Harvester

Abstract

The harvester includes: a machine body; a harvesting device (15) supported on the machine body in a state capable of ascending and descending, and harvesting crops in a field; an actuator (15A) that raises and lowers the harvesting device (15); a harvesting height sensor (S) that detects the height of the harvesting device (15) from the ground; a lowering instruction unit that generates a lowering instruction to lower the harvesting device (15); and a raising and lowering control unit that controls the operation of the actuator (15A). The raising and lowering control unit is set to either of a first mode and a second mode, the first mode performing a first lowering operation to lower the harvesting device (15) until the height from the ground detected by the harvesting height sensor (S) reaches a predetermined first height when the lowering instruction unit issues a lowering instruction, and the second mode performing a second lowering operation to lower the harvesting device (15) until the height of the harvesting device (15) from the machine body reaches a predetermined second height when the lowering instruction unit issues a lowering instruction.

Description

Technical Field

[0001] This invention relates to a harvester. Background Technology

[0002] Patent Document 1 discloses a harvesting height control system for a combine harvester. The disclosed combine harvester includes a harvesting height detection device and a control unit that maintains the pre-harvesting processing unit at a certain height above the field surface based on the detection signal from the device.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-182084 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] When a combine harvester travels through harvested land, the harvesting device rises, and before entering unharvested land, it lowers. In the case of the combine harvester in Patent Document 1, the harvesting height detection device lowers the harvesting device before detecting the field surface. Here, if there are raised sections of the field surface such as ridges or ruts, these sections may come into contact with the harvesting device. That is, the combine harvester described in Patent Document 1 cannot be used in fields with raised sections of the field surface.

[0008] The purpose of this invention is to provide a harvester that can be used in fields of various shapes.

[0009] Solution for solving the problem

[0010] As a means of solving the above-mentioned problems, the harvester of the present invention is characterized by having a body; a harvesting device supported on the body in a vertically movable state and for harvesting crops in a field; an actuator for raising and lowering the harvesting device; a harvesting height sensor for detecting the height of the harvesting device relative to the ground; a lowering command unit for generating a lowering command for lowering the harvesting device; and a lifting control unit for controlling the operation of the actuator. The lifting control unit is set to either a first mode or a second mode. In the first mode, when the lowering command unit issues the lowering command, a first lowering action is performed to lower the harvesting device until the height relative to the ground detected by the harvesting height sensor reaches a predetermined first height. In the second mode, when the lowering command unit issues the lowering command, a second lowering action is performed to lower the harvesting device until the height of the harvesting device relative to the body reaches a predetermined second height.

[0011] According to this structure, by switching the lifting control unit to a first mode and a second mode, it can be applied to fields of various shapes. For example, in fields where there are no raised areas such as ridges or ruts, it is preferable to set the lifting control unit to the first mode. In this case, once a descent command is issued, the harvesting device will descend until its height relative to the ground reaches a predetermined first height. Therefore, the harvesting device can be quickly lowered to a height suitable for harvesting crops. On the other hand, in fields where there are raised areas such as ridges or ruts, it is preferable to set the lifting control unit to the second mode. In this case, once a descent command is issued, the harvesting device will descend to a predetermined second height relative to the machine body. Therefore, the harvesting device can avoid contact with raised areas and can be lowered to a height suitable for harvesting crops.

[0012] In this invention, the lifting control unit is configured to perform a harvesting height control operation to control the actuator, such that the height above the ground detected by the harvesting height sensor becomes the first height. Preferably, when the lifting control unit is set to the first mode, the harvesting height control operation is performed after the first descent operation.

[0013] According to this structure, after the harvesting device descends to a predetermined first height above the ground, the actuator is controlled to make the height above the ground reach the predetermined first height. Therefore, the harvesting device can be held at an appropriate height to harvest the crop.

[0014] In this invention, it is preferable to have an operating member that accepts human operation, and the lifting control unit is configured to perform a harvesting height control action to control the actuator so that the ground height detected by the harvesting height sensor becomes the first height, and is configured to operate the actuator according to the human operation input to the operating member, so that the harvesting device is raised or lowered. When set to the second mode, after performing the second lowering action, the input of the human operation to the operating member is put on standby, and the harvesting height control action is performed according to the ground height detected by the harvesting height sensor becoming the first height.

[0015] According to this structure, after the second descent action is performed, when the harvesting device is lowered to the ground height to the first height by manual operation, the harvesting height control action is performed, so that the harvesting device can be kept at an appropriate height for harvesting crops.

[0016] In this invention, it is preferable to have an operating member that accepts human operation, and the lifting control unit is configured to perform a harvesting height control action to control the actuator, so that the ground height detected by the harvesting height sensor becomes the first height. When set to the second mode, after the second descent action is performed, the input of human operation to the operating member is put on standby, the first descent action is performed according to the input of human operation received by the operating member, and then the harvesting height control action is performed.

[0017] According to this structure, after the second descent action is performed, the harvesting device is lowered to the ground height (first descent action) as a first height by human operation. Then, the harvesting height control action is performed, so that the harvesting device can be kept at an appropriate height for harvesting crops.

[0018] Preferably, the present invention includes an operating component that accepts human operation, and the descent command unit issues the descent command based on the human operation received by the operating component.

[0019] According to this structure, when manually operated, a descent command is issued to execute the above-mentioned actions. Therefore, when harvesting crops by manual driving, the advantages of the harvester can be enjoyed.

[0020] In this invention, it is preferable to have an automatic driving control unit that enables the machine body to drive automatically, and the descent command unit issues the descent command before the machine body drives automatically and the harvesting device enters the unharvested area.

[0021] According to this structure, when harvesting crops by automatic travel, the advantages of the harvester mentioned above can be enjoyed.

[0022] In this invention, it is preferable to have an operation display device that accepts human operation and can display information, and a mode setting unit that sets the lifting control unit to either the first mode or the second mode according to the human operation received by the operation display device.

[0023] Based on this structure, the lifting control unit can be set to either the first mode or the second mode by human operation, so that the operator can apply the harvester to fields of various shapes. Attached Figure Description

[0024] Figure 1 This is a left-side view of a combine harvester.

[0025] Figure 2 It is a diagram showing a vehicle driving around in a field.

[0026] Figure 3 It is a diagram representing the cutting movement along the cutting movement path.

[0027] Figure 4 It is a functional block diagram representing the components involved in control.

[0028] Figure 5 It is a diagram used to illustrate the first and second elevations.

[0029] Figure 6 This is a flowchart representing the descent process.

[0030] Figure 7 It is a diagram showing how the cutting device descends during the descent process.

[0031] Figure 8 This is a flowchart illustrating the descent process of the variant example. Detailed Implementation

[0032] Embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, in the following description, unless otherwise stated, Figure 1 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 The direction of arrow U is set to "up", and the direction of arrow D is set to "down". Furthermore, the present invention is not limited to the following embodiments, and various modifications can be made without departing from its spirit.

[0033] [The overall structure of a combine harvester]

[0034] like Figure 1 As shown, the full-feed combine harvester 1 (equivalent to the "harvester" of the present invention) includes a tracked driving device 11, a driver unit 12, a threshing device 13, a grain bin 14, a harvesting device H, a conveying device 16, a grain discharge device 18, a satellite positioning module 80, and an engine E.

[0035] The travel device 11 is located at 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 can move independently using the travel device 11.

[0036] Additionally, the driver's cab 12, threshing device 13, and grain bin 14 are mounted on the traveling unit 11. The driver's cab 12 can be used by the operator to monitor the operation of the combine harvester 1. Furthermore, the operator can also monitor the operation of the combine harvester 1 from outside the machine.

[0037] A grain discharge device 18 is mounted on the grain bin 14. Additionally, a satellite positioning module 80 is mounted on the upper surface of the driver's unit 12.

[0038] The harvesting device H is located at the front of the combine harvester 1. Furthermore, the conveying device 16 is installed at the rear of the harvesting device H. The harvesting device H also includes a cutting device 15 and a reel 17. The cutting device 15 is supported on the body of the combine harvester 1 in a vertically adjustable manner.

[0039] The harvesting device 15 harvests the crops in the field. Additionally, the reel 17 is driven to rotate around a reel shaft 17b along the left-right direction of the machine body, feeding the upright stalks (crops) of the harvested object. With this structure, the harvesting device H harvests the crops in the field. Furthermore, the combine harvester 1 is capable of harvesting travel, that is, it can travel by the travel device 11 while harvesting crops in the field using the harvesting device 15.

[0040] The harvested rice stalks, cut by the harvesting device 15, are conveyed to the threshing device 13 via the conveying device 16. In the threshing device 13, the harvested rice stalks are threshed. The resulting rice grains are stored in a grain bin 14. The rice grains stored in the grain bin 14 are discharged from the machine as needed via the grain discharge device 18.

[0041] In addition, such as Figure 1 As shown, the driver's unit 12 is equipped with a communication terminal 4 (an example of an "operation display device"). The communication terminal 4 is configured to accept human operation and display 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.

[0042] Here, the combine harvester 1 is configured as follows: Figure 2 As shown, after harvesting grain while driving around the perimeter of the field, as... Figure 3 As shown, the grain in the field is harvested by driving a harvesting vehicle in the area inside the field.

[0043] In this embodiment, Figure 2 The circular driving shown is performed manually. Additionally, Figure 3 The harvesting of the inner area shown is carried out automatically. In other words, the combine harvester 1 can drive automatically.

[0044] Furthermore, the present invention is not limited thereto. Figure 2 The circular driving shown can also be done through automatic driving. Figure 3 The cutting and driving of the inner area shown can also be done manually.

[0045] In addition, such as Figure 1As shown, the driver's cab 12 is equipped with a main gear shift lever 19. The main gear shift lever 19 is manually operated. When the combine harvester 1 is driven manually, the operator operates the main gear shift lever 19, and the speed of the combine harvester 1 changes. In other words, 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.

[0046] In addition, the operator can change the rotational speed of engine E by operating communication terminal 4.

[0047] Different crops have different growth characteristics, such as ease of threshing and susceptibility to lodging. Therefore, different crop types require different operating speeds. If the operator uses communication terminal 4 to set the rotation speed of engine E to an appropriate speed, the operation can be carried out at a speed suitable for the crop type.

[0048] [Structures related to control]

[0049] like Figure 4 As shown, the combine harvester 1 includes a cutting clutch C1 and a control device 20. 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.

[0050] Furthermore, the disengagement clutch C1 is configured to switch between an engaged state that transmits power and a disengaged state that does not transmit power.

[0051] When the cutting clutch C1 is disengaged, the power output from the engine E is not transmitted to the cutting device 15 and the reel 17. At this time, the cutting device 15 and the reel 17 are in a non-drive state.

[0052] When the cutting clutch C1 is engaged, the power output from the engine E is transmitted to the cutting device 15 and the reel 17. At this time, the cutting device 15 and the reel 17 are driven by the power from the engine E.

[0053] In other words, the cutting clutch C1 intermittently transmits power to the reel 17 and the cutting device 15.

[0054] The control device 20 is a so-called ECU, which has a memory (HDD and non-volatile RAM, etc., omitted from the illustration) that stores programs corresponding to the functional units described later, and a CPU (omitted from the illustration) that executes the programs. The CPU executes the programs to realize the functions of each functional unit. That is, the control device 20 has a non-transitory recording medium for storing programs.

[0055] The control device 20 includes a vehicle position calculation unit 21, a region calculation unit 22, a route calculation unit 23, and a driving control unit 24 (an example of an "automatic driving control unit").

[0056] like Figure 1 As shown, the satellite positioning module 80 receives signals from an artificial satellite GNSS (Global Navigation Satellite System), generates positioning data representing the position of the combine harvester 1 based on the received signals, and sends the positioning data to the vehicle position calculation unit 21. As a GNSS, GPS, QZSS, Galileo, GLONASS, BeiDou, etc., can be used.

[0057] 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 then sent to the area calculation unit 22 and the driving control unit 24.

[0058] The regional calculation unit 22 calculates the time-laden position coordinates of the combine harvester 1 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.

[0059] More specifically, the area calculation unit 22 calculates the trajectory of the combine harvester 1 as it travels around the outer perimeter of the field, based on the time-lapse position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Furthermore, based on the calculated trajectory of the combine harvester 1, the area around the outer perimeter of the field where the combine harvester 1 harvests grain while traveling around it is calculated as the outer perimeter area SA. Additionally, the area closer to the inner edge of the field within the calculated outer perimeter area SA is calculated as the work target area CA.

[0060] For example, in Figure 2 In the diagram, the path of combine harvester 1, which travels around the outer perimeter of the field, is shown by the arrow. Figure 2 In the example shown, combine harvester 1 makes a three-circle journey. Furthermore, after completing the harvesting journey along this path, the field becomes... Figure 3 The state shown.

[0061] like Figure 3 As shown, the area calculation unit 22 calculates the area around the outer perimeter of the field where the combine harvester 1 is harvesting grain as the outer perimeter area SA. Additionally, the area calculation unit 22 calculates the area closer to the inner edge of the field than the outer perimeter area SA as the target area CA.

[0062] Moreover, such as Figure 4As shown, the calculation results of the region calculation unit 22 are sent to the path calculation unit 23.

[0063] 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 driving path used for cutting out the vehicle within the task area CA is calculated, namely the cutting out driving path LI. Additionally, as... Figure 3 As shown, in this embodiment, the cutting travel path LI consists of multiple mesh lines extending longitudinally and laterally. Furthermore, these mesh lines may not be straight; they may be curved.

[0064] like Figure 4 As shown, the cutting driving path LI calculated by the path calculation unit 23 is sent to the driving control unit 24.

[0065] 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 driving path L1 received from the path calculation unit 23. More specifically, as... Figure 3 As shown, the driving control unit 24 controls the driving of the combine harvester 1 so that the harvesting driving is carried out by automatic driving along the harvesting driving path LI.

[0066] [The harvesting process of a combine harvester]

[0067] The following section uses the harvesting operation of combine harvester 1 as an example to illustrate the harvesting process of combine harvester 1. Figure 2 The process for harvesting crops in the field shown is explained.

[0068] First, the operator manually operates combine harvester 1, such as... Figure 2 As shown, the harvesting is carried out by driving along the field's boundary line on the outer perimeter. Figure 2 In the example shown, combine harvester 1 makes a 3-round circular journey. When the circular journey is completed, the field becomes... Figure 3 The state shown.

[0069] The regional calculation unit 22 calculates the time-latitude position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Figure 2 The diagram shows the trajectory of combine harvester 1 during its circular movement. Furthermore, as... Figure 3 As shown, the area calculation unit 22 calculates the outer perimeter of the field as the combine harvester 1 travels around while cutting the standing rice stalks, based on the calculated travel trajectory of the combine harvester 1. Additionally, the area calculation unit 22 calculates the work target area CA as the area closer to the inside of the field than the calculated outer perimeter area SA.

[0070] Secondly, such as Figure 3 As shown, the path calculation unit 23 sets the cutting travel path LI in the work object area CA based on the calculation results received from the area calculation unit 22.

[0071] Then, the operator presses the automatic driving start button (not shown), and thus, as... Figure 3 As shown, automatic travel along the harvesting travel path LI begins. At this time, the travel control unit 24 controls the travel of the combine harvester 1 so that harvesting travel is carried out by automatic travel along the harvesting travel path LI.

[0072] After automatic driving begins in the work object area CA, such as Figure 3 As shown, the combine harvester 1 travels around the outer periphery of the target area CA, cutting along the shape of the target area CA. Furthermore, the combine harvester 1 repeatedly travels along the cutting path LI and performs directional changes via α turns to cover the entire target area CA.

[0073] 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.

[0074] The transport vehicle CV can collect and transport the grains discharged from the grain discharge device 18 by the combine harvester 1. When the grains are discharged, the combine harvester 1 stops at the parking position PP and discharges the grains into the transport vehicle CV through the grain discharge device 18.

[0075] Furthermore, once all the harvesting routes LI along the target area CA are completed, the entire field is harvested.

[0076] [Structures related to the lifting and lowering control of the reel and harvesting device]

[0077] like Figure 1 , Figure 4 As shown, the combine harvester 1 includes a cutting cylinder 15A (an example of an "actuator"), a reel cylinder 17A, a harvesting height sensor S, and an operating lever 40 (an example of an "operating element"). Additionally, as... Figure 4 As shown, the combine harvester 1 is equipped with a reel raising button 41 and a reel lowering button 42.

[0078] The reel raising button 41 and the reel lowering button 42 are both located on the upper part of the operating lever 40. Moreover, the operating lever 40, the reel raising button 41, and the reel lowering button 42 are all manually operated.

[0079] The harvesting height sensor S is a sensor used to detect the height of the harvesting device 15 above the ground. The harvesting height sensor S is located at the lower part of the harvesting device 15. The harvesting height sensor S consists of a plate-shaped member supported on the harvesting device 15 in a state that can swing around a shaft extending in the left and right direction of the machine body, and an angle sensor that detects the swing angle of the plate-shaped member.

[0080] When the harvesting device 15 approaches the ground, the plate-shaped component contacts the ground. The smaller the distance between the harvesting device 15 and the ground (the height of the harvesting device 15 above the ground), the closer the posture of the plate-shaped component is to horizontal. That is, the output of the angle sensor changes according to the height of the harvesting device 15 above the ground. The output of the harvesting height sensor S is input to the control device 20. The control device 20 calculates the height of the harvesting device 15 above the ground based on the output of the harvesting height sensor S.

[0081] like Figure 4 As shown, the control device 20 includes a clutch control unit 25, a descent command unit 26, a lifting control unit 27, and a mode setting unit 28.

[0082] When the combine harvester 1 is driven manually, the operator presses the reel raising button 41, and a corresponding signal is transmitted to the lifting control unit 27. The lifting control unit 27 then controls the reel cylinder 17A to extend in the extension direction based on this signal. As a result, the reel 17 rises relative to the harvesting device 15.

[0083] Furthermore, when the combine harvester 1 is being driven manually, if the operator presses the reel lowering button 42, a corresponding signal is transmitted to the lifting control unit 27. Based on this signal, the lifting control unit 27 controls the reel cylinder 17A to retract in the retracting direction. As a result, the reel 17 descends relative to the harvesting device 15.

[0084] Thus, the lifting control unit 27 controls the lifting and lowering of the harvesting device 15 relative to the reel 17 based on the manual operation of the reel raising button 41 and the reel lowering button 42.

[0085] Furthermore, when the combine harvester 1 is driven manually, if the operator swings the operating lever 40 backward, a corresponding signal is transmitted to the lifting control unit 27. Based on this signal, the lifting control unit 27 controls the cutting cylinder 15A to extend in the extension direction. As a result, the cutting device 15 rises relative to the machine body.

[0086] Furthermore, when the combine harvester 1 is driven manually, when the operator swings the operating lever 40 forward, a signal corresponding to the operation is transmitted to the lifting control unit 27. Based on this signal, the lifting control unit 27 controls the cutting cylinder 15A to retract in the retracting direction. As a result, the cutting device 15 descends relative to the machine body.

[0087] Thus, the lifting control unit 27 controls the movement of the cutting cylinder 15A based on the manual operation of the operating lever 40, causing the cutting device 15 to rise or fall relative to the machine body. Furthermore, the lifting control unit 27 is configured to detect the height of the cutting device 15 relative to the machine body based on the output of a sensor (not shown) installed on the cutting cylinder 15A. Therefore, the lifting control unit 27 can control the cutting cylinder 15A so that the height of the cutting device 15 relative to the machine body reaches a set value (e.g., the second height H2 described later).

[0088] [The descent of the harvesting device during autonomous driving]

[0089] like Figure 4 As shown, the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21 are transmitted to the descent command unit 26. Additionally, the harvesting path L1 calculated by the path calculation unit 23 is transmitted to the descent command unit 26.

[0090] During automatic driving, the descent command unit 26 issues a descent command to lower the harvesting device 15 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the harvesting travel path LI received from the path calculation unit 23.

[0091] In detail, the descent command unit 26 generates a descent command when the combine harvester 1 enters the target area CA from the outer perimeter area SA. More specifically, the descent command unit 26 generates a descent command before the combine harvester 1's automatic driving and harvesting device 15 enters the target area CA (unharvested area).

[0092] In other words, the descent command unit 26 generates a descent command when the combine harvester 1 enters the harvesting travel path LI. More specifically, the descent command unit 26 generates a descent command when the distance between the combine harvester 1 and the starting point of the harvesting travel path LI reaches a predetermined distance or less.

[0093] Furthermore, when the descent command unit 26 issues a descent command, the lifting control unit 27 lowers the cutting device 15 in different ways corresponding to the set mode. In addition, the lifting control unit 27 is set to either the first mode or the second mode by the mode setting unit 28.

[0094] In the first mode, when the descent command unit 26 issues a descent command, the lifting control unit 27 executes a first descent action, which causes the harvesting device 15 to descend until the ground height detected by the harvesting height sensor S becomes a predetermined first height H1.

[0095] In detail, the lifting control unit 27, as the first lowering action, causes the harvesting cylinder 15A to move in the retracting direction, and stops the harvesting cylinder 15A when the height above the ground reaches a first height H1. The first height H1 is preset. For example, the first height H1 is set by the operator to the height of the crop suitable for harvesting.

[0096] The lifting control unit 27 is configured to perform a harvesting height control operation on the cutting cylinder 15A, such that the ground height detected by the harvesting height sensor S becomes a first height H1. When set to the first mode, the lifting control unit 27 performs the harvesting height control operation after performing the first descent operation.

[0097] In the second mode, when the descent command unit 26 issues a descent command, the lifting control unit 27 executes a second descent action, causing the cutting device 15 to descend to a predetermined second height H2 relative to the machine body.

[0098] In detail, the lifting control unit 27, as a second descent action, causes the cutting cylinder 15A to move in the retraction direction, and stops the cutting cylinder 15A when the height of the cutting device 15 relative to the machine body reaches the second height H2.

[0099] The height of the cutting device 15 relative to the machine body refers to the height of the cutting device 15 relative to a predetermined position of the machine body (e.g., the ground contact surface of the traveling device 11 or the upper limit position of the lifting of the cutting device 15).

[0100] The second height H2 is preset. For example, the second height H2 is set by the operator to a height (relative to the height of the machine body) such that the harvesting device 15 is above the field ridge. Preferably, the second height H2 is set such that the harvesting device 15 at the second height H2 is above the harvesting device 15 at the first height H1 in terms of its height relative to the machine body.

[0101] When the lifting control unit 27 is set to the second mode, after the second descent action is performed, the input for manual operation of the operating lever 40 is put into standby mode, and the first height H1 is obtained by the ground height detected by the harvesting height sensor S, and the above-mentioned harvesting height control action is performed.

[0102] The mode setting unit 28 sets the lifting control unit 27 to either a first mode or a second mode based on the human operation received by the communication terminal 4. For example, the mode setting unit 28 displays a screen requesting mode setting on the display device of the communication terminal 4 to the operator, putting the human operation input on standby. Furthermore, the mode setting unit 28 performs mode setting based on the received human operation. Preferably, the mode setting unit 28 sets the mode of the lifting control unit 27 before the automatic driving of the driving control unit 24 begins.

[0103] The mode setting unit 28 can also be configured to set the mode based on preset operation instructions and operation instructions from the host system.

[0104] [Descending Process]

[0105] Reference Figure 6 The flowchart illustrates the descent process performed by the control device 20. The descent process is performed during harvesting operations of the combine harvester 1 in the field, while it is automatically traveling in the outer perimeter area SA. Alternatively, the descent process can also be performed manually while the outer perimeter area SA is being traveled.

[0106] The lifting control unit 27 stands by before the descent command unit 26 generates a descent command (step S101: No).

[0107] When the descent command unit 26 issues a descent command (step S101: Yes), the lifting control unit 27 confirms the set mode (step S102).

[0108] When the lifting control unit 27 is set to the first mode (step S102: first mode), the lifting control unit 27 performs the first descent action (step S103), and then performs the harvesting height control action (step S104). Then the descent process terminates.

[0109] When the lifting control unit 27 is set to the second mode (step S102: second mode), the lifting control unit 27 performs the second descent action (step S105), and then puts the manual operation of the operating lever 40 into standby mode (S106: No).

[0110] When the operating lever 40 is manually operated (step S106: Yes), the lifting control unit 27 activates the cutting cylinder 15A according to the input manual operation (S107) and confirms the output of the harvesting height sensor S (S108).

[0111] When the output of the harvesting height sensor S indicates that the ground height of the harvesting device 15 has not reached the first height (S108: No), the lifting control unit 27 puts the manual operation of the operating lever 40 into standby mode (S106).

[0112] If the output of the harvesting height sensor S indicates that the height of the harvesting device 15 above the ground has reached the first height (S108: Yes), the lifting control unit 27 performs a harvesting height control operation (step S109). Then the descent process terminates.

[0113] Figure 7The graph illustrates the change in the extension of the cutting cylinder 15A based on the execution of the descent process, i.e., the manner in which the cutting device 15 descends. The vertical axis of the graph represents the extension of the cutting cylinder 15A; a larger value indicates that the cutting cylinder 15A extends further, meaning the cutting device 15 is at the top. The horizontal axis of the graph represents time.

[0114] First, let's explain the first mode shown by the solid line. Before the descent command is issued at time T1, the extension of the cutting cylinder 15A is large, and the cutting device 15 is in a higher position.

[0115] When a descent command is issued at time T1, the lifting control unit 27 causes the harvesting cylinder 15A to operate in the retraction direction until the ground height reaches the first height H1. Afterwards, the lifting control unit 27 performs harvesting height control operations, maintaining the ground height of the harvesting device 15 at the first height.

[0116] Next, the second mode shown by the dashed line will be explained. Similar to the first mode, before the moment T1 when the descent command is issued, the extension of the cutting cylinder 15A is large, and the cutting device 15 is in a high position.

[0117] When a descent command is issued at time T1, the lifting control unit 27 causes the cutting cylinder 15A to operate in the retraction direction until the height relative to the machine body reaches the second height H2. Afterwards, the lifting control unit 27 is put on standby for manual operation input to the operating lever 40. The cutting device 15 remains at the second height H2 (relative to the machine body).

[0118] At time T1, when the operator operates the control lever 40 in the downward direction, the lifting control unit 27 causes the cutting cylinder 15A to operate in the retracting direction. The cutting device 15 descends. When the height above the ground reaches the first height H1, the lifting control unit 27 then performs a harvesting height control operation, and the height above the ground of the cutting device 15 is maintained at the first height.

[0119] The first mode is preferred for use on fields without ridges. The second mode is preferred for use on fields with ridges. (See reference) Figure 5 Please provide an explanation.

[0120] In the first mode, upon receiving the descent command, the cutting device 15 rapidly descends to a first height H1 (ground clearance). Figure 5 (The left part). Therefore, crop harvesting in the target area CA is performed appropriately.

[0121] When using the first mode in a field with ridges UN, the harvesting device 15 rapidly descends to a first height H1 before the combine harvester 1 enters the target area CA. If the first height H1 is set lower than the height of the ridge UN, there is a possibility that the harvesting device 15 may come into contact with the ridge UN when the combine harvester 1 enters the target area CA. If contact with the ridge UN results in soil contamination of the harvesting device 15, the soil adhering to the crop may reduce its market value.

[0122] In the second mode, when the descent command is issued, the harvesting device 15 descends to a second height H2 (relative to the height of the machine body) before the combine harvester 1 enters the target area CA. Figure 5 (The central part). If the second height H2 is set appropriately, contact between the harvesting device 15 and the ridge UN can be suppressed. Additionally, the crop on the ridge UN can be harvested appropriately. Afterwards, the harvesting device 15 is raised and lowered according to manual operation by the operator. When the harvesting device 15 descends to the ground height, which becomes the first height, the ground height of the harvesting device 15 remains at the first height. That is, the height starting from the upper surface of the ridge UN of the harvesting device 15 remains at the first height H1 ( Figure 5 (The right part of the ridge). Therefore, the crop on the ridge UN can be further harvested appropriately.

[0123] Furthermore, the second model is not limited to ridged fields. It can also be appropriately used in fields with ruts and undulations.

[0124] In this embodiment, the following method is performed.

[0125] A computer-executed method for controlling a harvester.

[0126] The harvester includes a body; a cutting device; an actuator for raising and lowering the cutting device; and a harvesting height sensor for detecting the height of the cutting device above the ground.

[0127] The lifting mode is set to either mode one or mode two.

[0128] A descent command is issued to lower the cutting device.

[0129] When the lifting mode is in the first mode, upon issuance of the descent command, a first descent action is performed to lower the harvesting device until the ground height detected by the harvesting height sensor reaches a predetermined first height.

[0130] When the lifting mode is the second mode, when the descent command is issued, a second descent action is performed to lower the cutting device until the height of the cutting device relative to the machine body reaches a predetermined second height.

[0131] In this embodiment, the following program is recorded in the memory (recording medium) of the control device 20 and executed.

[0132] A program for controlling a harvester, the harvester comprising a body; a cutting device; an actuator for raising and lowering the cutting device; and a harvesting height sensor for detecting the ground height of the cutting device, the program being executed by a computer, which sets the raising and lowering mode to a first mode or a second mode.

[0133] A descent command is issued to lower the cutting device.

[0134] When the lifting mode is in the first mode, upon issuing the descent command, a first descent action is executed to lower the harvesting device until the ground height detected by the harvesting height sensor reaches a predetermined first height.

[0135] When the lifting mode is the second mode, when the descent command is issued, a second descent action is performed to lower the cutting device until the height of the cutting device relative to the machine body reaches a predetermined second height.

[0136] [Variation Example]

[0137] Reference Figure 8 The flowchart illustrates a variation of the descent process. The processes from step S201 to step S205 are the same as those from step S101 to step S105 described above, so the explanation is omitted.

[0138] When the operating lever 40 is manually operated (step S206: Yes), the lifting control unit 27 performs a first descent action (step S207). That is, the lifting control unit 27 lowers the harvesting device 15 until the ground height detected by the harvesting height sensor S reaches a predetermined first height H1. Then, the lifting control unit 27 performs a harvesting height control action (step S208). Then, the descent process terminates.

[0139] That is, in this example, the lifting control unit 27 is configured such that when set to the second mode, after performing the second descent action, the input of the manual operation to the operating lever 40 is put on standby, the first descent action is performed based on the input of the manual operation received by the operating lever 40, and then the harvesting height control action is performed.

[0140] The lifting control unit 27 can also be configured to perform the processing steps S207 and S208 based on the input of human operation received from an operating element different from the operating lever 40 (such as the communication terminal 4 or other buttons, levers, etc.).

[0141] The lifting control unit 27 can also be configured to selectively execute the processing described in the above embodiment. Figure 6The descent processing) and the processing in this variation ( Figure 8 (Lowering process). For example, the lifting control unit 27 can also be configured to perform the processing of the implementation method based on human operation from the operator. Figure 6 The descent processing) and the processing in this variation ( Figure 8 Any one of the following (descent processing).

[0142] [Other Implementation Methods]

[0143] (1) The above-mentioned descent process can also be carried out when the combine harvester 1 is in manual driving mode.

[0144] For example, the descent command unit 26 can also be configured to generate a descent command based on a manual operation received from the control lever 40 (or other manual operation device).

[0145] (2) The harvesting height sensor S can also be different from the examples above. For example, the harvesting height sensor S can be a non-contact sensor such as an optical position gauge, or it can be an ON / OFF contact switch.

[0146] (3) The control device 20 can automatically set the first height H1 according to the type of crop. The type of crop obtained by the control device 20 can be based on the output of sensors and cameras, the recorded data of the agricultural management system, or the input from the operator.

[0147] (4) The control device 20 can automatically set the second height H2 according to the height of the ridge. The height of the ridge obtained by the control device 20 can be based on the output of sensors and cameras, the recorded data of the agricultural management system, or the input from the operator.

[0148] (5) The processing in the above-described embodiments ( Figure 6 In the descent process, the descent process can also be terminated after the termination of the first descent action in step S103. Alternatively, the descent process can be terminated after the termination of the second descent action in step S105. In the modified example processing ( Figure 8 In the descent process, the descent process can also be terminated after the termination of the first descent action in step S203. Alternatively, the descent process can be terminated after the termination of the second descent action in step S205.

[0149] Industrial availability

[0150] This invention is applicable not only to full-feed combine harvesters, but also to self-tapping combine harvesters, corn harvesters, sugarcane harvesters and other harvesters.

[0151] Explanation of reference numerals in the attached figures

[0152] 4: Communication terminal (operation display device)

[0153] 15: Cutting device

[0154] 15A: Cutting cylinder (actuator)

[0155] 24: Driving Control Unit (Automatic Driving Control Unit)

[0156] 26: Descent Command Section

[0157] 27: Lifting Control Unit

[0158] 28: Mode Setting Department

[0159] 40: Control lever (operating element)

[0160] CA: Target Area (Unharvested Area)

[0161] S: Harvesting height sensor

Claims

1. A harvester, characterized in that, have: Organism; A harvesting device that is supported on the machine body in a vertically lifting manner and harvests crops from the field; An actuator that raises and lowers the cutting device; A harvesting height sensor that detects the ground height of the harvesting device; A descent command unit that generates a descent command to lower the cutting device; A lifting control unit that controls the movement of the actuator; An automatic driving control unit that enables the machine body to automatically travel along a pre-set cutting path; The lifting control unit is set to either a first mode or a second mode. In the first mode, when the descent command unit issues the descent command, a first descent action is performed to lower the harvesting device until the ground height detected by the harvesting height sensor reaches a predetermined first height. In the second mode, when the descent command unit issues the descent command, a second descent action is performed to lower the cutting device until the height of the cutting device relative to the machine body reaches a predetermined second height. The descent command unit issues the descent command before the machine body automatically travels and the harvesting device enters the unharvested area, and at a moment when the distance between the machine body and the starting point of the harvesting travel path becomes less than a predetermined distance.

2. The harvester as described in claim 1, characterized in that, The lifting control unit is configured to perform a harvesting height control action that controls the actuator, such that the height above the ground detected by the harvesting height sensor becomes the first height. When the lifting control unit is set to the first mode, it performs the harvesting height control action after executing the first descent action.

3. A harvester, characterized in that, have: Organism; A harvesting device that is supported on the machine body in a vertically lifting manner and harvests crops from the field; An actuator that raises and lowers the cutting device; A harvesting height sensor that detects the ground height of the harvesting device; A descent command unit that generates a descent command to lower the cutting device; A lifting control unit that controls the movement of the actuator; Operating components that accept manual operation; The lifting control unit is set to either a first mode or a second mode. In the first mode, when the descent command unit issues the descent command, a first descent action is performed to lower the harvesting device until the ground height detected by the harvesting height sensor reaches a predetermined first height. In the second mode, when the descent command unit issues the descent command, a second descent action is performed to lower the cutting device until the height of the cutting device relative to the machine body reaches a predetermined second height. The lifting control unit is configured to perform a harvesting height control action to control the actuator, such that the ground height detected by the harvesting height sensor becomes the first height, and is configured to operate the actuator according to the manual operation input of the operating device, causing the harvesting device to rise and fall. When set to the second mode, after performing the second descent action, the input of the manual operation to the operating device is put on standby, and the harvesting height control action is performed according to the ground height detected by the harvesting height sensor becoming the first height.

4. A harvester, characterized in that, have: Organism; A harvesting device that is supported on the machine body in a vertically lifting manner and harvests crops from the field; An actuator that raises and lowers the cutting device; A harvesting height sensor that detects the ground height of the harvesting device; A descent command unit that generates a descent command to lower the cutting device; A lifting control unit that controls the movement of the actuator; Operating components that accept manual operation. The lifting control unit is set to either a first mode or a second mode. In the first mode, when the descent command unit issues the descent command, a first descent action is performed to lower the harvesting device until the ground height detected by the harvesting height sensor reaches a predetermined first height. In the second mode, when the descent command unit issues the descent command, a second descent action is performed to lower the cutting device until the height of the cutting device relative to the machine body reaches a predetermined second height. The lifting control unit is configured to perform a harvesting height control action to control the actuator, such that the ground height detected by the harvesting height sensor becomes the first height. When set to the second mode, after performing the second descent action, the input for human operation to the operating device is put on standby. The first descent action is performed based on the input for human operation received by the operating device, and then the harvesting height control action is performed.

5. The harvester as described in any one of claims 1 to 4, It has operating components that accept human intervention. The descent command unit issues the descent command based on the manual operation received by the operating device.

6. The harvester as described in any one of claims 1 to 4, characterized in that, have: An operational display device that accepts human operation and is capable of displaying information. The mode setting unit sets the lifting control unit to either the first mode or the second mode based on the human operation received by the operation display device.

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