The present invention is characterized by a harvester comprising a harvesting and conveying device having a harvesting section and a conveying section. The harvesting section includes a head for receiving harvested material and a rotary-driven auger, configured to rise and fall relative to the machine body and harvest crops from a field. The conveying section conveys the harvested material from the harvesting section to the rear of the machine body. The harvester further comprises: a blockage determination unit for determining whether the harvesting and conveying device is blocked; and a reversal control unit for reversing the auger drive if the blockage determination unit determines that the harvesting and conveying device is blocked.

[0021] According to the present invention, in the event of a blockage in the harvesting conveyor, the blockage determination unit determines that the harvesting conveyor is blocked. Then, in this case, the reversing control unit reverses the auger drive. That is, according to the present invention, in the event of a blockage in the harvesting conveyor, the auger is automatically reversed. This easily eliminates the blockage.

[0022] Therefore, according to the present invention, it is possible to easily and automatically eliminate blockages in harvesting conveyors.

[0023] Furthermore, in this invention, it is preferable to include: a height changing device that changes the height position of the auger relative to the head; and a height control unit that controls the height position of the auger relative to the head by controlling the height changing device, wherein the height control unit raises the height position of the auger relative to the head when the blockage determination unit determines that the harvesting conveyor is blocked.

[0024] According to this configuration, in the event of a blockage in the harvesting conveyor, the auger automatically rises in height relative to the head. As a result, the gap between the bottom plate of the head and the auger widens. Consequently, if harvested material or other materials obstruct the space between the bottom plate of the head and the auger, the blockage can be easily and reliably cleared.

[0025] Furthermore, in this invention, it is preferable that the reversal control unit, when the blockage determination unit determines that the harvesting conveyor is blocked, can perform a first blockage control that causes the harvesting unit to rise and the auger to reverse drive.

[0026] If the harvesting conveyor is blocked, the auger will be reversed and the blocked harvested material will be discharged from the harvesting section to the front.

[0027] Here, according to the above configuration, in the event of a blockage in the harvesting conveyor, the blocked harvested material is discharged forward from the rising harvesting section. At this time, if there are unharvested crops (e.g., planted rice stalks) in front of the machine, the discharged harvested material may easily fall on top of the unharvested crops.

[0028] Therefore, when the harvesting process resumes after the blockage in the harvesting conveyor is cleared, the harvested material that has fallen onto it can be received at the harvesting section along with the unharvested crops. As a result, harvest losses can be reduced compared to the situation where the blocked harvested material is discharged to the ground and discarded.

[0029] Furthermore, in this invention, it is preferable that the reversing control unit, during the first blockage control, reverses the auger drive after the machine body has moved forward.

[0030] According to this configuration, after the machine moves forward, any obstructed harvested material is discharged from the harvesting section to the front. This allows the discharged harvested material to reliably fall onto unharvested crops. As a result, harvest losses can be reduced more reliably.

[0031] Furthermore, in this invention, it is preferable that the reversal control unit, when the blockage determination unit determines that the harvesting conveyor is blocked, can perform a second blockage control that reverses the auger drive after the machine body is moved backward.

[0032] As described above, if harvested material or other obstructions fall onto unharvested crops, when harvesting resumes, the fallen material or other obstructions are collected by the harvesting unit along with the unharvested crops. In this case, a relatively large amount of harvested material is collected by the harvesting unit. Therefore, immediately after harvesting resumes, to avoid recurrence of obstructions, the machine's speed needs to be temporarily reduced to a relatively low speed. Consequently, the harvesting operation time tends to increase.

[0033] Here, based on the above configuration, in the event of a blockage in the harvesting conveyor, the blocked harvested material is discharged from the harvesting section onto the ground. Therefore, after the harvesting process has just resumed, there is no need to temporarily reduce the machine's speed. Consequently, compared to the situation where the blocked harvested material is placed on top of unharvested crops, the time required for harvesting operations can be shortened more easily.

[0034] Furthermore, in this invention, it is preferred that the harvesting section includes a reel that is driven to rotate while harrowing the planted rice stalks, and the harvester has a reel control section that, when the blockage determination section determines that the harvesting conveyor is blocked, causes the reel to rise relative to the head.

[0035] According to this configuration, in the event of a blockage in the harvesting conveyor, the reel rises relative to the head. This makes it easier to prevent the reel from obstructing the discharge of obstructed harvested material as it moves forward from the harvesting section.

[0036] Furthermore, in this invention, it is preferable to include a sensing unit that senses the rotational speed of the auger, and the blockage determination unit determines whether the harvesting and conveying device is blocked based on the sensing result of the sensing unit.

[0037] When the harvested material or other material becomes blocked between the bottom plate of the head and the auger, the rotational speed of the auger tends to decrease. In other words, the rotational speed of the auger is a value related to whether the harvesting conveyor is blocked.

[0038] Here, based on the above configuration, the blockage determination unit determines whether the harvesting conveyor is blocked based on the rotational speed of the auger. Therefore, a harvester capable of determining whether the harvesting conveyor is blocked can be easily implemented with a relatively simple configuration.

[0039] Furthermore, in this invention, it is preferable to include an electric motor that provides reverse power to the auger, and the reverse control unit drives the auger in reverse by driving the electric motor.

[0040] According to this configuration, there is no need to install a forward / reverse switching mechanism that can switch the power from the power source (e.g., an engine) to the auger in the power transmission path. Therefore, the power transmission path from the power source to the auger can be configured to be relatively simple.

[0041] Another feature of the present invention is a harvester control program for controlling a harvester, the harvester including a harvesting and conveying device having a harvesting section and a conveying section, the harvesting section including a head for receiving the harvested material and a rotary-driven auger, configured to be able to rise and fall relative to the machine body and harvest crops from the field, the conveying section conveying the harvested material from the harvesting section to the rear of the machine body, the harvester control program enabling a computer to implement: a blockage determination function to determine whether the harvesting and conveying device is blocked; and a reversal control function to reverse the drive of the auger if the blockage determination function determines that the harvesting and conveying device is blocked.

[0042] Another feature of the present invention is a recording medium containing a harvester control program for controlling a harvester, the harvester including a harvesting and conveying device having a harvesting section and a conveying section, the harvesting section including a head for receiving the harvested material and a rotary-driven auger, configured to rise and fall relative to the machine body and harvest crops from the field, the conveying section conveying the harvested material from the harvesting section to the rear of the machine body, the harvester control program enabling a computer to perform: a blockage determination function to determine whether the harvesting and conveying device is blocked; and a reversal control function to reverse the auger drive if the blockage determination function determines that the harvesting and conveying device is blocked.

[0043] Another feature of the present invention is a harvester control method for controlling a harvester, the harvester including a harvesting and conveying device having a harvesting section and a conveying section, the harvesting section including a head for receiving harvested material and a rotary-driven auger, configured to be able to rise and fall relative to the machine body and harvest crops from the field, the conveying section conveying the harvested material from the harvesting section to the rear of the machine body, the harvester control method comprising: a blockage determination step for determining whether the harvesting and conveying device is blocked; and a reversal control step for reversing the auger drive if the blockage determination step determines that the harvesting and conveying device is blocked.

[0044] [2] The solutions to the problem are as follows.

[0045] The harvester of the present invention is characterized by comprising: a traveling device capable of traveling in a field; a harvesting device for harvesting crops in the field; a detection unit for detecting a weed area where weeds are mixed in with the crops in front of the harvesting device; and a state changing unit for changing the speed of the traveling device in the weed area to a low-speed side that is lower than the speed when traveling outside the weed area, wherein the detection unit is configured to obtain at least one of the type of crop and the type of weeds in the weed area, and the state changing unit is configured to determine the degree to which the speed of the traveling device is changed to the low-speed side based on at least one of the type of crop and the type of weeds.

[0046] According to the present invention, the detection unit determines at least one of the crop type and the weed type, and controls the vehicle speed to a low speed based on at least one of the crop type and the weed type. Therefore, when the commercial value of the crop is high, meticulous harvesting can be carried out in weedy areas. Thus, a harvester capable of performing appropriate harvesting operations based on at least one of the crop type and the weed type can be realized.

[0047] In this invention, it is preferable to include a threshing device comprising: a threshing section for threshing crops harvested by the harvesting device; and a sorting section disposed below the threshing section, which receives the threshed material and oscillates it backward while sorting the threshed material into harvested and unharvested materials. The sorting section has a plurality of husk scrapers arranged along the conveying direction of the threshed material and a husk sieve whose aperture can be changed by changing the orientation of the plurality of husk scrapers. The state changing section is configured to reduce the aperture of the husk sieve according to at least one of the type of crop and the type of weed when sorting crops harvested in the weed area.

[0048] When sorting crops harvested in weedy areas, the risk of weeds contaminating the harvest sorted in the sorting process increases. According to this configuration, the vehicle speed is reduced to a lower speed in weedy areas, and the opening of the chaff screen is decreased, thus ensuring that the harvest carefully harvested in weedy areas is carefully sorted in the sorting process. This reduces the risk of weeds contaminating the harvest sorted in the sorting process.

[0049] In this invention, preferably, the detection unit is configured to obtain the type of crop, and if a weed area is detected in front of the harvesting device and the type of crop is legume, the state change unit stops the traveling device.

[0050] Some legumes have higher commercial value. Therefore, if legumes are threshed together with weeds, there is a risk that the legumes may become contaminated and lose their commercial value, for example, due to weeds attaching to the grains. According to this configuration, when the crop is a legume, this undesirable situation can be avoided by stopping the driving device.

[0051] In this invention, preferably, the detection unit is configured to obtain both the type of crop and the type of weed. If a weed area is detected in front of the harvesting device, and the type of crop is other than beans, the state change unit determines the degree to which the speed of the driving device is changed to the low-speed side based on the type of weed.

[0052] This configuration allows for optimal speed adjustment based on both crop type and weed type, achieving both efficient harvesting operations and careful harvesting in weedy areas.

[0053] In this invention, preferably, the state change unit determines the degree of speed change of the driving device towards the low-speed side based on the amount of weeds per unit area in the weed area, i.e., the weed rate.

[0054] This design allows for precise adjustment of the vehicle speed based on the amount of weeds in the weedy area, achieving both efficient harvesting operations and careful harvesting in weedy areas.

[0055] Another feature of the present invention is a harvester control program for controlling a harvester, the harvester having a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field, the harvester control program enabling a computer to perform: a detection function to detect weed areas where weeds are mixed in with crops in front of the harvesting device; and a state change function to change the speed of the traveling device in the weed area to a low-speed side lower than the speed when traveling outside the weed area, the detection function being to obtain at least one of the crop type and the weed type in the weed area, and the state change function being to determine the degree of speed change of the traveling device to the low-speed side based on at least one of the crop type and the weed type.

[0056] Another feature of the present invention is a recording medium recording a harvester control program that controls a harvester, the harvester having a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field, the harvester control program enabling a computer to: a detection function that detects a weed area where weeds are mixed in with crops in front of the harvesting device; and a state change function that changes the speed of the traveling device in the weed area to a low-speed side lower than the speed when traveling outside the weed area, the detection function being to obtain at least one of the crop type and the weed type in the weed area, and the state change function being to determine the degree of speed change of the traveling device to the low-speed side based on at least one of the crop type and the weed type.

[0057] Another feature of the present invention is a harvester control method for controlling a harvester, the harvester comprising a traveling device capable of traveling in a field and a harvesting device for harvesting crops in the field, the harvester control method comprising: a detection step of detecting a weed area where weeds are present among the crops in front of the harvesting device; and a state change step of changing the speed of the traveling device in the weed area to a low-speed side lower than the speed when traveling outside the weed area, wherein in the detection step, at least one of the crop type and the weed type in the weed area is obtained, and in the state change step, the degree of change of the traveling device speed to the low-speed side is determined based on at least one of the crop type and the weed type. Attached Figure Description

[0058] Figure 1 This is a diagram illustrating the first embodiment (hereinafter, until...). Figure 8 (The same as before.) and is a left-side view of a combine harvester.

[0059] Figure 2 It is a diagram showing a vehicle driving in circles in a field.

[0060] Figure 3 It is a diagram representing the cutting movement along the cutting movement path.

[0061] Figure 4 This is a block diagram showing the components related to the control unit.

[0062] Figure 5 This is a diagram showing the configuration of height-changing devices, etc.

[0063] Figure 6 This is a diagram showing the change in the height of the auger relative to its head.

[0064] Figure 7 This is a diagram illustrating an example of control measures implemented during the first blockage.

[0065] Figure 8 This is a diagram illustrating an example of control measures being implemented when a second blockage occurs.

[0066] Figure 9 This is a diagram illustrating the second embodiment (hereinafter, until...). Figure 18 (The same as before.) and is a side view of the harvester.

[0067] Figure 10 This is an overall top view of the harvester.

[0068] Figure 11 This is a functional block diagram representing the control system of the harvester.

[0069] Figure 12This is a schematic diagram illustrating the process by which the recognition unit generates recognition output data.

[0070] Figure 13 This is a side view showing the main part of the harvesting device in operation.

[0071] Figure 14 This is a side view showing the main part of the harvesting device in operation.

[0072] Figure 15 This is a flowchart representing the state change processing of the state determination department.

[0073] Figure 16 This is a schematic top view showing the second camera taking pictures of the field.

[0074] Figure 17 This is an explanatory diagram showing the changes in operational status when inspecting lodged crops.

[0075] Figure 18 This is an explanatory diagram showing the changes in operational status when inspecting lodged crops. Detailed Implementation

[0076] [First Implementation Method]

[0077] The following is a reference. Figures 1 to 8 The first embodiment will be described below. Furthermore, in the following description, unless otherwise specified, [the following will be used as an example]. Figure 1 , Figure 5 , Figure 6 The direction of arrow F is set to "forward," and the direction of arrow B is set to "backward." Additionally, [the following text is incomplete and requires further context: "to set the direction of arrow F to "forward," "to set the direction of arrow B to "back ... F to "forward," "to set the direction of arrow B to "backward," and "to set the direction of arrow F to "backward"]." Figure 1 , Figure 5 , Figure 6 The direction of arrow U is set to "up", and the direction of arrow D is set to "down".

[0078] [The overall structure of a combine harvester]

[0079] like Figure 1 As shown, a conventional combine harvester 1 (equivalent to the "harvester" of this invention) includes a harvesting and conveying device 2, a tracked traveling device 11, a driver's unit 12, a threshing device 13, a grain bin 14, a grain discharge device 18, a satellite positioning module 80, and an engine E. The harvesting and conveying device 2 has a harvesting section H and a conveying section 16.

[0080] That is, the combine harvester 1 includes a harvesting and conveying device 2 having a harvesting section H and a conveying section 16.

[0081] The travel device 11 is located in the lower part of the combine harvester 1. Furthermore, the travel device 11 is driven by power from the engine E. Moreover, the combine harvester 1 is capable of moving independently using the travel device 11.

[0082] Additionally, the driver's cab 12, threshing device 13, and grain bin 14 are mounted on the upper side of the traveling gear 11. An operator monitoring the operation of the combine harvester 1 can sit in the driver's cab 12. Furthermore, the operator can also monitor the operation of the combine harvester 1 from outside the machine.

[0083] The grain discharge device 18 is located on the upper side of the grain bin 14. In addition, the satellite positioning module 80 is mounted on the upper surface of the driver's unit 12.

[0084] The harvesting section H is located at the front of the combine harvester 1. Furthermore, the conveying section 16 is located at the rear of the harvesting section H. The harvesting section H includes a head 5, an auger 6, a cutting device 15, and a reel 17.

[0085] The harvesting device 15 harvests the planted rice stalks from the field. Meanwhile, the reel 17 rotates around the reel shaft 17b, which runs along the left-right direction of the machine body, while simultaneously raking up the planted rice stalks to be harvested.

[0086] That is, the harvesting section H includes a reel 17 that rotates and harrows the planted rice stalks.

[0087] The harvested rice stalks (equivalent to the "harvest" of this invention) cut by the harvesting device 15 are received by the head 5. Furthermore, the auger 6 is configured as a cylinder extending in the left-right direction of the machine body. The auger 6 is driven to rotate around the auger shaft 6b extending in the left-right direction of the machine body. Thus, the harvested rice stalks received by the head 5 are conveyed to the conveying unit 16 by the auger 6.

[0088] With this configuration, the harvesting section H harvests the grain (equivalent to the "crops" of the present invention) from the field. Furthermore, the combine harvester 1 is capable of harvesting while simultaneously using the cutting device 15 to cut the planted rice stalks of the field and traveling using the travel device 11.

[0089] The harvested rice stalks harvested by the harvesting section H are conveyed to the rear of the machine by the conveying section 16. The harvested rice stalks are then conveyed to the threshing unit 13.

[0090] That is, the conveying unit 16 will transport the harvested rice straw harvested by the harvesting unit H to the rear of the machine.

[0091] In the threshing device 13, the harvested rice stalks are threshed. The rice grains obtained after threshing are stored in the grain bin 14. The rice grains stored in the grain bin 14 are discharged out of the machine by the grain discharge device 18 as needed.

[0092] In addition, such as Figure 1As shown, a communication terminal 4 is provided in the driver's unit 12. The communication terminal 4 is configured to display various information. In this embodiment, the communication terminal 4 is fixed to the driver's unit 12. However, the present invention is not limited to this; the communication terminal 4 may also be configured to be detachable from the driver's unit 12, or the communication terminal 4 may be located outside the combine harvester 1.

[0093] Here, the combine harvester 1 is configured as follows: Figure 2 As shown, after harvesting grain while driving in circles on the outer perimeter of the field, as... Figure 3 As shown, the harvesting process involves moving the vehicle along the inner side of the field to harvest the grain.

[0094] In this embodiment, Figure 2 The circular driving shown is performed manually. Additionally, Figure 3 The harvesting process in the inner area shown is carried out automatically. That is, the combine harvester 1 is capable of automatic movement.

[0095] Furthermore, the present invention is not limited thereto. Figure 2 The circular driving shown can also be done automatically.

[0096] In addition, such as Figure 1 As shown, a main gear shift lever 19 is provided in the driver's section 12. The main gear shift lever 19 is manually operated. When the combine harvester 1 is driven manually, the speed of the combine harvester 1 changes if the operator operates the main gear shift lever 19. That is, when the combine harvester 1 is driven manually, the operator can change the speed of the combine harvester 1 by operating the main gear shift lever 19.

[0097] In addition, the operator can change the rotational speed of engine E by operating communication terminal 4.

[0098] Depending on the crop type, its growth characteristics, such as ease of threshing and lodging, vary. Therefore, the appropriate operating speed differs depending on the crop type. If the operator uses communication terminal 4 to set the rotation speed of engine E to an appropriate speed, operation can be carried out at a speed suitable for the crop type.

[0099] [Components related to power transmission]

[0100] like Figure 4 As shown, the combine harvester 1 includes a cutting clutch C1. Power output from the engine E is distributed to the cutting clutch C1 and the traveling device 11. The traveling device 11 is driven by power from the engine E.

[0101] Furthermore, the disengagement clutch C1 is configured to change state between an engaged state that transmits power and an disengaged state that does not transmit power.

[0102] When the disengagement clutch C1 is engaged, the power output from the engine E is transmitted to the conveyor drive shaft 16a. This causes the conveyor drive shaft 16a to rotate in the forward direction. Here, the conveyor drive shaft 16a is the drive shaft of the conveyor 16. The rotation of the conveyor drive shaft 16a in the forward direction drives the conveyor 16 in the forward direction.

[0103] In addition, such as Figure 4 As shown, the power transmitted from engine E to the drive shaft 16a of the conveyor is distributed to the one-way clutch C2, the cutting device 15, and the auger 6. Thus, the cutting device 15 is driven, and the auger 6 is driven to rotate in the forward direction.

[0104] The one-way clutch C2 is configured to transmit rotational power in the forward direction to the reel 17, but not in the reverse direction. Therefore, when the conveyor drive shaft 16a rotates in the forward direction, the rotational power of the conveyor drive shaft 16a is transmitted to the reel 17 via the one-way clutch C2. This drives the reel 17.

[0105] Furthermore, when the cutting clutch C1 is disengaged, the power output from the engine E is not transmitted to the drive shaft 16a of the conveyor section. At this time, the power output from the engine E is not transmitted to any of the reel 17, the cutting device 15, or the auger 6.

[0106] In addition, such as Figure 4 As shown, the combine harvester 1 includes an electric motor 7. The electric motor 7 is configured to provide reverse power to the conveyor drive shaft 16a. That is, the conveyor drive shaft 16a rotates in the reverse direction by the power from the electric motor 7. The rotation of the conveyor drive shaft 16a in the reverse direction causes the conveyor 16 to be driven in the reverse direction.

[0107] Furthermore, the power transmitted from the electric motor 7 to the drive shaft 16a of the conveyor section is distributed to the one-way clutch C2, the cutting device 15, and the auger 6. As a result, the cutting device 15 is driven, and the auger 6 is driven to rotate in the reverse direction.

[0108] Furthermore, when the conveyor drive shaft 16a rotates in the reverse direction, the one-way clutch C2 does not transmit the rotational power of the conveyor drive shaft 16a to the reel 17. Therefore, the reel 17 is not driven at this time.

[0109] With the above configuration, the electric motor 7 provides reverse rotation power to the auger 6. That is, the combine harvester 1 is equipped with an electric motor 7 that provides reverse rotation power to the auger 6.

[0110] Furthermore, the conveyor unit 16 is configured to convey the harvested straw to the rear of the machine body when driven in the forward direction. Additionally, the conveyor unit 16 is configured to convey the harvested straw to the front of the machine body when driven in the reverse direction.

[0111] Furthermore, the auger 6 is configured to deliver the cut straw to the conveyor section 16 when driven in the forward direction. Additionally, the auger 6 is configured to deliver the cut straw to the front of the machine body when driven in the reverse direction.

[0112] [Structure related to the control department]

[0113] like Figure 4 As shown, the combine harvester 1 includes a control unit 20. The control unit 20 includes a vehicle position calculation unit 21, a region calculation unit 22, a path calculation unit 23, and a driving control unit 24.

[0114] like Figure 1 As shown, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as... Figure 4 As shown, the satellite positioning module 80 sends positioning data representing the location of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signal.

[0115] The 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 position coordinates of the combine harvester 1 over time are sent to the area calculation unit 22 and the driving control unit 24.

[0116] The regional calculation unit 22 calculates the position coordinates of the combine harvester 1 over time, received from the vehicle position calculation unit 21, such as... Figure 3 As shown, calculate the outer perimeter region SA and the work object region CA.

[0117] More specifically, the area calculation unit 22 calculates the trajectory of the combine harvester 1 as it circles the outer perimeter of the field, based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, based on the calculated trajectory of the combine harvester 1, the area on the outer perimeter of the field that the combine harvester 1 passes through while harvesting grain is designated as the outer perimeter area SA. In addition, the area calculation unit 22 calculates the area closer to the inside of the field than the calculated outer perimeter area SA as the work target area CA.

[0118] For example in Figure 2 In the diagram, arrows indicate the travel path of combine harvester 1, which travels in circles around the outer perimeter of the field. Figure 2 In the example shown, combine harvester 1 makes three laps around the field. Furthermore, once the harvesting along this path is completed, the field becomes... Figure 3 The state shown.

[0119] like Figure 3 As shown, the area calculation unit 22 calculates the area on the outer perimeter of the field that the combine harvester 1 passes through while harvesting grain, as the outer perimeter area SA. Additionally, the area calculation unit 22 calculates the area on the inner side of the field that is closer to the calculated outer perimeter area SA, as the work target area CA.

[0120] Then, as Figure 4 As shown, the calculation results of the region calculation unit 22 are sent to the path calculation unit 23.

[0121] The path calculation unit 23 calculates the path based on the results received from the region calculation unit 22, such as... Figure 3 As shown, the cutting path LI is the travel path used to calculate the cutting travel within the target area CA. Additionally, as... Figure 3 As shown, in this embodiment, the cutting travel path LI consists of multiple grid lines extending in both longitudinal and transverse directions. Furthermore, these grid lines may not be straight lines; they may also be curved.

[0122] like Figure 4 As shown, the cutting travel path LI calculated by the path calculation unit 23 is sent to the travel control unit 24.

[0123] The driving control unit 24 is configured to control the driving device 11. Furthermore, the driving control unit 24 controls the automatic driving of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the harvesting path L1 received from the path calculation unit 23. More specifically, the driving control unit 24 is as follows: Figure 3 As shown, the movement of the combine harvester 1 is controlled so that it can perform harvesting movement by automatically moving along the harvesting travel path LI.

[0124] [The harvesting process performed by combine harvesters]

[0125] The following is an example of harvesting operations performed by combine harvester 1, illustrating how combine harvester 1 performs harvesting operations in... Figure 2 The process for harvesting operations in the field shown is explained.

[0126] First, the operator manually operates combine harvester 1, such as... Figure 2 As shown, in the outer perimeter of the field, harvesting is carried out by driving in a circular motion along the field's boundary line. Figure 2 In the example shown, combine harvester 1 makes three laps around the field. Once this lap is completed, the field becomes... Figure 3 The state shown.

[0127] The regional calculation unit 22 calculates the position coordinates of the combine harvester 1 over time, received from the vehicle position calculation unit 21. Figure 2 The diagram shows the trajectory of combine harvester 1 as it travels in a circle. Then, as... Figure 3 As shown, the area calculation unit 22 calculates the area on the outer perimeter of the field through which the combine harvester 1 travels while cutting rice stalks, based on the calculated travel trajectory of the combine harvester 1. This area is designated as the outer perimeter area SA. Additionally, the area calculation unit 22 calculates the area on the inner side of the field that is closer to the calculated outer perimeter area SA, designated as the work target area CA.

[0128] Next, the path calculation unit 23, based on the calculation results received from the region calculation unit 22, such as... Figure 3 As shown, the cutting path LI is set in the work object area CA.

[0129] Then, the operator presses the automatic driving start button (not shown), thus... Figure 3 As shown, the combine harvester 1 begins automatic travel along the harvesting travel path LI. At this time, the travel control unit 24 controls the travel of the combine harvester 1 so as to perform harvesting travel by automatically traveling along the harvesting travel path LI.

[0130] If automatic driving begins in the work object area CA, then as follows Figure 3 As shown, the combine harvester 1 harvests the entire target area CA by repeatedly traveling and changing direction along the harvesting path LI.

[0131] In addition, in this embodiment, such as Figure 2 as well as Figure 3 As shown, the transport vehicle CV is parked outside the field. Furthermore, a parking position PP is set near the transport vehicle CV in the outer perimeter area SA.

[0132] The transport vehicle CV is capable of collecting and transporting the grains discharged from the grain discharge device 18 by the combine harvester 1. When discharging grains, the combine harvester 1 stops at the parking position PP and discharges the grains to the transport vehicle CV through the grain discharge device 18.

[0133] Then, if all harvesting routes LI along the work area CA are completed, the overall harvesting of the field is finished.

[0134] Furthermore, in this embodiment, the portion of the field where harvesting has been completed within the target area CA becomes the outer perimeter area SA. The area calculation unit 22 is configured to calculate the outer perimeter area SA and the target area CA over time during the execution of harvesting in the field.

[0135] [Components related to the lifting and lowering control of the harvesting section, reel, and auger]

[0136] like Figure 1 , Figure 4 , Figure 5 As shown, the combine harvester 1 has a cutting cylinder 15A, a reel cylinder 17A, and a height adjustment device 6A.

[0137] In addition, such as Figure 4 As shown, the control unit 20 has a blockage control unit 25. The blockage control unit 25 includes a reversal control unit 26.

[0138] The reversing control unit 26 is configured to control the cutting cylinder 15A. If the reversing control unit 26 controls the cutting cylinder 15A in the extension direction, the harvesting conveyor 2 swings in the direction of rising towards the front end of the harvesting conveyor 2. As a result, the harvesting section H rises relative to the machine body.

[0139] Furthermore, if the reversing control unit 26 controls the cutting cylinder 15A to shorten, the harvesting conveyor 2 swings in the direction of descending the front end of the harvesting conveyor 2. As a result, the harvesting section H descends relative to the machine body.

[0140] With this configuration, the reversing control unit 26 can control the raising and lowering of the harvesting section H relative to the machine body. Furthermore, the harvesting section H can be raised and lowered relative to the machine body.

[0141] That is, the harvesting section H includes a head 5 for receiving and cutting rice stalks and a rotary-driven auger 6, which is configured to be able to rise and fall relative to the machine body and harvest the grain in the field.

[0142] In addition, such as Figure 4 As shown, the control unit 25 when blocked includes a reel control unit 27.

[0143] The reel control unit 27 is configured to control the reel cylinder 17A. If the reel control unit 27 controls the reel cylinder 17A in the extension direction, the reel 17 rises relative to the head 5.

[0144] Additionally, if the reel control unit 27 controls the reel cylinder 17A to shorten in the shortening direction, the reel 17 descends relative to the head 5.

[0145] With this configuration, the reel control unit 27 can control the raising and lowering of the reel 17 relative to the head 5. Furthermore, the reel 17 can be raised and lowered relative to the head 5.

[0146] In addition, such as Figure 5 As shown, the height adjustment device 6A is composed of a retractable cylinder. Additionally, as... Figure 4 As shown, the control unit 25 includes a height control unit 28 when blocked. The height control unit 28 is configured to control the height change device 6A.

[0147] like Figure 5 As shown, the head 5 has a shaft support 51 and a device support 52. The device support 52 is arranged to protrude outward from the side plate 53 of the head 5 in the left-right direction of the body. The device support 52 supports a height adjustment device 6A.

[0148] Furthermore, the shaft support 51 is configured to slide vertically relative to the side plate 53. The shaft support 51 is supported on the device support 52 via the height adjustment device 6A. Moreover, the auger shaft 6b is supported on the shaft support 51.

[0149] If the height control unit 28 controls the height changing device 6A in the extension direction, then as Figure 5 As shown, the shaft support 51 and the auger shaft 6b rise relative to the side plate 53. Thus, as... Figure 6 As shown, the auger 6 rises relative to the head 5.

[0150] Furthermore, if the height control unit 28 controls the height changing device 6A in the shortening direction, then as Figure 5 As shown, the shaft support 51 and the auger shaft 6b descend relative to the side plate 53. Thus, as... Figure 6 As shown, auger 6 descends relative to head 5.

[0151] Furthermore, in this embodiment, the shaft support 51, the device support 52, and the height adjustment device 6A are respectively provided at the left and right ends of the head 5. The shaft support 51, device support 52, and height adjustment device 6A at the left end of the head 5 have the same structure as those at the right end of the head 5. Moreover, the auger shaft 6b is arranged to span the left and right shaft support 51.

[0152] With the above configuration, the height changing device 6A changes the height position of the auger 6 relative to the head 5. Furthermore, the height control unit 28 controls the height position of the auger 6 relative to the head 5 by controlling the height changing device 6A.

[0153] like Figure 6 As shown, the higher the auger 6 is relative to the head 5, the wider the gap between the base plate 5a of the head 5 and the auger 6. In this embodiment, when the auger 6 is at its lowest height relative to the head 5, the gap between the base plate 5a and the auger 6 is the first gap D1. Furthermore, when the auger 6 is at its highest height relative to the head 5, the gap between the base plate 5a and the auger 6 is the second gap D2. The second gap D2 is wider than the first gap D1.

[0154] That is, the combine harvester 1 includes a height changing device 6A for changing the height position of the auger 6 relative to the head 5. In addition, the combine harvester 1 includes a height control unit 28 for controlling the height position of the auger 6 relative to the head 5 by controlling the height changing device 6A.

[0155] [Components related to control when blockage occurs in the harvesting conveyor]

[0156] like Figure 4 As shown, the combine harvester 1 includes a sensing unit SE. Additionally, the control unit 20 includes a blockage detection unit 29.

[0157] The sensing unit SE senses the rotational speed of the auger 6 when the combine harvester 1 is harvesting in the field. The sensing result of the sensing unit SE is sent to the blockage determination unit 29.

[0158] The blockage determination unit 29 determines whether the harvesting conveyor 2 is blocked based on the sensing results of the sensing unit SE. More specifically, the blockage determination unit 29 determines whether the rotational speed of the auger 6 is less than a predetermined threshold based on the sensing results of the sensing unit SE. Then, if the rotational speed of the auger 6 is above the predetermined threshold, the blockage determination unit 29 determines that the harvesting conveyor 2 is not blocked. Conversely, if the rotational speed of the auger 6 is less than the predetermined threshold, the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked.

[0159] That is, the combine harvester 1 has a sensing unit SE for sensing the rotational speed of the auger 6. In addition, the combine harvester 1 has a blockage determination unit 29 for determining whether the harvesting conveyor 2 is blocked.

[0160] Alternatively, the blockage determination unit 29 can be configured to determine whether the harvest section H in the harvest conveying device 2 is blocked, or it can be configured to determine whether the conveying section 16 is blocked.

[0161] If the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked, such as Figure 4 As shown, the blockage determination unit 29 sends a predetermined signal to the blockage control unit 25. This signal indicates that the harvesting conveyor 2 is blocked. If the blockage control unit 25 receives this signal, the reversal control unit 26, the reel control unit 27, and the height control unit 28 in the blockage control unit 25 execute controls to eliminate the blockage in the harvesting conveyor 2. The controls for eliminating the blockage in the harvesting conveyor 2 will be described in detail below.

[0162] like Figure 4As shown, the reversing control unit 26 is configured to control the cutting clutch C1 and the electric motor 7. Furthermore, when the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked, the reversing control unit 26 can perform a first blockage control. The first blockage control is a control that causes the harvesting section H to rise and the auger 6 to reverse its drive.

[0163] In detail, if the first blockage control is executed, the reversing control unit 26 first controls the cutting cylinder 15A to extend in the extension direction, causing the harvesting section H to rise relative to the machine body. Next, the reversing control unit 26 sends a predetermined command to the travel control unit 24. This command orders the machine body to advance a predetermined distance.

[0164] If the driving control unit 24 receives the instruction, the driving control unit 24 controls the driving device 11 to make the machine move forward a specified distance.

[0165] Next, the reversing control unit 26 switches the disengaging clutch C1 from the engaged state to the disengaged state and drives the electric motor 7. As a result, the forward-direction power output from the engine E is cut off by the disengaging clutch C1, and the auger 6 is driven in reverse direction by the reverse-direction power output from the electric motor 7. Thus, the first blockage control is completed.

[0166] That is, the combine harvester 1 includes a reversing control unit 26 that reverses the auger 6 when the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked. Furthermore, when the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked, the reversing control unit 26 can perform a first blockage control that raises the harvesting section H and reverses the auger 6. In the first blockage control, the reversing control unit 26 reverses the auger 6 after the machine body has moved forward. The reversing control unit 26 reverses the auger 6 by driving the electric motor 7.

[0167] Furthermore, if the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked, the reversing control unit 26 can execute a second blockage control. The second blockage control is a control that reverses the auger 6 after the machine body moves backward.

[0168] In detail, if the second blockage control is executed, firstly, the reversing control unit 26 sends a prescribed command to the driving control unit 24. This command instructs the machine to reverse a prescribed distance.

[0169] If the driving control unit 24 receives the instruction, the driving control unit 24 controls the driving device 11 to make the machine body move backward a specified distance.

[0170] Furthermore, the present invention is not limited to this, and may also be configured such that, before the machine body moves backward a predetermined distance, the reversing control unit 26 controls the cutting cylinder 15A in the extension direction, so that the harvesting section H rises relative to the machine body.

[0171] Next, the reversing control unit 26 switches the disengaging clutch C1 from the engaged state to the disengaged state and drives the electric motor 7. As a result, the forward-direction power output from the engine E is cut off by the disengaging clutch C1, and the auger 6 is driven in reverse direction by the reverse-direction power output from the electric motor 7. Thus, the second blockage control is completed.

[0172] That is, when the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked, the reversal control unit 26 can perform second blockage control by reversing the auger 6 after the machine body moves backward.

[0173] Furthermore, in this embodiment, the communication terminal 4 is configured to select whether to execute the first blockage control or the second blockage control. More specifically, the communication terminal 4 can display a control selection screen (not shown). Moreover, when the control selection screen is displayed on the communication terminal 4, the operator can arbitrarily select either the first blockage control or the second blockage control by operating the communication terminal 4.

[0174] Then, as Figure 4 As shown, a signal indicating the operator's selection is sent from the communication terminal 4 to the blockage control unit 25. If the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked, the reversal control unit 26 executes either the first blockage control or the second blockage control based on this signal. That is, the reversal control unit 26 executes the one selected by the operator between the first and second blockage controls.

[0175] Furthermore, the present invention is not limited thereto; the reversal control unit 26 may also be configured to automatically select and execute an appropriate one of the first blockage control and the second blockage control according to the operating conditions.

[0176] In addition, such as Figure 4 As shown, when the blockage determination unit 29 determines that the harvest conveyor 2 is blocked, the reel control unit 27 can perform reel lifting control. The reel lifting control is the control that raises the reel 17 relative to the head 5.

[0177] More specifically, if the reel lifting control is executed, the reel control unit 27 controls the reel cylinder 17A in the extension direction, thereby causing the reel 17 to rise relative to the head 5. Thus, the reel lifting control is completed.

[0178] That is, the combine harvester 1 has a reel control unit 27 that raises the reel 17 relative to the head 5 when the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked.

[0179] In addition, in this embodiment, the reel lifting control is executed simultaneously with either the first blockage control or the second blockage control.

[0180] In addition, such as Figure 4 As shown, the height control unit 28 can perform auger lifting control when the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked. Auger lifting control is the control that raises the auger 6 relative to the height position of the head 5.

[0181] More specifically, when auger lifting control is executed, the height control unit 28 controls the height change device 6A in the extension direction, causing the auger 6 to rise relative to the head 5. Thus, auger lifting control is completed.

[0182] That is, when the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked, the height control unit 28 raises the height position of the auger 6 relative to the head 5.

[0183] In addition, in this embodiment, the auger lifting control is executed simultaneously with either the first blockage control or the second blockage control.

[0184] [Control procedure during the first blockage]

[0185] The following example, as an example of implementing control during the first blockage in a harvesting operation, describes the situation for combine harvester 1. Figure 7 The situation is explained as shown in the diagram.

[0186] exist Figure 7 In the example shown, the combine harvester 1 is controlled in the order of steps S01 to S06.

[0187] First, a blockage occurs in the harvesting conveyor 2 (step S01). As a result, the rotational speed of the auger 6 falls below a predetermined threshold. At this time, the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked. Consequently, the reversal control unit 26 performs first blockage control. Additionally, the reel control unit 27 performs reel raising control. Furthermore, the height control unit 28 performs auger raising control.

[0188] In addition, in this example, when the reversing control unit 26 performs the first blockage control, it controls the movement of the combine harvester 1 to be temporarily stopped via the driving control unit 24.

[0189] Next, the harvest section H is raised via the first blockage control (step S02). Simultaneously, the reel 17 is raised relative to the head 5 via the reel raising control. Also simultaneously, the auger 6 is raised relative to the head 5 via the auger raising control.

[0190] Next, the combine harvester 1 is advanced a predetermined distance by controlling the first blockage (step S03). Then, the auger 6 is reversed by controlling the first blockage (step S04). As a result, the cut straw and other debris blocked in the harvesting conveyor 2 are discharged from the harvesting section H to the front. Consequently, the discharged cut straw and other debris are placed on top of the unharvested planted straw.

[0191] Next, the reversing control unit 26 controls the combine harvester 1 to move backward a predetermined distance via the travel control unit 24 (step S05). Furthermore, the forward distance in step S03 and the backward distance in step S05 may be the same or different from each other.

[0192] Next, the reversing control unit 26 lowers the harvest section H (step S06). Simultaneously, the reel control unit 27 lowers the reel 17 relative to the head 5. Also simultaneously, the height control unit 28 lowers the auger 6 relative to the head 5.

[0193] If the control up to step S06 is completed, the combine harvester 1 will start harvesting again.

[0194] Furthermore, in the example described above, the control during the first blockage is completed through steps S02 to S04. That is, steps S05 and S06 are not included in the control during the first blockage. However, the present invention is not limited thereto, and steps S05 and S06 may also be included in the control during the first blockage.

[0195] [Control procedure during the second blockage]

[0196] The following example, as an example of implementing control during a second blockage in a harvesting operation, describes the situation for combine harvester 1. Figure 8 The situation is explained as shown in the diagram.

[0197] exist Figure 8 In the example shown, the combine harvester 1 is controlled in the order of steps S11 and S15.

[0198] First, a blockage occurs in the harvesting conveyor 2 (step S11). As a result, the rotational speed of the auger 6 falls below a predetermined threshold. At this time, the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked. Consequently, the reversal control unit 26 performs second blockage control. Additionally, the reel control unit 27 performs reel raising control. Furthermore, the height control unit 28 performs auger raising control.

[0199] In addition, in this example, when the reversing control unit 26 performs the second blockage control, it controls the movement of the combine harvester 1 to be temporarily stopped via the driving control unit 24.

[0200] Next, the harvest section H is raised via the second blockage control (step S12). Simultaneously, the reel 17 is raised relative to the head 5 via the reel raising control. Also simultaneously, the auger 6 is raised relative to the head 5 via the auger raising control.

[0201] Next, under the second blockage control, the combine harvester 1 is reversed a predetermined distance (step S13). Then, under the second blockage control, the auger 6 is reversed (step S14). As a result, the cut straw and other debris blocked in the harvest conveyor 2 are discharged from the harvesting section H to the front. Consequently, the discharged cut straw and other debris fall onto the ground in the harvested area.

[0202] Furthermore, in this example, the control during the second blockage includes a control to raise the harvesting section H before the machine body retracts. However, the invention is not limited to this; the control during the second blockage may not include a control to raise the harvesting section H. That is, the control to raise the harvesting section H before the machine body retracts may not be performed.

[0203] Next, the reversing control unit 26 lowers the harvest section H (step S15). Simultaneously, the reel control unit 27 lowers the reel 17 relative to the head 5. Also simultaneously, the height control unit 28 lowers the auger 6 relative to the head 5.

[0204] If the control up to step S15 is completed, the combine harvester 1 will start harvesting again.

[0205] Furthermore, in the example described above, the second blockage control is completed through steps S12 to S14. That is, step S15 is not included in the second blockage control. However, the present invention is not limited thereto, and step S15 may also be included in the second blockage control.

[0206] According to the configuration described above, in the event of a blockage in the harvesting conveyor 2, the blockage determination unit 29 determines that the harvesting conveyor 2 is blocked. Furthermore, in this case, the reversal control unit 26 reverses the drive of the auger 6. That is, according to the configuration described above, in the event of a blockage in the harvesting conveyor 2, the auger 6 is automatically reversed. This easily eliminates the blockage.

[0207] Therefore, based on the configuration described above, a combine harvester 1 can be made to easily and automatically eliminate blockages in the event of blockage in the harvesting conveyor 2.

[0208] Furthermore, the above-described embodiments are merely examples, and the present invention is not limited thereto and can be appropriately modified.

[0209] [Other embodiments of the first embodiment]

[0210] Hereinafter, other embodiments with modifications to the above-described embodiments will be described. Except for the matters described in the following other embodiments, the matters described are the same as those described in the above embodiments. The above-described embodiments and the following other embodiments can also be appropriately combined without creating contradictions. Furthermore, the scope of the present invention is not limited to the above-described embodiments and the following other embodiments.

[0211] (1) The driving device 11 can be wheeled or half-tracked.

[0212] (2) In the above embodiment, the cutting travel path LI calculated by the path calculation unit 23 is a plurality of grid lines extending in the longitudinal and transverse directions. However, the present invention is not limited to this, and the cutting travel path LI calculated by the path calculation unit 23 may not be a plurality of grid lines extending in the longitudinal and transverse directions. For example, the cutting travel path LI calculated by the path calculation unit 23 may also be a vortex-shaped travel path. In addition, the cutting travel path LI may not be orthogonal to another cutting travel path LI. Furthermore, the cutting travel path LI calculated by the path calculation unit 23 may also be a plurality of parallel lines.

[0213] (3) In the above embodiment, the operator manually operates the combine harvester 1, such as... Figure 2 As shown, the harvester travels in a circular motion along the field boundary line in the outer perimeter of the field. However, the present invention is not limited to this; it can also be configured such that the combine harvester 1 travels automatically, harvesting in a circular motion along the field boundary line in the outer perimeter of the field. Furthermore, the number of circles can be a number other than three. For example, the number of circles can be one.

[0214] (4) Some or all of the following units may be equipped on the outside of the combine harvester 1: the position calculation unit 21, the area calculation unit 22, the path calculation unit 23, the driving control unit 24, the blockage control unit 25, the reversal control unit 26, the reel control unit 27, the height control unit 28, and the blockage determination unit 29. For example, they may be equipped on a management server located on the outside of the combine harvester 1.

[0215] (5) Alternatively, the height changing device 6A may not be provided. That is, the auger 6 may be configured such that its height relative to the head 5 cannot be changed.

[0216] (6) The reversal control unit 26 can also be configured to control when the first blockage cannot be performed.

[0217] (7) The reversal control unit 26 can also be configured to control when the second blockage cannot be performed.

[0218] (8) The reversal control unit 26 may also be configured to prevent the machine body from moving forward before the screw conveyor 6 is reversed during the first blockage control.

[0219] (9) The combine harvester 1 may also be configured not to drive automatically. For example, it may be configured to perform harvesting operations by manual operation of the operator when the harvesting conveyor 2 is not blocked, and to perform automatic control based on the reversing control unit 26 as described in the above embodiment when the harvesting conveyor 2 is blocked.

[0220] (10) It may also be configured as a harvester control program that enables the computer to perform the functions of each component in the above embodiments. Alternatively, it may be configured as a recording medium that records the harvester control program that enables the computer to perform the functions of each component in the above embodiments. Alternatively, it may be configured as a harvester control method that performs the work performed by each component in the above embodiments through one or more steps.

[0221] [Second Implementation]

[0222] The following is a reference. Figures 9-18 The second embodiment of the present invention will be described below.

[0223] The following describes an embodiment of a combine harvester, which is an example of a harvester according to the present invention, based on the accompanying drawings. In this embodiment, the front-rear direction of the machine body 101 is defined along the direction of travel of the machine body in the working state. Figure 9 as well as Figure 10 The direction indicated by reference numeral (F) in the attached diagram is the front side of the aircraft. Figure 9 as well as Figure 10 The direction indicated by reference numeral (B) in the attached diagram is the rear side of the aircraft. Figure 9 The direction indicated by the reference numeral (U) in the attached diagram is the upper side of the fuselage. Figure 9 The direction indicated by the reference numeral (D) in the attached diagram is the underside of the aircraft. Figure 10 The direction indicated by the reference numeral (L) in the attached diagram is the left side of the aircraft. Figure 10 The direction indicated by the reference numeral (R) in the attached diagram is the right side of the machine. When defining the left and right directions of the machine 101, the left and right are defined according to the state seen when observing along the direction of the machine's movement.

[0224] [Basic Components of a Harvester]

[0225] like Figure 9 as well as Figure 10 As shown, a conventional combine harvester, which is a type of harvester, is equipped with a body 101 and a pair of tracked running gears 111 on the left and right. The body 101 is equipped with a riding section 112, a threshing device 113, a grain bin 114, a harvesting device 115, a conveying device 116, and a grain discharge device 118.

[0226] A traveling device 111 is mounted on the lower part of the combine harvester. The traveling device 111 has a pair of left and right tracked traveling mechanisms. The combine harvester can travel in the field via the traveling device 111. Furthermore, lifting devices are provided on each of the left and right tracked traveling mechanisms. These lifting devices, also commonly referred to as "Monroe," are configured to change the height position of the machine body 101 relative to each of the left and right tracked traveling mechanisms. Therefore, these lifting devices are configured to allow the machine body 101 to sway sideways by changing the height position of the machine body 101 relative to each of the left and right tracked traveling mechanisms.

[0227] The riding unit 112, threshing device 113, and grain bin 114 are located above the traveling device 111, forming the upper part of the machine body 101. The rider of the combine harvester and the monitor of the combine harvester's operation can ride in the riding unit 112. Normally, the rider and monitor are both personnel. Alternatively, if the rider and monitor are different people, the monitor can also monitor the combine harvester's operation from outside the machine. A drive engine (not shown) is located below the riding unit 112. A grain discharge device 118 is connected to the lower rear of the grain bin 114.

[0228] Harvesting device 115 harvests crops from the field. Crops may include rice stalks, but soybeans, corn, etc., are also acceptable. Furthermore, the combine harvester can operate by simultaneously harvesting crops using harvesting device 115 and traveling using travel device 111. Conveying device 116 is disposed adjacent to and behind harvesting device 115. Harvesting device 115 and conveying device 116 are supported vertically on the front of machine body 101. Harvesting device 115 and conveying device 116 are vertically operated by actuator 115H via a telescopic head, causing them to swing up and down as a single unit.

[0229] The harvesting device 115 is equipped with a harvesting head 115A, a harrowing reel 115B, a transverse conveying auger 115C, and a pusher-shaped cutting blade 115D. The harvesting head 115A separates the crops in front into harvestable and non-harvestable items, and receives the harvestable items from the crops in front.

[0230] The harrowing reel 115B is located above the harvesting head 115A. A reel support arm 115K is pivotally supported on the harvesting head 115A. The reel support arm 115K is pivotally operated by a reel actuator 115J capable of telescopic movement. The rotational axis of the harrowing reel 115B is supported on the free end region of the reel support arm 115K. Therefore, the harrowing reel 115B is configured to pivot up and down via the telescopic movement of the reel actuator 115J.

[0231] The harrowing reel 115B is configured to rotate around a transverse axis of the machine body while supported by the reel support arm 115K. Furthermore, the rotation axis of the harrowing reel 115B is configured to slide in the back-and-forth direction at the free end region of the reel support arm 115K. In other words, the harrowing reel 115B is configured to swing up and down relative to the harvesting head 115A, and to change its position back and forth relative to the harvesting head 115A.

[0232] The harrowing reel 115B is equipped with multiple claws 115T, which harrow the crop. When harvesting crops from the field, the harrowing reel 115B uses the claws 115T to harrow the foremost part of the crop backward.

[0233] The cutting blade 115D cuts the crop root side of the plant that has been gathered to the rear by the harrowing reel 115B. The transverse conveying auger 115C rotates along the transverse axis of the machine body, conveying and gathering the harvested crop cut by the cutting blade 115D laterally towards the middle side in the left-right direction, and then sending it out towards the rear conveying device 116. Details will be described later; the transverse conveying auger 115C is configured to change position in the vertical direction.

[0234] To reduce the threshing load in the threshing device 113, the ground height H1 of the harvesting head 115A (refer to...) Figure 13 Sometimes, the crop is only harvested at the tip of the ear. In this case, to prevent the harvested stalks from remaining in the field at a high height, it is necessary to cut the stalks. Therefore, a stalk handling section 119 is provided at the rear of the harvesting device 115. The stalk handling section 119 has a horizontally elongated pusher-shaped cutting blade that spans the left and right directions of the machine body. This cutting blade cuts the stalks by reciprocating left and right.

[0235] The harvested crop (e.g., cut straw) by the harvesting device 115 is conveyed by the conveying device 116 to the threshing device 113. The harvested crop is threshed by the threshing device 113. The threshing device 113 includes a threshing section 113A, a sorting section 113B, and an air separator 113C. Additionally, in Figure 9 In the diagram, the threshing section 113A is shown as a threshing cylinder, but the threshing chamber housing the threshing cylinder, the dust valve located at the top of the threshing chamber, and the screen surrounding the lower area of ​​the threshing cylinder are also included in the threshing section 113A. The dust valve guides the processed crop harvested by the harvesting device 115 backward. The threshing section 113A threshes the crop conveyed by the conveying device 116, i.e., the processed crop to be processed by the threshing device 113. The sorting section 113B is located below the threshing section 113A, and while receiving the processed crop threshed by the threshing section 113A and oscillating it backward, it sorts the processed crop into harvestable and unharvested crops.

[0236] Although not illustrated due to being known technology, the sorting and processing unit 113B is equipped with a husk screen having multiple husk scrapers. The husk scrapers extend laterally along the machine body. The multiple husk scrapers are arranged along the conveying direction (front-to-back direction) of the processed crop, and each scraper is configured with an upward-sloping orientation towards the rear. The discharge opening of each scraper is adjustable. Adjustable discharge opening means that the tilting orientation is changed. Specifically, the closer the scraper is to being parallel with respect to the front-to-back direction, the smaller the discharge opening; the closer the scraper is to being parallel with respect to the vertical direction, the larger the discharge opening. The processed crop is conveyed backwards above the husk scrapers, and the harvested grains fall downwards through the gaps between the scrapers. The sorting and processing unit 113B has multiple husk scrapers arranged along the conveying direction of the threshed crop, and a husk screen whose discharge opening can be adjusted by changing the orientation of the scrapers. The air classifier 113C supplies sorting air to the sorting and processing unit 113B.

[0237] The grains obtained through threshing are stored in the grain bin 114. The grains stored in the grain bin 114 are discharged outside the machine as needed by the grain discharge device 118. The grain discharge device 118 is configured to swing around a longitudinal axis at the rear of the machine body. That is, the grain discharge device 118 is configured to switch between a discharge state where the free end of the grain discharge device 118 extends laterally outward from the machine body 101 to discharge crops, and a retracted state where the free end of the grain discharge device 118 is within the lateral width of the machine body 101. When the grain discharge device 118 is in the retracted state, the free end of the grain discharge device 118 is located forward of the mounting section 112 and above the harvesting device 115.

[0238] A first shooting device 121A and a range sensor 122 are provided on the upper front part of the riding unit 112. The first shooting device 121A is a color camera capable of capturing visible light, such as a CCD camera or a CMOS camera. The first shooting device 121A is located at the front of the body 101 and is positioned higher than the harvesting device 115 so as to overlook the unharvested crops in front of the harvesting device 115. That is, the first shooting device 121A can take pictures from a viewpoint looking forward in the direction of travel. The field of view of the first shooting device 121A in the forward and backward directions is, for example, 15 meters or 25 meters.

[0239] The imaging data acquired by the first imaging device 121A is digitized and sent to the combine harvester's control system. The first imaging device 121A photographs the field during harvesting. Various objects exist in the field as subjects of the photographs. The combine harvester's control system has the function of identifying specific objects based on the imaging data sent from the first imaging device 121A. As such specific objects, in... Figure 9 as well as Figure 10 In the figure, the normal planted rice straw group (represented by reference numeral Z0), the weed group (represented by reference numeral Z1), and the lodged crop group (represented by reference numeral Z2) are schematically represented.

[0240] The ranging sensor 122 is configured to measure the distance between the subject being photographed in the field in front of the aircraft 101 and the aircraft 101. The ranging sensor 122 can be sonar, radar (millimeter wave), or LIDAR (e.g., laser scanner, lidar). If the ranging sensor 122 is sonar, it is cost-effective. If the ranging sensor 122 is millimeter wave radar, it can perform measurements less affected by weather, which is also cost-effective. If the millimeter wave radar is configured to perform three-dimensional scanning in addition to forward and left / right directions, as well as vertical scanning, it can achieve a wider ranging range compared to two-dimensional scanning millimeter wave radar. If the ranging sensor 122 is LIDAR, it can perform high-precision distance measurement. Furthermore, if the LIDAR is configured to perform three-dimensional scanning in addition to forward and left / right directions, as well as vertical scanning, it can achieve a wider ranging range compared to two-dimensional scanning LIDAR. Alternatively, the ranging sensor 122 can also be a combination of sonar, radar, and LIDAR.

[0241] In this embodiment, a second imaging device 121B is provided at the lower rear of the harvesting device 115. The second imaging device 121B is a color camera capable of capturing visible light, such as a CCD camera or a CMOS camera. The second imaging device 121B is capable of capturing the harvested trace area S (refer to...) behind the harvesting device 115. Figure 16Therefore, the second imaging device 121B is configured to detect the field condition after the operation while the device is moving.

[0242] A satellite positioning module 180 is installed in the roof of the passenger compartment 112. The satellite positioning module 180 receives GNSS (Global Navigation Satellite System) signals (including GPS signals) from the artificial satellite GS to obtain the vehicle's position. Furthermore, to supplement satellite navigation based on the satellite positioning module 180, an inertial navigation unit is assembled within the satellite positioning module 180. This inertial navigation unit is equipped with a gyroscope accelerometer and a magnetic orientation sensor. Of course, the inertial navigation unit can also be configured in a different location within the combine harvester than the satellite positioning module 180.

[0243] [Composition of the control unit]

[0244] Figure 11 The control unit 130 shown is the core element of the combine harvester's control system and is represented as an assembly of multiple ECUs. The control unit 130 is equipped with a first crop detection unit 131A, a second crop detection unit 131B, a status determination unit 132, a storage unit 133, a reporting unit 134, a travel control unit 135, and a work control unit 136. The first crop detection unit 131A is the "detection unit" of this invention. The status determination unit 132 is the "status change unit" of this invention.

[0245] Positioning data output from satellite positioning module 180, shooting data from first shooting device 121A, shooting data from second shooting device 121B, distance data output from range sensor 122, height position information output from harvesting height detection unit 123, height position information output from reel height detection unit 124, and height position information output from auger height detection unit 125 are input to control unit 130 via a wiring network. As described above, harvesting device 115 and conveying device 116 (see reference) Figure 9 The harvesting device 115 is configured to swing up and down, and the harvesting height detection unit 123 is located at the swing shaft core of the conveying device 116. The harvesting height detection unit 123 is configured to detect the ground height H1 of the lower end of the harvesting device 115 by detecting the swing angle of the conveying device 116 (see reference). Figure 13 as well as Figure 14 The reel height detection unit 124 is configured to detect the height position H2 of the harrowing reel 115B relative to the harvest head 115A by detecting the swing angle of the reel support arm 115K relative to the harvest head 115A (see reference). Figure 13 as well as Figure 14The auger height detection unit 125 is configured to detect the height position H3 of the transverse conveying auger 115C by detecting the vertical position of the actuator (not shown) that causes the transverse conveying auger 115C to move up and down. (Refer to...) Figure 13 as well as Figure 14 ).

[0246] The first crop detection unit 131A detects the area where crops are grown and the height of crops based on the image data continuously acquired by the first imaging device 121A and the distance data acquired over time by the ranging sensor 122. Furthermore, the first crop detection unit 131A uses, for example, a neural network derived from machine learning (deep learning) to determine the type of crop. In other words, the first crop detection unit 131A is configured to identify the type of crop to be harvested by the harvesting device 115. Examples of crop types include rice, wheat (barley, wheat, buckwheat), beans (soybeans, mung beans, black beans), rapeseed, and corn. Additionally, the first crop detection unit 131A is configured to detect the size and length of the ear tips in the crop based on the image data.

[0247] In this embodiment, the first crop detection unit 131A is configured to detect lodged crops (e.g., lodged rice stalks) based on the height of the planted crops. The process by which the first crop detection unit 131A generates identification output data is as follows: Figure 12 As shown. The RGB pixel values ​​of the captured data are input to the first crop detection unit 131A from the first imaging device 121A as input values. This captured data is correlated with distance data obtained by the ranging sensor 122, and lodged crops are detected based on the crop height in the area where the planted crops are located. The first crop detection unit 131A is configured to detect lodged crops based on the crop height of the planted crops and the size of the area that the planted crops extend to at the same crop height. The size of the area that the planted crops extend to at the same crop height can be calculated based on at least one of the captured data and the distance data through area calculation, or it can also be calculated based on the shape of the area identified in the image of the captured data. Alternatively, the size of the area that the planted crops extend to at the same crop height can also be calculated based on at least one of the shape and relative size of the area identified in the image of the captured data.

[0248] In addition, the first crop detection unit 131A is configured to detect weed areas where weeds are present in the crops mixed in front of the harvesting device 115, and is configured to obtain the type of weeds (including the size of the weeds) in the weed area.

[0249] exist Figure 12In the example, lodged crops and weeds are shown among normally planted rice stalks. The weedy areas are indicated by a rectangle labeled F1, and the lodged crop areas are indicated by a rectangle labeled F2. Furthermore, the first crop detection unit 131A is configured to obtain the amount of weeds per unit area in the weedy areas, i.e., the weed rate. Thus, the first crop detection unit 131A is configured to distinguish lodged crops and weeds from the field. The first imaging device 121A acquires imaging data at predetermined time intervals, for example, 0.1 to 0.5 seconds, and inputs this imaging data into the first crop detection unit 131A. Therefore, the first crop detection unit 131A also outputs identification output data at the same time intervals.

[0250] During autonomous driving, the first imaging device 121A captures images of the area in front of the machine body, and the distance sensor 122 measures the distance between the machine body 101 and objects in front of the machine body. Then, based on the image data captured by the first imaging device 121A and the distance data measured by the distance sensor 122, the first crop detection unit 131A identifies crops in the field as specific objects and detects the height of the crops in that field.

[0251] The second crop detection unit 131B can detect unharvested crop residues, such as lodged crops, based on the image data continuously acquired by the second imaging device 121B. Furthermore, the second crop detection unit 131B uses, for example, a neural network trained on machine learning (deep learning) to determine the type of crop residue. Examples of crop residue types include rice, wheat (barley, wheat, buckwheat), beans (soybeans, mung beans, black beans), rapeseed, and corn.

[0252] The control unit 130 is equipped with a storage unit 133, which contains multiple harvest control modes and multiple driving control modes. The storage unit 133 is, for example, a semiconductor storage element such as an EEPROM.

[0253] The harvest control mode is stored in the storage unit 133 as a lookup table for adjusting the ground height H1 of the harvesting head 115A, the height position H2 of the harrowing reel 115B, and the height position H3 of the lateral conveying auger 115C based on at least one of the crop type and crop height. That is, the state determination unit 132 selects the harvest control mode and the travel control mode corresponding to the crop type and crop height. Then, based on the selected harvest control mode and travel control mode, the target value is output from the state determination unit 132 to the operation control unit 136.

[0254] The driving control mode is stored in the storage unit 133 as a lookup table for adjusting the speed and height of the driving device 111 based on at least one of the crop type and crop height. That is, the state determination unit 132 selects a driving control mode corresponding to at least one of the crop type and crop height. Then, the target value is output from the state determination unit 132 to the driving control unit 135 according to the selected driving control mode.

[0255] The driving control unit 135 includes a vehicle speed control unit 135A and a vehicle height control unit 135B. The target values ​​for vehicle speed and vehicle height are determined based on the driving control mode selected by the state determination unit 132. The vehicle speed control unit 135A adjusts the speed of the driving device 111 based on the target vehicle speed value. The vehicle height control unit 135B controls the lifting mechanism of the driving device 111 based on the target vehicle height value.

[0256] That is, the driving control unit 135 has engine control, steering control, vehicle speed control, and vehicle height control functions, and provides driving control signals to the driving device 111. In manual steering mode, the driving control unit 135 generates control signals based on the passenger's operation to control the driving device 111. In automatic steering mode, based on the automatic driving command given by the automatic driving control module of the control unit 130 and the positioning data from the satellite positioning module 180, the driving control unit 135 performs steering and speed-related controls on the driving device 111.

[0257] The operation control unit 136 includes a head control unit 136A, a reel control unit 136B, and an auger control unit 136C. Based on the harvest control mode selected by the state determination unit 132, it determines the target values ​​for ground height H1, height position H2, front-back position of the harrowing reel 115B, and height position H3. The head control unit 136A controls the raising and lowering of the harvesting head 115A based on the target value of ground height H1. The reel control unit 136B adjusts and controls the vertical and front-back positions of the harrowing reel 115B based on the target values ​​of height position H2 and the front-back position of the harrowing reel 115B. Furthermore, the auger control unit 136C adjusts and controls the vertical position of the lateral conveying auger 115C based on the target value of height position H3.

[0258] That is, the operation control unit 136 has the function of controlling devices related to harvesting and threshing crops in the field, such as the harvesting device 115 and the threshing device 113. In manual steering mode, the operation control unit 136 generates control signals based on the operator's operation to control the harvesting device 115 and the like. In automatic steering mode, based on the shooting data of the first shooting device 121A and the distance information of the ranging sensor 122, the operation control unit 136 controls the ground height H1 of the harvesting device 115, the height position H2 of the harrowing reel 115B, the forward and backward position of the harrowing reel 115B, and the height position H3 of the lateral conveying auger 115C, etc. In addition, the harvesting control mode also includes parameters related to the operating speed of the harvesting device 115, and the operation control unit 136 is configured to perform speed control on the transmission device (e.g., a hydrostatic continuously variable transmission) used for the harvesting device 115 based on the harvesting control mode selected by the state determination unit 132.

[0259] The control unit 130 in this embodiment is configured to connect to a communication network. The control unit 130 is equipped with a communication unit 137, which can communicate with the management computer 102 via a wired or wireless communication network. For example, information such as lodging of crops and weeds in the field, along with location information located by the satellite positioning module 180, is sent to the field management computer 102 via a wireless communication network, and the field map information is recorded in the management computer 102. Thus, the field manager can use information such as lodging of crops and weeds in the field in the next year's agricultural plan.

[0260] [Regarding the operating status of the harvesting device]

[0261] Regarding the harvest control mode, based on Figure 11 , Figure 13 as well as Figure 14 This section provides an explanation. The parameters of the harvest control mode include the target value for the ground height H1 of the harvest head 115A, the target value for the height position H2 of the harrowing reel 115B, and the target values ​​for the fore-and-aft position of the harrowing reel 115B. If the height position H2 of the harrowing reel 115B is too high, it will be difficult for the harrowing reel 115B to harrow the crop. Conversely, if the height position H2 of the harrowing reel 115B is too low, the crop will easily become entangled in the harrowing reel 115B. For example... Figure 13 as well as Figure 14 As shown, when harvesting crops in a field by harvesting device 115, it is desirable that the rotation trajectory of the pawl 115T overlaps with the tip region of the crop, so that the pawl 115T of the harrowing reel 115B harrows the tip of the crop from the front and top to the rear.

[0262] In each of the multiple harvest control modes, the ground height H1 and height position H2 are set according to different parameters for each harvest control mode. Based on the crop type, crop height, vertical height of the ear tip region, and surface area of ​​the ear tip region, the state determination unit 132 selects an appropriate harvest control mode from the multiple harvest control modes. Then, the target values ​​of ground height H1 and height position H2 are read from the selected harvest control mode, and control signals for adjusting ground height H1 and height position H2 are sent from the state determination unit 132 to the operation control unit 136. For example, if the crop type is beans, the ground height H1 is set to the lowest region. In addition, if the crop type is buckwheat or rapeseed, the ground height H1 is set lower than in the case of rice and higher than in the case of beans.

[0263] Thus, the state determination unit 132 is configured to change the operating state of the harvesting device 115 by operating the head actuator 115H according to the height of the planted crop. At this time, the operating state of the harvesting device 115 includes the ground height H1 of the harvesting device 115, the height position H2 of the harrowing reel 115B, the fore-and-aft position of the harrowing reel 115B, the rotational speed of the harrowing reel 115B, and the rotational trajectory of the pawl 115T. Furthermore, the state determination unit 132 is configured to change the speed of the traveling device 111 in addition to the operating state of the harvesting device 115. The ground height H1 of the harvesting device 115 is the "harvesting height," and also the "operating height" of the harvesting head 115A. In other words, the state determination unit 132 is configured to change the harvesting height of the harvesting device 115 according to at least one of the crop type and crop height by operating the head actuator 115H. In addition, the state determination unit 132 is configured to change the height position H2 of the harrowing reel 115B according to at least one of the crop type and crop height by operating the reel actuator 115J.

[0264] When harvesting crops in a field by the harvesting device 115, in order to make the pawls 115T of the harrowing reel 115B harrow the ear tips from front to top to rear, the state determination unit 132 selects the harvesting control mode and adjusts the ground height H1 and height position H2. If the ground height H1 is adjusted, the lower end of the harvesting head 115A (the part where the cutter is located) is located below the ear tip area of ​​the crop. In addition, if the height position H2 is adjusted, the front end of the harrowing reel 115B is located above the ear tip area of ​​the crop. As a result, the harrowing reel 115B harrows the ear tip area of ​​the crop from top to bottom to rear. That is, based on the crop height and crop type detected by the first crop detection unit 131A, the harvesting device 115 efficiently harvests only the ear tip area of ​​the crop, which is conveyed by the rear conveying device 116 and threshed by the threshing device 113. Therefore, compared to a configuration where the harvesting device 115 harvests the crop up to the root zone, the conveying load of the conveying device 116 and the threshing load of the threshing device 113 are reduced, and the harvesting efficiency of the harvesting device 115 becomes better.

[0265] The lateral conveying auger 115C is configured to change its position vertically depending on the type of crop. Although not shown, the harvesting head 115A is equipped with an actuator capable of raising and lowering the lateral conveying auger 115C vertically. This actuator can be hydraulic or electric. The state determination unit 132 selects a harvesting control mode with an appropriate target value of height position H3 based on the type of crop. Then, based on the selected harvesting control mode, the target value of height position H3 is sent from the state determination unit 132 to the operation control unit 136, and the lateral conveying auger 115C is raised and lowered.

[0266] The harvested crop, whose roots have been cut by the cutting blade 115D, is laterally conveyed upstream of the bottom plate 115u of the harvesting head 115A by the transverse conveying auger 115C to the side where the conveying device 116 is located. At this time, if the height position H3 of the transverse conveying auger 115C changes in the vertical direction, the gap between the lower end of the transverse conveying auger 115C and the bottom plate 115u of the harvesting head 115A changes in the vertical direction.

[0267] When the crop is rice or wheat, the crop is elongated and slender, with small grains. Therefore, in the harvest control mode for rice or wheat, the target value for height position H3 is set to a lower height position H31. Thus, during rice or wheat harvesting, the lateral conveying auger 115C is positioned lower than the harvesting head 115A, and the vertical gap between the lower end of the lateral conveying auger 115C and the bottom plate 115u of the harvesting head 115A narrows. This allows the tip of the rice or wheat ear to be efficiently conveyed laterally by the lateral conveying auger 115C.

[0268] When the crop is legume, the tips of legume ears have larger grains than those of rice and wheat. Therefore, when the tips of legume ears are laterally conveyed by the lateral conveying auger 115C, if the vertical gap between the lower end of the auger 115C and the bottom plate 115u of the harvesting head 115A is too narrow, there is a risk of the legume grains being crushed or damaged. Therefore, in the harvesting control mode for legumes, the target value for height position H3 is set to a higher height position H32. Thus, when harvesting legumes, the lateral conveying auger 115C is positioned higher than in the case of rice or wheat. Therefore, compared to the case of rice or wheat, the vertical gap between the lower end of the lateral conveying auger 115C and the bottom plate 115u of the harvesting head 115A is wider. As a result, when the tips of legume ears are laterally conveyed by the lateral conveying auger 115C, the legume grains are less likely to be damaged.

[0269] Thus, the state determination unit 132 changes the vertical width of the conveying path in the harvesting device 115 by changing the height position H3 according to the type of crop. That is, the state determination unit 132 changes the vertical width of the gap between the lower end of the transverse conveying auger 115C and the bottom plate 115u of the harvesting head 115A by operating the actuator that can operate the transverse conveying auger 115C vertically.

[0270] [Status Change Processing by the Status Decision Department]

[0271] The processing of the state determination unit 132 is based on Figure 15 The process is carried out according to the flowchart shown. Figure 15 The process from start to finish in the flowchart is executed periodically. As described above, the first crop detection unit 131A is configured to detect not only the type of crop to be harvested, but also weeds and lodged crops. Therefore, the state determination unit 132 performs different processes when the crop to be harvested is detected, when lodged crops are detected, and when weeds are detected.

[0272] First, the state determination unit 132 determines the detection result of the second crop detection unit 131B (step #01). The second crop detection unit 131B detects harvest traces after the harvesting device 115 has performed the harvesting operation. Figure 16 As shown, the second imaging device 121B captures the area behind the harvesting device 115 and in front of the traveling device 111, that is, the area between the harvesting device 115 and the traveling device 111, i.e., the harvesting trace area S. Additionally, in Figure 16In this diagram, for the sake of simplicity, the stalk removal unit 119 is omitted when the second imaging device 121B captures images of the harvest trace area S. If the second crop detection unit 131B detects residual crops in the harvest trace area S based on the imaging data captured by the second imaging device 121B, then in step #01, it is determined that "harvest residue has been detected". That is, the second imaging device 121B captures images of the area behind the harvesting device 115, and the second crop detection unit 131B determines whether the imaging data captured by the second imaging device 121B contains crops (e.g., lodged crops).

[0273] If no detection result is found in the second crop detection unit 131B (step #01: no detection result), the state determination unit 132 determines the detection result of the first crop detection unit 131A (step #03). If the first crop detection unit 131A detects a crop to be harvested (step #03: crop to be harvested), the state determination unit 132 selects a harvest control mode based on at least one of the crop type and crop height, so that the harvesting device 115 can efficiently harvest the tip region of the crop (step #04). Then, the state determination unit 132 outputs control signals to the travel control unit 135 and the operation control unit 136 based on the selected harvest control mode. That is, the ground height H1 of the harvesting head 115A, the height position H2 of the harrowing reel 115B, and the height position H3 of the lateral conveying auger 115C are adjusted so that the pawl 115T of the harrowing reel 115B is in a state of harrowing the tip of the crop from front to top to rear.

[0274] If harvest residue is detected by the second crop detection unit 131B (step #01: harvest residue detected), the state determination unit 132 selects the harvest control mode for the case of harvest residue detection and outputs a control signal based on the harvest control mode to the travel control unit 135 and the operation control unit 136 (step #02). In step #02, the harvesting operation in the area with harvest residue is retried.

[0275] The second imaging device 121B is configured to detect residual crops that were not harvested after the harvesting operation of the harvesting device 115. For example... Figure 17 As shown, when the lodged crop is not harvested by the harvesting device 115 and the harvesting device 115 passes over the lodged crop, the second shooting device 121B, located below and behind the harvesting device 115, photographs the lodged crop, and the second crop detection unit 131B determines the presence of the lodged crop (step #01: detection of harvest residue). Then, based on the processing in step #02, the traveling device 111 reverses, and the machine body 101 retreats a predetermined distance. That is, if the second shooting device 121B detects residual crop, the state determination unit 132 causes the traveling device 111 to retreat a predetermined distance. Since Figure 15The process shown in the flowchart is performed periodically. Therefore, when the harvesting device 115 is away from the lodged crop and the detected lodged crop is in front of the harvesting device 115, the determination of "no detection result" is switched in step #01. Thus, the state determination unit 132 is configured to change the operating state of the driving device 111 and the harvesting device 115 according to the field state after operation. Then, the first crop detection unit 131A detects the lodged crop (step #03: lodged crop) and performs the processing of step #05 described later. That is, the state determination unit 132 is configured to change the ground height H1 of the harvesting device 115 to a lower level if it is determined based on the harvesting marks that the ground height H1 of the harvesting device 115 is too high.

[0276] If lodged crops are detected by the first crop detection unit 131A (step #03: lodged crops), the state determination unit 132 selects a harvest control mode for harvesting lodged crops and outputs a control signal based on this harvest control mode to the travel control unit 135 and the operation control unit 136 (step #05). Figure 18 As shown, through step #05, the ground height H1 of the harvesting head 115A is adjusted to the lowest region, the height position H2 of the harrowing reel 115B is adjusted to the lowest region, and the front-rear position of the harrowing reel 115B is adjusted to the foremost region. Additionally, through step #05, the transmission device (e.g., a hydrostatic continuously variable transmission) used in the harvesting device 115 is shifted to the high-speed side, increasing the rotational speed of the harrowing reel 115B. Furthermore, through step #05, the speed of the traveling device 111 is reduced.

[0277] That is, if the first crop detection unit 131A detects lodged crops, the state determination unit 132 switches to a harvesting control mode for harvesting lodged crops, lowering the ground height H1 of the harvesting head 115A and the height H2 of the harrowing reel 115B. Then, in the lodged area of ​​the crop in the field, the harvester moves forward at a low speed, while the harrowing reel 115B rotates at a higher speed than usual, and the lodged crops are harrowed towards the harvesting head 115A by the harrowing reel 115B. In other words, once the state determination unit 132 detects lodged crops, it positions the harrowing reel 115B in the lowest and foremost area, increases the rotational speed of the harrowing reel 115B, and slows down the speed of the traveling device 111. As a result, the combine harvester gradually moves forward while harvesting the remaining lodged crops.

[0278] because Figure 15The process shown in the flowchart is performed periodically. Therefore, if the first crop detection unit 131A does not detect any lodged crops (step #03: ≠ lodged crops), then step #04 or step #06, which will be described later, is performed. If the determination in step #03 is "crop to be harvested", step #04 is performed again. At this time, the speed of the driving device 111 is faster than when harvesting lodged crops.

[0279] The following explanation addresses the case where weeds are detected by the first crop detection unit 131A (step #03: weeds). Although crops are grown in the field, there may be instances where weeds are mixed in with the crops. In such cases, when the crops are harvested by the harvesting device 115, the weeds are also raked together by the harrowing reel 115B and conveyed by the conveyor 116 to the threshing device 113. Therefore, the state determination unit 132 determines the degree of impact of the weeds on the harvesting operation based on the type of crop being harvested and the type of weeds, using three stages: "small," "medium," and "large" (step #06).

[0280] In cases where there are few weeds, the weeds are small, or even if weeds enter the threshing device 113 without affecting the threshing load or sorting accuracy, the state determination unit 132 selects "small" in step #06. In this case, similar to step #04, the state determination unit 132 selects a harvest control mode based on at least one of the crop type and crop height, so that the harvesting device 115 can efficiently harvest the tip region of the crop ears (step #07). Then, the state determination unit 132 outputs control signals to the travel control unit 135 and the operation control unit 136 based on the selected harvest control mode.

[0281] If weeds entering the threshing device 113 would affect the threshing load and sorting accuracy, but if the vehicle speed decreases, the impact on the threshing load and sorting accuracy would be reduced, the state determination unit 132 selects "neutral" in step #06. In this case, it is determined whether the type of crop to be harvested is legume (step #08).

[0282] If the crop to be harvested is not a legume (step #08: not a legume), the state determination unit 132 slows down the vehicle speed and selects a harvesting control mode for the harvesting operation performed by the harvesting device 115 based on at least one of the crop type and crop height, in order to enable the harvesting device 115 to efficiently harvest the tip region of the crop (step #09). Then, the state determination unit 132 outputs control signals to the travel control unit 135 and the operation control unit 136 based on the selected harvesting control mode. That is, the state determination unit 132 changes the speed of the travel device 111 to a low-speed side in the weed area compared to the speed when traveling outside the weed area.

[0283] In step #09, if a weedy area is detected in front of the harvesting device 115, and the crop is not a legume, the state determination unit 132 determines the degree of speed change of the traveling device 111 based on the type of weeds. Specifically, the state determination unit 132 determines the degree of speed change of the traveling device 111 based on the amount of weeds per unit area in the weedy area, i.e., the weed rate. The higher the weed rate, the more the state determination unit 132 changes the speed of the traveling device 111 to a lower speed. Alternatively, the state determination unit 132 may be configured to assign priority to judgment factors such as crop type, weed type, and weed rate, and then gradually change the speed towards a lower speed.

[0284] Furthermore, in step #09, the state determination unit 132 reduces the discharge opening of the husk sieve provided in the sorting processing unit 113B. The husk sieve is equipped with multiple husk scrapers, and the gap between the multiple husk scrapers is reduced by changing the tilting posture (tilt angle) of the scrapers. Since weeds and other materials are often larger than grains, reducing the discharge opening of the husk sieve makes it difficult for weeds and other materials to pass through the gaps between the scrapers, reducing the impact on sorting accuracy. In other words, the state determination unit 132 is configured to reduce the discharge opening of the husk sieve based on at least one of the crop type and the weed type when sorting crops harvested in weed areas.

[0285] In this embodiment, if a weedy area is detected in front of the harvesting device 115, and the crop is a legume (step #08: legume), the state determination unit 132 stops the traveling device 111 (step #10). Since some legumes have high commercial value, if legumes and weeds are threshed together, there is a risk that the legumes may become contaminated and lose commercial value due to weeds attaching to the grains. By stopping the traveling device 111 when the crop is a legume, this undesirable situation can be avoided.

[0286] For example, if the weed stems are thick, there is a risk of blockage in the transverse conveying auger 115C, conveying device 116, and threshing device 113. Furthermore, if thick-stemmed weeds enter the threshing device 113, there is a risk of reduced sorting accuracy in the threshing device 113. If the risk of these adverse conditions is significant, the state determination unit 132 determines "large" in step #06 and selects a harvesting control mode that stops the traveling device 111, stopping the machine 101 (step #10). Then, after the operator manually removes the weeds, the harvesting operation of the harvesting device 115 resumes. Alternatively, the state determination unit 132 can be configured to prioritize judgment factors such as weed type and weed percentage, and then periodically reduce the vehicle speed and stop the traveling device 111.

[0287] Thus, the state determination unit 132 is configured to determine the degree of change in the speed of the driving device 111 based on the type of weeds.

[0288] [Other embodiments of the second embodiment]

[0289] Hereinafter, other embodiments with modifications to the above-described embodiments will be described. Except for the matters described in the following other embodiments, the matters described are the same as those described in the above embodiments. The above-described embodiments and the following other embodiments can also be appropriately combined without creating contradictions. Furthermore, the scope of the present invention is not limited to the above-described embodiments and the following other embodiments.

[0290] The present invention is not limited to the configuration illustrated in the above embodiments. Hereinafter, other representative embodiments of the present invention are illustrated.

[0291] (1) In the above embodiment, a neural network capable of learning using deep learning is constructed in the first crop detection unit 131A, but it is also possible not to construct the neural network in the first crop detection unit 131A. In this case, the neural network can also be constructed in the management computer 102 or other terminals, and the input and output of the neural network are performed through communication between the first crop detection unit 131A and the management computer 102 or other terminals. That is, the first crop detection unit 131A only needs to be able to obtain at least one of the composition of the crop type and the weed type in the weed area.

[0292] (2) In the above embodiment, the travel device 111 is configured as a tracked type, but the travel device 111 may also be configured as a wheeled type.

[0293] (3) In the above embodiment, the first crop detection unit 131A is configured to obtain both the type of crop and the type of weeds in the weed area, but it is not limited to this embodiment. The first crop detection unit 131A may be configured to obtain at least one of the type of crop and the type of weeds in the weed area.

[0294] (4) In the above embodiment, if a weed area is detected in front of the harvesting device 115 and the crop is a bean, the state determination unit 132 stops the traveling device 111, but this is not limited to this embodiment. For example, it may be configured such that if a weed area is detected in front of the harvesting device 115 and the crop is a bean, the state determination unit 132 slows the traveling device 111 to a lower speed than in cases other than beans.

[0295] (5) In the above embodiment, the state determination unit 132 determines the degree of change of the speed of the driving device 111 towards the low-speed side based on the amount of weeds per unit area in the weed area, i.e., the weed rate, but is not limited to this embodiment. For example, the state determination unit 132 may also be configured to determine the degree of change of the speed of the driving device 111 towards the low-speed side in addition to (or instead of) processing the weed rate, based on the height of the weeds, the thickness of the weed stems, etc.

[0296] (6) In the above embodiment, the state determination unit 132 is configured to reduce the opening of the husk sieve based on at least one of the crop type and the weed type when sorting crops harvested in a weedy area, but is not limited to this embodiment. For example, the state determination unit 132 may also be configured to control the speed of rotation of the wind separator 113C to increase or decrease based on at least one of the crop type and the weed type. In addition, the state determination unit 132 may also be configured to control the speed of rotation of the threshing cylinder of the threshing section 113A to increase or decrease based on at least one of the crop type and the weed type. Furthermore, the state determination unit 132 may also be configured to adjust the angle of the dust valve of the threshing section 113A based on at least one of the crop type and the weed type.

[0297] (7) It may also be configured as a harvester control program that enables the computer to perform the functions of each component in the above embodiments. Alternatively, it may be configured as a recording medium that records the harvester control program that enables the computer to perform the functions of each component in the above embodiments. Alternatively, it may be configured as a harvester control method that performs the work done by each component in the above embodiments through one or more steps.

[0298] Furthermore, the configurations disclosed in the above-described embodiments (including other embodiments, the same below) can be combined with the configurations disclosed in other embodiments as long as they do not create contradictions. Additionally, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the purpose of the present invention.

[0299] Industrial availability

[0300] This invention can be applied to harvesters including harvesting and conveying devices with a harvesting section and a conveying section. Furthermore, this invention can be applied not only to conventional combine harvesters, but also to all harvesters harvesting crops (e.g., corn harvesters, carrot harvesters), such as semi-feeding combine harvesters.

[0301] Explanation of reference numerals in the attached figures

[0302] (First Implementation)

[0303] 1. Combine harvester

[0304] 2 Harvesting and conveying device

[0305] 5. Head

[0306] 6 Screwdrivers

[0307] 6A Height Adjustment Device

[0308] 7 Electric motor

[0309] 16. Conveying Department

[0310] 17. Harvesting reel

[0311] 26 Reverse Control Unit

[0312] 27 Reel Control Section

[0313] 28. Altitude Control Department

[0314] 29. Blockage Detection Department

[0315] H Harvesting Department

[0316] SE Sensing Unit

[0317] (Second Implementation)

[0318] 111 Traveling device

[0319] 113 threshing device

[0320] 113A Dehulling Department

[0321] 113B Sorting and Processing Department

[0322] 115 Harvesting Device

[0323] 131A First Crop Testing Department (Testing Department)

[0324] 132 Status Decision Department (Status Change Department)

[0325] F1 Weed Area

Claims

1. A harvester comprising a harvesting and conveying device, the harvesting and conveying device having a harvesting section and a conveying section, The harvesting section includes a head for receiving the harvest and a rotary-driven auger, configured to rise and fall relative to the machine body and harvest crops from the field. The conveying unit transports the harvested material from the harvesting unit to the rear of the machine. The harvester has the following features: A blockage determination unit determines whether the harvesting conveyor is blocked; and The reversing control unit reverses the auger drive when the blockage determination unit determines that the harvesting conveyor is blocked. When the blockage determination unit determines that the harvesting conveyor is blocked, the reversal control unit can perform a first blockage control that raises the harvesting unit and reverses the auger drive, so that the discharged harvested material falls on top of the unharvested crops.

2. The harvester according to claim 1, characterized in that, have: A height-changing device that changes the height position of the auger relative to the head; and The height control unit controls the height position of the auger relative to the head by controlling the height changing device. When the blockage determination unit determines that the harvesting conveyor is blocked, the height control unit raises the auger relative to the head.

3. The harvester according to claim 1, characterized in that, During the first blockage, the reversal control unit reverses the auger drive after the machine body moves forward.

4. The harvester according to claim 1 or 2, characterized in that, When the blockage determination unit determines that the harvesting conveyor is blocked, the reversal control unit can perform a second blockage control that reverses the auger drive after the machine body moves backward.

5. The harvester according to claim 1 or 2, characterized in that, The harvesting section includes a rake that rotates and raks together the planted rice stalks. The harvester includes a reel control unit that, when the blockage determination unit determines that the harvesting conveyor is blocked, causes the reel to rise relative to the head.

6. The harvester according to claim 1 or 2, characterized in that, It has a sensing unit that senses the rotational speed of the auger. The blockage determination unit determines whether the harvesting and conveying device is blocked based on the sensing results of the sensing unit.

7. The harvester according to claim 1 or 2, characterized in that, It is equipped with an electric motor that provides reverse rotation power to the auger. The reversing control unit reverses the auger by driving the electric motor.

8. A harvester control program product for controlling a harvester, the harvester including a harvesting and conveying device having a harvesting section and a conveying section, the harvesting section comprising a head for receiving harvested material and a rotary-driven auger configured to rise and fall relative to the machine body and harvest crops from a field, the conveying section conveying the harvested material from the harvesting section to the rear of the machine body, the harvester control program enabling a computer to: The blockage detection function determines whether the harvesting and conveying device is blocked; and The reverse control function, when the blockage determination function determines that the harvesting conveyor is blocked, causes the auger to reverse its drive. When the blockage determination function determines that the harvesting conveyor is blocked, the reversal control function can perform a first blockage control that raises the harvesting section and reverses the auger drive, so that the discharged harvested material falls on top of the unharvested crops.

9. A recording medium containing a harvester control program for controlling a harvester, the harvester including a harvesting and conveying device having a harvesting section and a conveying section, the harvesting section comprising a head for receiving harvested material and a rotary-driven auger configured to rise and fall relative to the machine body and harvest crops from a field, the conveying section conveying the harvested material from the harvesting section to the rear of the machine body, the harvester control program being implemented by a computer: The blockage detection function determines whether the harvesting and conveying device is blocked; and The reverse control function, when the blockage determination function determines that the harvesting conveyor is blocked, causes the auger to reverse its drive. When the blockage determination function determines that the harvesting conveyor is blocked, the reversal control function can perform a first blockage control that raises the harvesting section and reverses the auger drive, so that the discharged harvested material falls on top of the unharvested crops.

10. A harvester control method for controlling a harvester, the harvester comprising a harvesting and conveying device having a harvesting section and a conveying section, the harvesting section including a head for receiving harvested material and a rotary-driven auger, configured to be able to rise and fall relative to the machine body and harvest crops from a field, the conveying section conveying the harvested material from the harvesting section to the rear of the machine body, the harvester control method comprising: The blockage determination step determines whether the harvesting and conveying device is blocked; and In the reversal control step, if the harvesting conveyor is determined to be blocked through the blockage determination step, the auger is reversed. When the blockage determination step determines that the harvesting conveyor is blocked, the reversal control step can perform a first blockage control that raises the harvesting section and reverses the auger drive, so that the discharged harvested material falls on top of the unharvested crops.

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