Work vehicle

Abstract

To provide a working vehicle capable of improving safety mainly in work on an inclined ground in a constitution having a function of machine body horizontal control for automatically keeping a machine body horizontal according to the inclination of the ground or the like.SOLUTION: The working vehicle includes a traveling machine body 2 having a machine body main body 21 and a traveling part 22, right and left lifting cylinders 101 for tilting the machine body main body 21 right and left with respect to the traveling part 22, a machine body tilt angle sensor 102 for detecting a machine body tilt angle β, a control part 50 for performing machine body horizontal control for controlling the right and left lifting cylinders 101 so as to hold a horizontal state of the machine body main body 21 based on a tilt angle detected by the machine body tilt sensor 102, and an operation member (105) for releasing the machine body horizontal control by receiving a predetermined release operation during the machine body horizontal control. In a case where the ground surface inclination angle γ is equal to or greater than a predetermined angle set in advance, the control unit performs control for maintaining the machine body horizontal control in preference to cancellation of the machine body horizontal control by the operation of the operation member.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a work vehicle having a vehicle body level control function that automatically keeps the vehicle body level in accordance with the slope of the ground, etc. [Background technology]

[0002] Some work vehicles, such as combine harvesters and tractors, have a machine leveling control function that automatically keeps the machine level in response to the inclination of the ground, etc. The machine leveling control is performed based on the detection value of an inclination angle sensor installed on the machine to detect the inclination angle of the machine in the left-right direction.

[0003] In this type of work vehicle, for example, each of the left and right crawler units that make up the traveling device is provided with an actuator such as a hydraulic cylinder for tilting the machine body left and right. Then, when the tilt of the machine body is detected by, for example, a tilt angle sensor installed on the machine body chassis, the operation of the actuator is controlled to counteract the tilt, and the machine body is maintained in a horizontal state (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 6-69331 Summary of the Invention [Problem to be solved by the invention]

[0005] Some work vehicles with a machine body level control function are configured so that the machine body level control is activated when a work clutch, such as a threshing clutch in a combine harvester, is in the ON state, and the machine body level control is turned OFF when the work clutch is turned OFF. When the machine body level control is turned OFF, the work vehicle becomes parallel to the ground, i.e., parallel to the ground. This type of configuration has the following problems.

[0006] Since the machine is kept horizontal or nearly so during operation of the machine leveling control, it is possible that the operator will not be notified even if work is being carried out on a slope that is greater than the allowable angle for the machine's configuration. When the machine's tilt angle approaches a predetermined set angle, such as the machine's tipping angle, the operator will be notified by an alarm sound, a lamp, or the like.

[0007] When the work clutch is turned off while the vehicle is on a slope like the one described above, the vehicle leveling control is released and the work vehicle becomes parallel to the ground. As a result, the work vehicle is affected by the ground inclination of the slope, which had been mitigated by the vehicle leveling control, and the tilt angle of the entire vehicle becomes larger than expected. This is undesirable from the perspective of ensuring safety.

[0008] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a work vehicle that has a vehicle level control function that automatically keeps the vehicle level in accordance with the slope of the ground, etc., and that can improve safety when working mainly on slopes. [Means for solving the problem]

[0009] The work vehicle of the present invention comprises a running machine body having a machine body main body and a running section that supports the machine body main body, a tilt drive device for tilting the machine body left and right relative to the running section, a tilt sensor for detecting the tilt angle of the machine body in the left-right direction of the machine body, a control unit that performs machine body horizontal control that controls the tilt drive device to maintain the machine body in a horizontal state based on the tilt angle detected by the tilt sensor, and an operating member that releases the machine body horizontal control by the control unit when a specified release operation is received during the machine body horizontal control by the control unit, and the control unit controls to maintain the machine body horizontal control in preference to releasing the machine body horizontal control by operating the operating member when the ground tilt angle corresponding to the tilt angle of the machine body in the left-right direction when parallel to the ground is equal to or greater than a predetermined angle that has been set in advance.

[0010] In another aspect of the work vehicle according to the present invention, the control unit issues an alarm during control to maintain the vehicle body horizontal control.

[0011] Another aspect of the work vehicle of the present invention is one in which the work vehicle further comprises a device for receiving position information at a work site, and the control unit has the function of recording and mapping points where the ground slope angle is equal to or greater than the predetermined angle based on the position information.

[0012] Another aspect of the work vehicle of the present invention is that the work vehicle further comprises a grain tank for storing grain and a storage amount detection sensor for detecting the amount of grain stored in the grain tank, and the control unit changes the specified angle for the ground inclination angle according to the storage amount detected by the storage amount detection sensor. [Effects of the Invention]

[0013] According to the present invention, in a configuration having a machine body level control function that automatically keeps the machine body level in accordance with the inclination of the ground, etc., it is possible to improve safety, mainly when working on slopes. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a left side view of a combine harvester according to an embodiment of the present invention. FIG. [Figure 2] FIG. 1 is a right side view of a combine harvester according to an embodiment of the present invention. [Figure 3] 1 is a plan view of a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 1 is a diagram showing a power transmission configuration in a combine harvester according to one embodiment of the present invention. [Figure 5] FIG. 1 is a rear view schematically illustrating the configuration of a combine harvester according to one embodiment of the present invention and the arrangement of lifting cylinders. [Figure 6] FIG. 1 is a rear view schematically illustrating the configuration of a combine harvester according to one embodiment of the present invention and the arrangement of lifting cylinders. [Figure 7] FIG. 1 is a rear view schematically illustrating the configuration of a combine harvester according to one embodiment of the present invention and the arrangement of lifting cylinders. [Figure 8] 1 is a block diagram showing a control configuration of a combine harvester according to one embodiment of the present invention. FIG. [Figure 9] A diagram showing the arrangement of a grain tank and a storage volume detection sensor in one embodiment of the present invention. [Figure 10] 4 is a flowchart showing an example of a control mode of aircraft level control and maintenance control according to one embodiment of the present invention. [Figure 11] FIG. 2 is a diagram illustrating an example of a map according to an embodiment of the present invention. [Figure 12] 1 is a diagram illustrating an example of the configuration of a management system according to an embodiment of the present invention. [Figure 13] FIG. 10 is a diagram showing an example of detection data of a ground inclination angle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] The present invention aims to improve the safety of work on slopes by devising control details related to the automatic release of the machine body level control function, which automatically keeps the machine body level in accordance with the slope of the ground, etc. Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] In the following embodiments of the present invention, a combine harvester will be used as an example of a work vehicle according to the present invention. However, the work vehicle according to the present invention may be any vehicle having a vehicle body level control function that automatically keeps the vehicle body level in accordance with the slope of the ground, etc. Work vehicles to which the present invention can be applied include various types of combine harvesters, such as head-feeding combines and conventional combines, as well as tractors and wheel loaders for civil engineering work.

[0017] The overall configuration of a combine harvester 1 as a work vehicle according to this embodiment will be described using Figures 1 to 4. In the following description, the left side (lower side in Figure 3) and the right side (upper side in Figure 3) when facing the front of the combine harvester 1 will be referred to as the left side and right side of the combine harvester 1, respectively.

[0018] As shown in Figures 1 and 2, the combine harvester 1 according to this embodiment is a conventional combine harvester that rakes harvested field crops (rice, wheat, soybeans, corn, etc.) into the machine body, threshes, sorts, stores the grain, and can then be transported outside the machine as needed. The combine harvester 1 has a self-propelled traveling body 2 and a reaping unit 3 attached to the front end of the traveling body 2. The reaping unit 3 is configured as a reaping device that harvests and collects unharvested stalks of rice, wheat, etc., and is attached to the traveling body 2 so that it can be raised and lowered.

[0019] The traveling machine body 2 has a machine body main body 21 and a traveling section 22 that supports the machine body main body 21. The machine body main body 21 has a machine frame including a chassis 23 that forms the base portion of the machine body main body 21. The chassis 23 is located above the traveling section 22 and forms a machine base section that is configured horizontally by frame members, plate-like members, etc. that are arranged in the front-to-rear or left-to-right direction on the machine body main body 21. The traveling section 22 is configured as a crawler-type traveling device that has a pair of left and right crawler sections 5, 5. The machine body frame that configures the machine body main body 21 is provided above and between the left and right crawler sections 5, 5.

[0020] Each crawler unit 5 has multiple rotating bodies including a drive sprocket 5a provided at its front end, and tracks 5c wound around these rotating bodies. The drive sprocket 5a is driven to rotate by power transmitted from an engine 25 provided in the combine 1. The multiple rotating bodies of the crawler unit 5 are supported by a track frame 5b provided below the machine body 21 and extending in the fore-and-aft direction.

[0021] On the left side of the chassis 23, there are provided a threshing unit 7 that threshes the stalks cut and supplied by the reaping unit 3, and a sorting unit 8 that sorts the grains threshed by the threshing unit 7. The threshing unit 7 and the sorting unit 8 are arranged with the threshing unit 7 on the upper level and the sorting unit 8 on the lower level.

[0022] On the chassis 23, to the right of the threshing section 7 and the sorting section 8, there is provided a grain storage section 9 having a grain tank 10 that stores the grain (clean grain) sorted by the sorting section 8. A lower discharge conveyor 11 is provided within the grain tank 10 to transport the stored grain toward the discharge outlet of the grain tank 10 (see Figure 4). A vertical transport conveyor 12 is installed upright in the vertical direction so as to communicate with the discharge outlet of the grain tank 10. A grain discharge conveyor 13 is connected to the upper end of the vertical transport conveyor 12. The grain discharge conveyor 13 is installed so as to be rotatable horizontally and swingable up and down around a horizontal axis. These conveyors transport the grain in the grain tank 10, and the grain is discharged from a paddy discharge port 14 at the tip of the grain discharge conveyor 13 into a truck bed, a container, etc.

[0023] On the chassis 23, in front of the grain storage section 9, that is, at the front right side of the machine frame 6, is provided a driver's section 15 where an operator sits. The driver's section 15 is covered by a cabin 16. The driver's section 15 is provided with a driver's seat 17, a control handle 18 located in front of the driver's seat 17, and various operating sections such as a main speed change lever 19, an auxiliary speed change lever, and a work clutch lever (see Figure 2). The work clutch lever is a work operating tool for switching on and off the threshing clutch 57 and the reaping clutch 75 (see Figure 4).

[0024] An engine 25 serving as a drive source is provided below the driver's section 15 on the chassis 23. The engine 25 is installed in the space below the driver's section 15, in the space on the right side of the front part of the machine frame 6. The engine 25 is, for example, a diesel engine.

[0025] The following describes the reaping unit 3. The reaping unit 3 has a feeder 30 as a conveying device, a platform 31 as a grain header, a cutting blade device 32, a pair of left and right grass dividing bodies 33, 33, and a raking reel .

[0026] The feeder 30 is a supply and conveyance device that transports the stalks harvested by the harvesting section 3 and supplies them to the threshing section 7. The feeder 30 has a feeder house 35 as a housing and a conveyor 36 (see Figure 4) for transporting the stalks that is provided within the feeder house 35. The feeder house 35 is configured in a substantially rectangular cylindrical shape with the longitudinal direction extending in the front-to-rear direction in a plan view. The feeder 30 is located to the left of the cabin 16 (see Figure 3), and the rear end opening of the feeder house 35 is connected to the front handling opening 7a of the threshing section 7 (see Figure 1).

[0027] The platform 31 is configured in the shape of a horizontally elongated bucket and is connected to the front side of the feeder 30 so as to communicate with the front end opening of the feeder house 35. The feeder house 35 is provided at a position to the left of the center in the left-right direction with respect to the platform 31. A raking auger (platform auger) 37 is provided within the platform 31. The raking auger 37 is axially mounted so as to be rotatable with the left-right direction as the rotation axis direction.

[0028] The cutting blade device 32 is mounted on the front lower edge of the platform 31 and is configured like a pair of clippers. A pair of left and right grass dividing bodies 33, 33 are mounted so as to protrude forward from the left and right sides of the front of the platform 31. The raking reel 34 is a reel with a tine bar and is mounted in a position above and in front of the raking auger 37. The raking reel 34 is supported rotatably with the left and right directions as the rotation axis between the tips of a pair of left and right reel support arms 34a, 34a whose base ends are pivotally supported on the platform 31. As it rotates, the raking reel 34 continuously acts on the pod-bearing portions of the stalks and rakes the pod-bearing portions of the stalks toward the raking auger 37. The operation of each part of the reaping unit 3 uses power from the engine 25, transmitted via various transmission mechanisms.

[0029] A front rotor 26 is provided behind the feeder 30 to send the stalks transported by the conveyor 36 into the threshing opening 7a. The front rotor 26 is provided between the end of the conveyor 36 and the threshing opening 7a. The front rotor 26 has a roughly cylindrical rotor body 27, also known as a beater, and a front rotor shaft 28 (see Figure 4) whose axial direction is in the left-right direction. The stalks transported by the feeder 30 are fed from the end of the conveyor 36 by the front rotor 26 through the threshing opening 7a and into the threshing chamber 7b of the threshing section 7.

[0030] The conveyor 36 in the feeder house 35 has a reaping unit input shaft (feeder house conveyor shaft) 38, which is provided in front of the threshing unit 7 and has an axial direction in the left-right direction, as a drive shaft supporting the end of the feeding end of the conveyor 36. The rear end of the feeder 30 is supported rotatably relative to the traveling machine body 2, with the reaping unit input shaft 38 as the rotation axis. In addition, a lifting cylinder 39 (see Figure 1), which is a hydraulic cylinder, is interposed between the underside of the feeder house 35 and the machine body frame 6.

[0031] The reaping unit 3 is configured to move up and down by the rotation of the feeder 30 relative to the traveling body 2 as the lifting cylinder 39 extends and retracts. By the lifting and lowering operation of the reaping unit 3, the reaping unit 3 moves up and down around the reaping unit input shaft 38 as a pivot shaft, thereby adjusting the height of the reaping unit 3. The lifting and lowering operation of the reaping unit 3 is operated by a predetermined operating unit provided in the driving unit 15.

[0032] The threshing section 7 and the sorting section 8 will now be described. The threshing section 7 has a threshing drum 40 provided in a threshing chamber 7b with a threshing opening 7a opening to the front, and a receiving net 42 disposed below the threshing drum 40. The threshing chamber 7b is formed by a machine frame provided on the machine frame 6.

[0033] The threshing drum 40 is rotatably supported by a threshing drum shaft 41 (see Figure 4) whose axial direction is the front-to-rear direction. On the upper side of the threshing drum 40, multiple angle-adjustable dust-transfer valves are provided to adjust the transport speed (retention time) of the de-grained grains in the threshing chamber 7b. A receiving net 42 is provided along the outer peripheral surface of the lower part of the threshing drum 40 to allow the grains to drop through.

[0034] The sorting section 8 has a swinging sorting plate 43 as a swinging section arranged below the receiving net 42, a swinging mechanism 44 including a swinging shaft 44a that swings the swinging sorting plate 43 by rotational power from a drive source, a first conveyor 45, a second conveyor 46, and a winnower 47 (see Figure 4). As shown in Figure 4, a pre-fan 71 is provided in front of the winnower 47, and a second fan 72 is provided behind the winnower 47.

[0035] The oscillating sorting plate 43 has components for gravity sorting, such as a feed pan, a chaff sieve located behind the feed pan to adjust the amount of grain leakage, and a grain sieve located below the chaff sieve. The first conveyor 45 is located in the first trough extending in the width direction of the machine body to collect the first grains. The second conveyor 46 is located behind the first conveyor 45 in the second trough extending in the width direction of the machine body to collect the second grains. The winnower 47 blows sorting air from the front lower to the rear upper to the oscillating sorting plate 43.

[0036] A return conveyor 48 is provided on the right side of the machine body where the threshing section 7 and sorting section 8 are located (see Figure 4). The return conveyor 48 is connected to the second conveyor 46 with its lower end located near the second conveyor 46, and its upper end is located near the front end of the threshing drum 40, extending in an upward-facing incline. A grain lifting conveyor 49 extending vertically is provided to the right of the return conveyor 48. The grain lifting conveyor 49 transports the first grain sent by the first conveyor 45 into the grain tank 10.

[0037] The combine harvester 1 having the above-described configuration raises the reaping unit 3 to a desired height (the height at which the culms, which are the harvested crops, are to be reaped) above the ground surface 20 in a field by raising and lowering the feeder 30 with the reaping unit input shaft 38 as the center (support shaft), changes from a non-working state to a working state, and travels in this state on the traveling body 2. As a result, the combine harvester 1 separates the harvested crop into reaping targets and non-reaping targets using the left and right dividing bodies 33, 33, and raks in the pod-bearing portions of the culms on the tip side of the reaping target culms with the raking reel 34 while reaping the pod-bearing portions of the culms with the cutting blade device 32.

[0038] The pod-bearing portions of the stalks harvested at the desired harvesting position are raked into the platform 31 by the rotating raking auger 37, and are collected near the intake port of the feeder house 35 within the platform 31 by the feeding action of the raking auger 37, and are taken into the feeder house 35 through the intake port. The stalks taken into the feeder house 35 are passed through the feeder house 35 by the conveyor 36, and are thrown into the threshing port 7a by the front rotor 26, and are supplied to the threshing section 7.

[0039] The pod-bearing portions of the stalks supplied to the threshing section 7 are threshed by the threshing section 7. Specifically, the stalks supplied to the threshing section 7 are transported rearward by the rotating threshing drum 40 and threshed mainly between the threshing drum 40 and the receiving net 42. Grains that are smaller than the mesh size of the receiving net 42 leak through the receiving net 42. Straw chips that do not leak through the receiving net 42 are discharged into the field through a dust outlet located at the rear of the sorting section 8 by the transporting action of the threshing drum 40.

[0040] Meanwhile, the grains that have been threshed in the threshing section 7 and that have leaked through the receiving net 42 are sorted in the sorting section 8. Specifically, the threshed grains that have been threshed in the threshing drum 40 and that have leaked through the receiving net 42 are sorted by gravity sorting action by the oscillating sorting plate 43 and wind sorting action by the winnower 47 into refined grains and other grains (first grade), a mixture of grains such as grains with stalks and straw (second grade), and straw chips, etc., and are removed.

[0041] The grains (first grain) that fall from the oscillating sorting plate 43 after sorting in the sorting section 8 are transported to the grain tank 10 by the first conveyor 45 and the connected grain lifting conveyor 49. The second grains are returned to the threshing start end of the threshing drum 40 by the second conveyor 46 and the connected return conveyor 48, and are threshed again. Straw dust and the like are discharged into the field from a dust outlet provided at the rear of the sorting section 8.

[0042] Next, the power transmission configuration of the combine harvester 1 according to this embodiment will be described with reference to Figure 4. The combine harvester 1 uses rotational power from an engine 25 to drive the reaping unit 3, traveling unit 22, threshing unit 7, sorting unit 8, and grain storage unit 9.

[0043] The engine 25 has a first output shaft 25a and a second output shaft 25b. The rotational power of the first output shaft 25a is transmitted to the traveling unit 22, the threshing unit 7, the sorting unit 8, and the reaping unit 3. The rotational power of the second output shaft 25b is transmitted to the grain storage unit 9. The engine 25 also has a work implement pump shaft that drives a charge pump 54 that operates the lifting cylinder 39 and the like.

[0044] Regarding the power transmission system to the traveling unit 22, the rotational power of the first output shaft 25a is transmitted to the HST input shaft 52 by the first belt transmission mechanism 51 and input to the transmission 53, which includes the traveling HST and the swing HST. Here, "HST" refers to a hydraulic continuously variable transmission that uses a system in which hydraulic pressure generated by driving a hydraulic pump is converted back into rotational power by a hydraulic motor. The driving force of the transmission 53 rotates the drive sprocket 5a of the crawler unit 5 that constitutes the traveling unit 22.

[0045] Regarding the power transmission system to the threshing unit 7, the rotational power of the first output shaft 25a is transmitted to the threshing unit input shaft 56 by a second belt transmission mechanism 55. The second belt transmission mechanism 55 is provided with a threshing clutch 57 that transmits the rotational power of the first output shaft 25a to the threshing unit input shaft 56 intermittently as desired.

[0046] The rotational power of the threshing unit input shaft 56 is transmitted to the threshing drum input shaft 59 by a third belt transmission mechanism 58. The rotational power of the threshing drum input shaft 59 is transmitted to the threshing drum shaft 41 via a threshing speed change device 60. The threshing speed change device 60 changes the speed of the rotational power input from the threshing drum input shaft 59 to the threshing drum shaft 41, for example, between two stages, high speed and low speed.

[0047] With this configuration, the driving force of the engine 25 is transmitted to the threshing unit 7. Then, by operating the work clutch lever provided on the driving unit 15, the threshing clutch 57 is turned ON / OFF, thereby interrupting the transmission of power to the threshing unit 7.

[0048] With regard to the power transmission system to the sorting section 8, the threshing section input shaft 56 has a support shaft portion for the winnower 47, and the rotational power of the threshing section input shaft 56 is transmitted to a pulley rotor 63 journaled on a threshing intermediate shaft 62 by a fourth belt transmission mechanism 61. The rotational power of the pulley rotor 63 is transmitted to the pre-fan 71 and the winnower 47 by a predetermined transmission mechanism. In addition, the rotational power of the threshing section input shaft 56 is transmitted to the respective rotational shafts of the first conveyor 45, the second fan 72 and the second conveyor 46 by a predetermined transmission mechanism.

[0049] The rotational power of the first conveyor 45 is transmitted to the grain lifting conveyor 49 by a predetermined transmission mechanism. The rotational power of the second conveyor 46 is transmitted to the swing shaft 44a of the swing mechanism 44 by a fifth belt transmission mechanism 64. The rotational power of the second conveyor 46 is transmitted to the return conveyor 48 via a bevel gear.

[0050] With regard to the power transmission system to the reaping unit 3, the rotational power of the pulley rotor 63 is transmitted to the front rotor shaft 28 by a sixth belt transmission mechanism 73. The sixth belt transmission mechanism 73 is provided with a reaping clutch 75 that optionally transmits the rotational power of the pulley rotor 63 to the front rotor shaft 28. The rotational power of the front rotor shaft 28 is transmitted to the reaping unit input shaft 38 by a first chain transmission mechanism 65. The rotational drive of the reaping unit input shaft 38 operates the conveyor 36 in the feeder house 35.

[0051] The rotational power of the cutting unit input shaft 38 is transmitted to a PF (platform) drive shaft 67 by a second chain transmission mechanism 66. The rotational power of the PF drive shaft 67 is transmitted to a PF auger shaft 37a that rotates the sweeping auger 37 via a third chain transmission mechanism 68. The rotational power of the PF drive shaft 67 is also transmitted to a cutting blade drive shaft 32a that drives the cutting blade device 32 via a seventh belt transmission mechanism 69. The rotational power of the PF drive shaft 67 is also transmitted to a reel shaft 34b that rotates the sweeping reel 34 by a fourth chain transmission mechanism 76 that includes a reel counter shaft 70.

[0052] With this configuration, the driving force of the engine 25 is transmitted to the reaping unit 3. Then, by operating the work clutch lever provided on the driving unit 15, the reaping clutch 75 is turned on / off, thereby connecting and disconnecting the power transmission to the reaping unit 3.

[0053] With regard to the power transmission system to the grain storage section 9, the rotational power of the second output shaft 25b is transmitted to the lower discharge conveyor 11 by a power transmission mechanism including a grain tank intermediate shaft 77, and the rotational power of the lower discharge conveyor 11 is transmitted to the vertical transport conveyor 12 via a bevel gear. The rotational power of the vertical transport conveyor 12 is transmitted to the grain discharge conveyor 13 by a predetermined transmission mechanism. The grain storage section 9 is equipped with a suction fan 78 and a compressor 79, which are driven by the rotational power transmitted from the grain tank intermediate shaft 77.

[0054] As shown in FIG. 8, the combine harvester 1 includes a control unit 50. The control unit 50 controls each unit of the combine harvester 1 based on input signals from various sensors and the like included in the combine harvester 1. The control unit 50 includes a central processing unit (CPU) that serves as a calculation processing device that performs various calculation processes and control, a storage device that serves as a storage device such as a random access memory (RAM) or a read-only memory (ROM), an input / output device (input / output circuit) that serves as an input / output unit such as an input / output interface for data input / output, and peripheral circuits such as a clock circuit, all connected via a bus or the like. The CPU of the control unit 50 performs calculation processes in accordance with various programs, including a positioning program, stored in the ROM or the like.

[0055] The control unit 50 is configured to include, for example, a plurality of microcomputer units interconnected so as to be able to communicate with each other via a controller area network (CAN). However, the configuration of the control unit 50 is not particularly limited. The control unit 50 is provided in a predetermined location in the combine harvester 1, such as the machine body 21.

[0056] As shown in Fig. 5, the combine harvester 1 is provided with lifting cylinders 101 provided for each of the left and right crawler units 5 as tilting drive devices for tilting the machine body 21 left and right relative to the traveling units 22. The lifting cylinders 101 are so-called hydraulic cylinder mechanisms for rolling. Hydraulic oil in a hydraulic oil tank provided in the combine harvester 1 is supplied to each lifting cylinder 101 via a control valve or the like by driving a charge pump 54 (see Fig. 4).

[0057] Each crawler unit 5 is connected to the chassis 23 so as to be able to move up and down by a parallel link-like connecting mechanism made up of front and rear arms pivotally supported on the track frame 5b. The lifting cylinder 101 is provided between the crawler unit 5 and the chassis 23, with one end and the other end connected to the crawler unit 5 side and the chassis 23 side via predetermined support members, respectively.

[0058] The left and right lift cylinders 101 are configured to change the left and right tilt state of the machine body 21 relative to the running section 22 by their extension and retraction movements. That is, by extending the left lift cylinder 101L relative to the right lift cylinder 101R, of the left and right lift cylinders 101, the left side of the machine body 21 rises and the machine body 21 tilts to the right (downward to the right) (see FIG. 6). Conversely, by extending the right lift cylinder 101R relative to the left lift cylinder 101L, of the left and right lift cylinders 101, the right side of the machine body 21 rises and the machine body 21 tilts to the left (downward to the left).

[0059] Furthermore, the extension and contraction of the left and right lifting cylinders 101 causes the machine body 21 to rise and fall relative to the running section 22, thereby changing the vehicle height. In other words, by extending and contracting the lifting cylinders 101 while maintaining the extension and contraction states of the left and right lifting cylinders 101 in common, the height position of the machine body 21 relative to the running section 22 changes.

[0060] 5 and 6 are rear views schematically illustrating the configuration of the combine harvester 1 and the arrangement of the lifting cylinders 101. Fig. 5 shows the combine harvester 1 in a state where the ground 20 on which the combine harvester 1 is in contact is horizontal and the machine body 21 is parallel to the running parts 22 (ground parallel state). Here, the ground parallel state of the machine body 21 is a state where the left and right lifting cylinders 101 are in the same extension and contraction state, and the amount of lifting of the machine body 21 relative to the running parts 22 by the left and right lifting cylinders 101, in other words, the amount of lifting of the left and right crawler parts 5 relative to the machine body 21, is the same.

[0061] The extension and contraction states of the left and right lifting cylinders 101 in the ground parallel state, i.e., the height position of the machine body 21 relative to the running section 22, are not particularly limited. In this embodiment, the ground parallel state is defined as the extension and contraction state in which the left and right lifting cylinders 101 position the machine body 21 at the lowest end relative to the running section 22, i.e., the extension and contraction state in which the vehicle height is lowest.

[0062] 6 shows a state in which the ground 20 on which the combine harvester 1 is in contact is a downwardly inclined surface 20A to the left, and the combine harvester 1 has the machine body 21 inclined to the right relative to the running section 22. As shown in FIG. 6, the inclination angle of the machine body 21 relative to the running section 22 in the left-right direction is referred to as the "running section inclination angle α." FIG. 6 shows a state in which the machine body 21 is inclined to the right with the magnitude of the running section inclination angle α being an angle θ1.

[0063] As shown in Fig. 5, the combine harvester 1 is also equipped with a main inclination sensor 102, which is an inclination sensor for detecting the inclination angle of the main body 21 in the left-right direction of the machine. The main inclination sensor 102 is a so-called rolling inclination sensor, and detects the inclination angle of the main body 21 in the left-right direction relative to the horizontal direction. The inclination angle information detected by the main inclination sensor 102 includes information on the inclination direction.

[0064] As shown in Figure 6, the inclination angle of the aircraft body 21 in the left-right direction of the aircraft detected by the aircraft-side inclination sensor 102 is referred to as the "aircraft inclination angle β." The aircraft inclination angle β is the inclination angle of the aircraft body 21 with respect to the horizontal direction H0 in the left-right direction. Figure 6 shows a state in which the magnitude of the aircraft inclination angle β is angle θ2, and the aircraft body 21 is inclined to the left with respect to the horizontal direction.

[0065] The machine-side tilt sensor 102 is connected to an input device (input circuit) of the control unit 50 via a cable including signal lines and the like (see FIG. 8), and the detection signal from the machine-side tilt sensor 102 is sent to the control unit 50. There are no limitations on the type of machine-side tilt sensor 102. The machine-side tilt sensor 102 may be, for example, a capacitance-type liquid level sensor that detects changes in the liquid level due to tilt as changes in capacitance, a pendulum-type sensor, a gyro sensor, or the like.

[0066] The machine-side tilt sensor 102 is provided on the machine body 21. The machine-side tilt sensor 102 is disposed, for example, at a central position in the width direction of the machine on the chassis 23 that constitutes the machine body 21. Note that the position of the machine-side tilt sensor 102 on the machine body 21 is not particularly limited.

[0067] (Aircraft level control) The combine harvester 1 configured as described above has a machine body horizontal control function that automatically controls the left and right tilt of the machine body to keep it horizontal in accordance with the inclination of the ground surface 20. The machine body horizontal control is performed based on the detection value of the machine-side tilt sensor 102 installed on the machine body to detect the machine body tilt angle β (see Figure 6).

[0068] The combine harvester 1 is equipped with a machine-side tilt sensor 102 and a control unit 50 to control the machine body level (see FIG. 8). In this configuration, the control unit 50 receives a detection signal from the machine-side tilt sensor 102 and, based on the detection signal, controls the extension and retraction of the left and right lifting cylinders 101 so that the machine body 21 is kept horizontal, i.e., so that the machine body tilt angle β becomes zero.

[0069] As shown in Fig. 8, the operation of each of the left and right lift cylinders 101 is controlled by controlling the operation of solenoid valves 115, which are control valves. In the vehicle level control, the control unit 50 controls the operation of each solenoid valve 115 based on the detection signal of the vehicle-side tilt sensor 102, thereby controlling the extension and retraction of each lift cylinder 101. In the vehicle level control, the operation of the left and right lift cylinders 101 is controlled so that the value of the vehicle tilt angle β is maintained within a predetermined set range.

[0070] That is, when the control unit 50 detects that the value of the machine body tilt angle β detected by the machine-side tilt sensor 102 is outside a predetermined set range as the machine body 21 tilts to the left, it tilts the machine body 21 to the right by extending at least one of the lift cylinders 101L and retracting the lift cylinders 101R, thereby controlling the value of the machine body tilt angle β to be within the set range. Similarly, when the control unit 50 detects that the value of the machine body tilt angle β is outside the set range as the machine body 21 tilts to the right, it tilts the machine body 21 to the left by retracting at least one of the lift cylinders 101L and retracting the lift cylinders 101R, thereby controlling the value of the machine body tilt angle β to be within the set range.

[0071] Regarding the aircraft body level control, the driving unit 15 is provided with a level control selector switch 103, which is a selector operating unit for switching the operation of the aircraft body level control between ON and OFF (see FIG. 8). The level control selector switch 103 is electrically connected to the input side of the control unit 50. By turning the level control selector switch 103 ON, the aircraft body level control is activated, and by turning the level control selector switch 103 OFF, the aircraft body level control is terminated.

[0072] The driving unit 15 is also provided with a tilt angle adjustment dial 104, which is a manual operation unit for manually adjusting the left and right tilt angle of the machine body 21 (see FIG. 8). The tilt angle adjustment dial 104 is electrically connected to the input side of the control unit 50. The tilt angle adjustment dial 104 is provided so that, for example, when rotated leftward in accordance with the tilt direction of the machine body, the machine body 21 tilts to the left, and when rotated rightward, the machine body 21 tilts to the right.

[0073] By manually operating the tilt angle adjustment dial 104, the operation of the solenoid valves 115 of the left and right lift cylinders 101 is controlled via the control unit 50, thereby tilting the machine body 21 to the left or right. The control unit 50 is configured to prioritize manual machine body tilt operation using the tilt angle adjustment dial 104 during machine body level control. Note that in machine body level control, the angle set by the tilt angle adjustment dial 104 so that the machine body 21 is in an inclined state may be used as a set reference angle, and control may be performed so that the value of the machine body tilt angle β detected by the machine-side tilt sensor 102 is maintained at the set reference angle.

[0074] The driving unit 15 is provided with a threshing clutch lever 105, which is an operation clutch lever, as an operation unit related to machine body level control (see Figure 8). The threshing clutch lever 105 is electrically connected to the input side of the control unit 50. The threshing clutch lever 105 has an "ON position" and an "OFF position" as operation positions; by operating the threshing clutch lever 105 to the ON position, the threshing clutch 57 is engaged and the threshing unit 7 is activated, and by operating the threshing clutch lever 105 to the OFF position, the threshing clutch 57 is disengaged and the threshing unit 7 is stopped. The driving unit 15 is also provided with a reaping clutch lever (not shown) as another operation clutch lever for engaging and disengaging the reaping clutch 75.

[0075] The control unit 50 performs machine body level control on the condition that the threshing clutch lever 105 is in the ON position. As a basic control mode for machine body level control, the control unit 50 stops machine body level control when the threshing clutch lever 105 is operated to the OFF position during machine body level control.

[0076] The threshing clutch lever 105 is an example of an operating member that releases the horizontal control of the machine body by the control unit 50 when a predetermined release operation is performed during the horizontal control of the machine body by the control unit 50. Here, the release operation for the threshing clutch lever 105 is an operation to move the threshing clutch lever 105 from the ON position to the OFF position (clutch OFF operation).

[0077] As described above, the control unit 50 performs machine level control, which controls the left and right lifting cylinders 101 to maintain the horizontal state of the machine body 21, based on the machine body inclination angle β detected by the machine-side inclination sensor 102. Then, the control unit 50 basically cancels the automatic machine body level control when the threshing clutch 57 is disengaged by operating the threshing clutch lever 105.

[0078] According to this control mode, when the threshing clutch lever 105 is turned OFF while the machine body level control is in operation, the machine body level control is released and the combine harvester 1 becomes parallel to the ground (see arrow A1 in Figure 6). Figure 6 shows the case where the machine body 21, which is tilted to the right at an angle θ1 with respect to the running part 22, becomes parallel to the ground, and the machine body 21 in the parallel to the ground state is shown by a two-dot chain line.

[0079] In this configuration in which the machine body becomes parallel to the ground when the threshing clutch lever 105 is turned OFF, if the inclination angle of the inclined surface 20A is relatively large, the combine 1 is affected by the ground inclination of the inclined surface 20A, which had been mitigated by the machine body horizontal control, and the inclination angle of the entire machine body may become larger than expected.

[0080] Therefore, the control unit 50 is configured to perform control to maintain the controlled state of the machine body horizontal control (hereinafter referred to as "machine body horizontal control maintenance control") without releasing the machine body horizontal control even when the threshing clutch lever 105 is turned OFF under specified conditions.

[0081] In the aircraft level control and maintenance control, a ground inclination angle γ, which corresponds to the inclination angle in the left-right direction of the aircraft body 21 when the aircraft body is parallel to the ground, is used (see FIG. 6). As shown in FIG. 6, the ground inclination angle γ is the inclination angle of the inclined surface 20A relative to the horizontal direction H0 in the left-right direction of the aircraft body. FIG. 6 shows a state in which the magnitude of the ground inclination angle γ is an angle θ3, and the inclined surface 20A is inclined downward to the left.

[0082] As shown in FIG. 8, the combine harvester 1 is equipped with stroke sensors 106 for the left and right lift cylinders 101 as a component for controlling and maintaining the machine body level. That is, the combine harvester 1 is equipped with a stroke sensor 106L for the left lift cylinder 101L and a stroke sensor 106R for the right lift cylinder 101R. The left and right stroke sensors 106 are used to detect the ground inclination angle γ. The ground inclination angle γ corresponds to the inclination angle of the running section 22 relative to the horizontal direction H0 in the left-right direction of the machine body.

[0083] The left and right stroke sensors 106 are connected to the control unit 50 via cables including signal lines and the like (see FIG. 8). The stroke sensors 106 are potentiometer-type sensors. The stroke sensors 106 detect the extension length (amount of expansion and contraction) of the lifting cylinder 101 and output the detection signal as an electric signal (voltage value). The configuration of the stroke sensors 106 is not limited.

[0084] The stroke sensor 106 is provided for the corresponding lift cylinder 101. The stroke sensor 106 is disposed, for example, at the base portion (bottom side portion) of the lift cylinder 101, which is the portion on the track frame 5b side. Note that the configuration and arrangement position of the stroke sensor 106 are not particularly limited.

[0085] The ground tilt angle γ is calculated based on the detection values ​​of the left and right stroke sensors 106 and the detection value of the machine-side tilt sensor 102. The value of the running unit tilt angle α is calculated from the difference in the amount of extension and contraction of the left and right lift cylinders 101 based on the detection values ​​(voltage values) of the left and right stroke sensors 106. The machine-side tilt sensor 102 also detects the value of the machine body tilt angle β. The sum of the running unit tilt angle α and the machine body tilt angle β is then calculated as the ground tilt angle γ.

[0086] 6, the sum of angle θ1, which is the value of running unit tilt angle α, and angle θ2, which is the value of machine body tilt angle β, is calculated as angle θ3, which is the value of ground tilt angle γ (θ1 + θ2 = θ3). Note that if the tilt direction of the machine body main body 21 forming machine body tilt angle β is opposite to the tilt direction of ground tilt angle γ, the difference between the value of running unit tilt angle α and the value of machine body tilt angle β is calculated as the value of ground tilt angle γ (θ1 - θ2 = θ3).

[0087] In this way, the control unit 50 predicts the inclination of the ground surface 20 (inclined surface 20A) from the detection value of the machine-side inclination sensor 102 provided on the chassis 23 and the extension and contraction amounts of the left and right lift cylinders 101. That is, the control unit 50 calculates the inclination of the chassis 23 with respect to the ground surface 20 (the value of the inclination angle α relative to the running unit) based on the extension and contraction amounts of the left and right lift cylinders 101 detected by the left and right stroke sensors 106, and calculates the value of the ground surface inclination angle γ from the calculated value of the inclination angle α relative to the running unit and the inclination of the chassis 23 detected by the machine-side inclination sensor 102 (the value of the machine body inclination angle β).

[0088] As shown in Fig. 7, the combine harvester 1 may be configured to detect the ground inclination angle γ using a run-section-side inclination sensor 116 provided on the run section 22. In the example shown in Fig. 7, the combine harvester 1 is equipped with a run-section-side inclination sensor 116 for detecting the inclination angle of the run section 22 in the left-right direction.

[0089] The run-unit-side tilt sensor 116 serves as a second tilt sensor, with the machine-side tilt sensor 102 functioning as the first tilt sensor. The run-unit-side tilt sensor 116 detects the run-unit tilt angle, which is the tilt angle of the run unit 22 in the left-right direction relative to the horizontal. The information about the run-unit tilt angle detected by the run-unit-side tilt sensor 116 includes information about the tilt direction.

[0090] The running unit inclination angle detected by the running unit-side inclination sensor 116 corresponds to the inclination angle in the left-right direction of the machine body 21 when the machine body is parallel to the ground. Therefore, the inclination angle detected by the running unit-side inclination sensor 116 corresponds to the ground inclination angle γ.

[0091] The running unit tilt sensor 116 is connected to an input device (input circuit) of the control unit 50 via a cable including signal lines, etc., and a detection signal from the running unit tilt sensor 116 is sent to the control unit 50. There are no limitations on the type of running unit tilt sensor 116. The running unit tilt sensor 116 may be, for example, a capacitance-type liquid level sensor that detects changes in the liquid level due to tilt as changes in capacitance, a pendulum-type sensor, a gyro sensor, or the like.

[0092] The running unit-side inclination sensor 116 is provided on the running unit 22. The running unit-side inclination sensor 116 is disposed, for example, at the center in the width direction of the machine body on a link frame 29 that is installed parallel to the ground between the left and right crawler units 5 that constitute the running unit 22. The link frame 29 is, for example, a linear frame portion extending in the left-right direction, and is provided by fixing both ends of a square pipe-shaped frame member to the track frames 5b of each of the left and right crawler units 5 of the machine body by bolts, welding, or the like. The link frame 29 has a horizontal upper surface 29a, and the running unit-side inclination sensor 116 is installed on this upper surface 29a. Note that the configuration for disposing the running unit-side inclination sensor 116 on the running unit 22 and its location are not particularly limited.

[0093] In this way, by providing the running section inclination sensor 116 on the running section 22, the ground inclination angle γ can be detected directly and simply as the output value of the running section inclination sensor 116. Furthermore, by providing the running section inclination sensor 116, the detection values ​​of the left and right stroke sensors 106 are not required to detect the ground inclination angle γ, making it possible to realize a simple detection configuration.

[0094] Using the ground inclination angle γ calculated or detected as described above, the control unit 50 performs the following control to maintain the machine body level: That is, when the ground inclination angle γ is equal to or greater than a predetermined angle, the control unit 50 performs control to maintain the machine body level, prior to releasing the machine body level control by the threshing clutch lever 105 being subjected to the clutch OFF operation.

[0095] In the aircraft horizontality control and maintenance control, a set tilt angle θa, which is a predetermined angle for the ground tilt angle γ, is set in advance and stored in a storage device or the like in the control unit 50. The value of the set tilt angle θa is set as a predetermined value within the range of 10° to 15°, for example.

[0096] When the ground inclination angle γ is equal to or greater than the set inclination angle θa during execution of the machine body level control, the control unit 50 maintains the control state of the machine body level control even if the threshing clutch lever 105 is turned OFF. On the other hand, when the ground inclination angle γ is less than the set inclination angle θa during execution of the machine body level control, the control unit 50 stops the machine body level control as usual when the threshing clutch lever 105 is turned OFF.

[0097] In addition, in the aircraft level control and maintenance control, the control unit 50 is configured to issue an alarm during control to maintain aircraft level control.

[0098] 8, the combine harvester 1 has an alarm buzzer 111 that generates an alarm sound, a monitor 112 that is a display device such as a liquid crystal monitor, and an alarm lamp 113 that emits an alarm light, all of which are electrically connected to the output device (output circuit) of the control unit 50. The alarm buzzer 111 is installed so that the alarm sound it emits can be heard by the operator sitting in the driver's seat 17. The monitor 112 and the alarm lamp 113 are also arranged in the driver's section 15 at positions visible to the operator sitting in the driver's seat 17.

[0099] Based on the generated control signal, the control unit 50 controls the alarm buzzer 111, the monitor 112, and the alarm lamp 113. The control unit 50 has, as functional units, a buzzer control unit that controls the alarm buzzer 111, a monitor control unit that controls the monitor 112, and a lamp control unit that controls the alarm lamp 113.

[0100] In this configuration, when the threshing clutch lever 105 is turned OFF while the ground inclination angle γ is equal to or greater than the set inclination angle θa during execution of the machine body horizontal control, the control unit 50 maintains the control state of the machine body horizontal control and issues an alarm using at least one of the alarm buzzer 111, monitor 112, and alarm lamp 113.

[0101] Specifically, the control unit 50 alerts the operator by generating an alarm sound from the alarm buzzer 111, displaying a warning message such as "Warning" or "Be careful of inclined surfaces" on the monitor 112, or turning on the red alarm lamp 113. This notifies the operator that the ground inclination angle γ is equal to or greater than the set inclination angle θa (the inclination of the ground 20 is close to the maximum allowable value) and that aircraft horizontal control will continue.

[0102] In addition, in the control for maintaining the machine horizontality, the control unit 50 is configured to change the set inclination angle θa for the ground inclination angle γ in accordance with the storage amount detected by a storage amount detection sensor 114 provided for the grain tank 10 (see FIG. 2). That is, the combine harvester 1 is equipped with the grain tank 10 provided in the grain storage section 9 for storing grains, and the storage amount detection sensor 114 for detecting the storage amount of grains in the grain tank 10 (hereinafter referred to as "grain storage amount"). The control unit 50 controls the change of the set inclination angle θa based on the detection value (detection signal) of the storage amount detection sensor 114.

[0103] As shown in Fig. 9, the storage amount detection sensor 114 is provided inside the grain tank 10. In the example shown in Fig. 9, the storage amount detection sensor 114 is provided on the top surface 10a of the grain tank 10. In this embodiment, the storage amount detection sensor 114 is an ultrasonic sensor that uses ultrasonic waves to detect the amount of stored grain.

[0104] The storage amount detection sensor 114 has a transmitter 114a that emits ultrasonic waves and a receiver 114b that receives reflected waves, and is provided with these transmitter 114a and receiver 114b facing downward. The storage amount detection sensor 114 irradiates ultrasonic waves from transmitter 114a to the upper surface 120a of the grains 120 stored in the grain tank 10, and receives the reflected waves reflected from the upper surface 120a by receiver 114b.

[0105] The storage amount detection sensor 114 is configured to detect the height of the upper surface 120a of the grains stored in the grain tank 10 based on the time from when the ultrasonic wave is transmitted to when the reflected wave is received. In other words, the height of the upper surface 120a of the grains in the grain tank 10 is detected as the grain storage amount. The grain storage amount may also be detected as the filling rate of the grains relative to the storage space of the grain tank 10.

[0106] The storage amount detection sensor 114 is connected to an input device (input circuit) of the control unit 50 via a cable including a signal line etc. (see FIG. 8), and a detection signal from the storage amount detection sensor 114 is sent to the control unit 50. Note that the storage amount detection sensor 114 may be any sensor capable of detecting the amount of stored grain, and the type, configuration, placement position etc. of the storage amount detection sensor 114 are not particularly limited.

[0107] The control unit 50 changes the set inclination angle θa for the ground inclination angle γ depending on the amount of stored grain detected by the storage amount detection sensor 114. In the machine body horizontality maintenance control, the control unit 50 sets the set inclination angle θa to a smaller value as the amount of stored grain increases, and sets the set inclination angle θa to a larger value as the amount of stored grain decreases.

[0108] The control for changing the set tilt angle θa is, for example, as follows: The control unit 50 sets a plurality of storage amount ranges by dividing the range from the minimum value to the maximum value at predetermined intervals for the stored grain amount detected by the stored grain amount detection sensor 114, and sets the value of the set tilt angle θa corresponding to each storage amount range. Then, the control unit 50 performs control to maintain the machine level using the set tilt angle θa corresponding to the storage amount range that the stored grain amount detected by the stored grain amount detection sensor 114 falls into.

[0109] According to this control mode, the set tilt angle θa changes in stages according to the amount of stored grain detected by the storage amount detection sensor 114. Specifically, for example, a first storage amount range R1, a second storage amount range R2, and a third storage amount range R3 are set for a plurality of storage amount ranges in order from smallest to largest storage amounts, and the numerical range of the grain storage amount is assumed to be divided into three ranges.

[0110] In this case, the magnitude relationship of the set tilt angle θa set for each storage amount range is as follows: the first set tilt angle θa1 set for the first storage amount range R1, the second set tilt angle θa2 set for the second storage amount range R2, and the third set tilt angle θa3 set for the third storage amount range R3. (θa1>θa2>θa3) As an example, each set tilt angle θa is set as follows: the first set tilt angle θa1 = 12°, the second set tilt angle θa2 = 11°, the third set tilt angle θa3 = 10°, etc.

[0111] The greater the amount of grain stored in the grain tank 10, the higher the position of the center of gravity of the grain tank 10 and, in turn, the position of the center of gravity of the traveling body 2, making the combine 1 more susceptible to the inclination of the ground surface 20. Therefore, by controlling the change in the set inclination angle θa so that the value of the set inclination angle θa decreases as the amount of grain stored increases, the machine level control maintenance control is activated even when the ground surface inclination angle γ is a relatively small angle.

[0112] (An example of aircraft horizontal control and maintenance control) An example of the control for maintaining the aircraft level will be described with reference to the flowchart shown in Fig. 10. Fig. 10 is a flowchart showing an example of the control mode of the control for maintaining the aircraft level.

[0113] The control described below is performed by the CPU of the control unit 50 reading and executing a predetermined control program stored in a storage device such as a RAM.

[0114] As shown in Figure 10, when the combine harvester 1 is operating, the level control selector switch 103 is turned ON (S10), causing the control unit 50 to activate the machine body level control (S20). Note that while the combine harvester 1 is operating, the threshing clutch lever 105 is in the ON position. During the machine body level control, the control unit 50 determines whether the threshing clutch lever 105 has been turned OFF (S30).

[0115] In step S30, if the control unit 50 determines that the threshing clutch lever 105 has been turned OFF (S30, Yes), it determines whether the ground inclination angle γ calculated based on the detection values ​​of the machine-side inclination sensor 102 and the left and right stroke sensors 106 is equal to or greater than the set inclination angle θa (S40). Here, in a configuration equipped with the travel unit-side inclination sensor 116, the control unit 50 appropriately uses the ground inclination angle γ detected by the travel unit-side inclination sensor 116. In step S30, the control unit 50 maintains the operating state of the machine body level control unless it determines that the threshing clutch lever 105 has been turned OFF (S30, No).

[0116] In step S40, if the control unit 50 determines that the ground inclination angle γ is equal to or greater than the set inclination angle θa (S40, Yes), the control unit 50 maintains the controlled state of the aircraft horizontal control and issues an alarm using the alarm buzzer 111 or the like (S50). The control unit 50 continues the processing of step S50 as long as the ground inclination angle γ is equal to or greater than the set inclination angle θa.

[0117] On the other hand, in step S40, if the control unit 50 determines that the ground inclination angle γ is not equal to or greater than the set inclination angle θa (less than the set inclination angle θa) (S40, No), it stops the machine body level control (S60). In this case, the control unit 50 determines that the ground inclination angle γ is an angle that does not cause any problems with respect to the inclination of the machine body, and performs control to stop the machine body level control in response to the OFF operation of the threshing clutch lever 105, as a basic control mode of the machine body level control. As a result, the control state by the control unit 50 returns to the state before the operation of the machine body level control. Note that the control unit 50 controls the set inclination angle θa used in step S40 to change the set inclination angle θa based on the amount of stored grain detected by the storage amount detection sensor 114.

[0118] In the above-described configuration for controlling and maintaining the machine level, the control unit 50 has a function of recording and mapping points where the ground inclination angle γ is equal to or greater than the set inclination angle θa based on position information at the work site. Regarding the mapping of the ground inclination angle γ, the set inclination angle θa is set to a constant value regardless of factors such as the amount of stored grain. Furthermore, if multiple values ​​for the set inclination angle θa are set depending on factors such as the amount of stored grain, one of the set inclination angles θa is selected and used as a comparison target for the ground inclination angle γ.

[0119] 1, 3, and 8, the combine harvester 1 includes an antenna unit 150 for receiving position information from a satellite as a component for mapping the ground inclination angle γ. The antenna unit 150 is an example of a device for receiving position information at a work site.

[0120] The antenna unit 150 is provided near the upper left side of the left side surface of the cabin 16 and is supported by a support member such as a bent pipe-shaped support frame 110 relative to the cabin 16. The antenna unit 150 has a box-like shape that is approximately rectangular in plan view, and is provided with its longitudinal direction aligned with the front-to-rear direction. The antenna unit 150 is provided at approximately the same height as the roof of the cabin 16 in the vertical direction.

[0121] The antenna unit 150 is configured as a positioning unit that receives radio waves from positioning satellites and measures the position of the combine harvester 1. The antenna unit 150 includes a receiving device 151 as a receiving section, an inertial navigation system 152 as a computing section, a wireless communication device 153 as a communication section, and a case 154 that houses these devices. The antenna unit 150, including the control unit 50 provided in the combine harvester 1, configures an automatic steering system for the combine harvester 1.

[0122] The receiving device 151 receives radio waves from positioning satellites, converts the received radio waves into signals, and transmits them to the inertial navigation system 152. The receiving device 151 is, for example, a GNSS receiver (GNSS antenna) that receives radio waves from a group of GNSS satellites, or a GPS receiver (GPS antenna) that receives radio waves from GPS (Global Positioning System) satellites.

[0123] The inertial navigation system 152 is an inertial measurement unit (IMU) that measures acceleration in three directions using a three-axis gyro and calculates attitude and orientation data. The inertial navigation system 152 also calculates position data based on signals transmitted from the receiving device 151. The inertial navigation system 152 functions as a calculation device that calculates position data based on position information from the receiving device 151. For example, by incorporating a GNSS receiver in the inertial navigation system 152, the reliability of the attitude and orientation data calculated by the inertial navigation system 152 is improved.

[0124] By including the inertial navigation system 152, the antenna unit 150 can utilize inertial navigation, which calculates and determines positioning based on the acceleration in three directions detected by the inertial navigation system 152, even in situations where radio waves from positioning satellites cannot be received due to bad weather, radio interference, etc.

[0125] The wireless communication device 153 transmits the position data and attitude direction data calculated by the inertial navigation system 152 to an external device via wireless communication. The wireless communication device 153 is, for example, a data communication device using a wireless LAN (Local Area Network) or mobile communication. The data transmitted from the wireless communication device 153 is received by, for example, a mobile terminal carried by the operator or an ECU (Electronic Control Unit) of the combine harvester 1, and is used to confirm the position in the field and the attitude of the combine harvester 1 (tilts in the forward, backward, left, and right directions, etc.).

[0126] The case 154 has a box-like outer shape that is substantially rectangular in plan view, and forms the outer shape of the antenna unit 150. The case 154 houses a receiving device 151, an inertial navigation system 152, and a wireless communication device 153.

[0127] As described above, the antenna unit 150 is configured as an integrated unit in which the receiving device 151, the inertial navigation system 152, and the wireless communication device 153 are housed within the case 154.

[0128] The positioning data (position data and attitude direction data) acquired by the antenna unit 150 is used to control the autonomous combine harvester 1, which performs work while autonomously traveling along a predetermined route. The position data is used, for example, to determine whether the combine harvester 1 is traveling along a predetermined route. The attitude direction data is used, for example, to recognize the inclination of the combine harvester 1, thereby checking the traveling state of the combine harvester 1 and the state of the field. In addition, an operator can send real-time instructions to the combine harvester 1 by receiving transmission data from the wireless communication device 153 on the control terminal 100 or the like.

[0129] As described above, the combine harvester 1 includes the antenna unit 150 as a device for receiving position information in a farm field, which is the work site. The configuration of the antenna unit 150 is not limited to this embodiment. For example, the configuration of the antenna unit 150 may be such that the inertial navigation system 152 is omitted by providing the receiving device 151 with the function of a calculation unit that calculates position data from the position information received by the receiving device 151.

[0130] The control unit 50 receives an input of a signal from the inertial navigation system 152, and determines the attitude, direction, etc. of the combine 1 based on the input signal. The control unit 50 also receives an input of a signal from a wireless communication device 153. The control unit 50 is configured to be able to transmit its output signal to a wireless communication terminal such as a control terminal 100.

[0131] As shown in Fig. 8, the combine harvester 1 is equipped with a correction information terminal 140 as a correction information device. The correction information terminal 140 is a device that receives positioning correction information, which is correction information for correcting the position information (positioning information) received by the antenna unit 150, from a base station 400, which is a reference station located outside the field 5. An antenna 141 for receiving information from the base station 400 is connected to the correction information terminal 140. The antenna 141 is used by the correction information terminal 140 to receive information from the base station 400.

[0132] The combine 1 functions as a mobile station in relation to the base station 400, and constitutes a communication system together with the base station 400. The combine 1 constantly receives positioning correction information from the base station 400, corrects the position information received by the antenna unit 150 based on the received positioning correction information, and acquires its own positioning information with high accuracy.

[0133] The base station 400 is a fixed base station installed at a predetermined reference position outside the field. The base station 400 may be, for example, a base station independently established by a telecommunications carrier or a base station established by a local government or the like. The base station 400 calculates the difference between its own positioning information calculated based on GNSS satellite signals received from, for example, multiple GNSS satellites (positioning satellites) at predetermined time intervals and its own previously recognized position information, and transmits this difference information as positioning correction information. The base station 400 includes an antenna for receiving satellite signals used to calculate its own positioning information, and a wireless communication device for transmitting and receiving various signals to and from the antenna 141 of the correction information terminal 140 on the combine harvester 1.

[0134] The base station 400 continuously generates positioning correction information, for example, at a preset cycle, and transmits a signal including the generated positioning correction information to the correction information terminal 140 of the combine 1 via a wireless communication device. The correction information terminal 140 processes the signal including the positioning correction information received by the antenna 141 and acquires the positioning correction information. The positioning correction information acquired by the correction information terminal 140 is used to correct the positioning information acquired by the antenna unit 150.

[0135] In the combine harvester 1, the control unit 50 corrects the positioning information acquired by the antenna unit 150 using positioning correction information transmitted from the base station 400, and calculates and acquires the current position information of the combine harvester 1. The control unit 50 acquires, for example, latitude and longitude information as the current position information of the traveling body 2 of the combine harvester 1.

[0136] In this way, the correction information terminal 140 corrects the positioning information using the positioning correction information from the base station 400, thereby making it possible to acquire the position of the traveling machine body 2 with high accuracy. The positioning information corrected by the positioning correction information is used for the autonomous traveling of the combine harvester 1.

[0137] The combine harvester 1 according to this embodiment can apply a positioning method using a positioning system, in which satellite positioning information of the combine harvester 1 (mobile station) is corrected using correction information from a base station 400 to determine the current position of the combine harvester 1. As the positioning technology, various positioning methods such as D (differential)-GPS positioning and RTK (real-time kinematic)-GPS positioning can be applied.

[0138] The combine harvester 1 can be driven automatically or manually. When driven automatically, the combine harvester 1 drives along a preset automatic driving route while controlling the steering mechanism and other components with the control unit 50. When driven manually, the combine harvester 1 drives while the operator controls and operates each component.

[0139] The combine harvester 1 has two operating modes: an automatic operating mode in which harvesting work is performed while the combine harvester 1 is automatically traveling, and a manual operating mode in which harvesting work is performed while the combine harvester 1 is manually traveling. The combine harvester 1 has, as a functional part of the control unit 50, an operating mode switching part for switching between the automatic operating mode and the manual operating mode.

[0140] The control unit 50 controls switching between the automatic driving mode and the manual driving mode by switching the driving mode flag stored in a storage unit such as RAM. The driving mode switching operation is performed, for example, by operating the control terminal 100. Note that the driving mode switching operation may be performed by an operation on the device side, such as an operation of an operation unit provided in the driving unit 15.

[0141] The control terminal 100 is a portable terminal such as a smartphone or a tablet-type personal computer. The control terminal 100 remotely controls the combine harvester 1, and is configured to be able to wirelessly communicate with the combine harvester 1 (control unit 50) via a network 210 (see FIG. 12) or the like using a wireless communication unit that each of the combine harvester 1 and the control terminal 100 has. The wireless communication unit is configured, for example, by a wireless LAN adapter or the like, and is connected to an antenna for wireless communication.

[0142] 8, the control terminal 100 has a control unit 181, an operation display unit 182, an operation unit 183, a storage unit 184, and a communication unit 185. The operation display unit 182, the operation unit 183, the storage unit 184, and the communication unit 185 are connected to the control unit 181.

[0143] The control unit 181 is composed of a microcomputer having a CPU, memory (ROM, RAM, non-volatile memory, etc.), etc. The operation display unit 182 is configured to display various data and accept operations by the user. The operation display unit 182 is composed of, for example, a touch panel display. The operation unit 183 is configured to operate the control terminal 100 and includes, for example, one or more operation buttons, etc. The memory unit 184 is composed of a memory device such as non-volatile memory. The communication unit 185 is a functional unit for communicating with the management server 230 and the control unit 50 of the combine 1.

[0144] The storage unit 184 stores location information for each time received by the control terminal 100. The location information for each time is composed of, for example, time information and location information included in the received location information. When the control unit 50 transmits the location information stored in the storage unit to the control terminal 100 in real time, the location information for each time stored in the storage unit 184 may be information in which time information on the control terminal 100 side has been added to the location information received by the control terminal 100.

[0145] The control unit 50 is configured to be able to compare the current position with map data (map information) stored in a memory unit such as RAM, and display the result on the monitor 112 or the display unit of the control terminal 100. As the map data, for example, map data published on the Internet, map data distributed by map makers, map data for car navigation systems, aerial photographs, etc. are used.

[0146] The control unit 50 has a field information generation unit 130 as a functional unit that records and maps points where the ground inclination angle γ is equal to or greater than the set inclination angle θa based on position information at the work site (hereinafter referred to as "steep slope points"). The field information generation unit 130 records steep slope points in the map data of the field based on the position information of the combine harvester 1 detected by the antenna unit 150 and the ground inclination angle γ calculated based on the detection values ​​of the machine-side inclination sensor 102, etc. In this way, the control unit 50 creates a hazard map for steep slope points in the field.

[0147] Fig. 11 shows an example of a hazard map created by the control unit 50. In the map 170 shown in Fig. 11, the operating trajectory, which is the working path (travel path) of the combine harvester 1 in the field, is shown by a thick line. In the example shown in Fig. 11, a first operating trajectory 191 in a first field 171 located near a hilly terrain 179 shown in light gray, a second field 172 located near the first field 171, and a second operating trajectory 192 in a third field 173 located near the hilly terrain 179 and a fourth field 174 located near the third field 173 are displayed.

[0148] Then, the control unit 50 identifies the position when the ground inclination angle γ becomes equal to or greater than the set inclination angle θa based on the position information during operation by the combine harvester 1, registers the position as a steep slope point Pa, which is steep slope information, and displays it on the map 170. In the example shown in Fig. 11, the steep slope points Pa are located at three locations along the hilly land 179 in the first field 171 on the first operating trajectory 191, and are indicated by black triangles.

[0149] During harvesting work in the field by the combine harvester 1, the control unit 50 constantly calculates the ground inclination angle γ, compares it with the set inclination angle θa, and detects steep inclination points Pa. The steep inclination points Pa detected by the control unit 50 are stored as data in a memory unit or the like along with the operating trajectory of the combine harvester 1 in the field. The hazard map created by the control unit 50 is displayed as appropriate on the monitor 112 or the operation display unit 182 of the control terminal 100.

[0150] Furthermore, the control unit 50 has a function of recording and mapping points where the topography changes suddenly (hereinafter referred to as "sudden change points") based on position information at the work site as a function of the farmland information generation unit 130. The combine harvester 1 is equipped with an angular velocity sensor 117 for detecting the speed of change in the attitude of the traveling machine body 2 as a configuration for detecting sudden change points (see FIG. 8). For example, a sudden change in the attitude of the traveling machine body 2, such as when the combine harvester 1 hits an uneven surface in the ground 20 or makes a sharp turn, is detected as a sudden change in the detection value of the angular velocity sensor 117.

[0151] The angular velocity sensor 117 has a function of detecting the angular velocity (speed of change) in at least one of the left-right direction and the front-back direction of the attitude of the traveling machine body 2. Note that the configuration for detecting the point of sudden change is not limited to the angular velocity sensor 117, and may be, for example, an acceleration sensor, an impact sensor, or the like.

[0152] The angular velocity sensor 117 is connected to an input device (input circuit) of the control unit 50 via a cable including a signal line and the like (see FIG. 8), and a detection signal from the angular velocity sensor 117 is sent to the control unit 50.

[0153] 5, angular velocity sensor 117 is provided on traveling section 22. Angular velocity sensor 117 is disposed, for example, at a central position in the width direction of the machine body on link frame 29 that is installed between left and right crawler units 5 that constitute traveling section 22. Angular velocity sensor 117 is installed on top surface 29a of link frame 29. Note that the configuration and location of angular velocity sensor 117 on traveling section 22 are not particularly limited. However, if angular velocity sensor 117 is provided on machine body 21, such as on chassis 23, the detected value will be affected by machine body horizontal control, and therefore angular velocity sensor 117 is preferably provided on traveling section 22.

[0154] In this configuration equipped with the angular velocity sensor 117, the farm field information generator 130 uses the positioning information of the combine harvester 1 detected by the antenna unit 150 and the detected value of the angular velocity sensor 117 to record, as sudden change points, points where the detected value of the angular velocity sensor 117 is equal to or greater than a predetermined threshold value Ta in the map data of the farm field. This allows the controller 50 to create a hazard map of sudden change points in the farm field. The threshold value Ta is preset and stored in a storage device or the like in the controller 50.

[0155] Then, the control unit 50 identifies the position when the detection value of the angular velocity sensor 117 becomes equal to or greater than the threshold value Ta while the combine harvester 1 is working, based on the position information, and registers the position as a sudden change point Pb, which is sudden change location information, and displays it on the map 170. In the example shown in Fig. 11, the sudden change point Pb is located in a corner of the second operating trajectory 192, on the hilly land 179 side of the third field 173, beside the road 178, and is indicated by a hollow triangle.

[0156] While the combine harvester 1 is performing harvesting work in the field, the control unit 50 constantly performs detection using the angular velocity sensor 117, compares the detected angular velocity with the threshold value Ta, and detects the sudden change point Pb. The sudden change point Pb detected by the control unit 50 is stored as data in a memory unit or the like together with the operating trajectory of the combine harvester 1 in the field. Note that the detection of the sudden change point Pb may use acceleration measured by the inertial navigation system 152.

[0157] The map 170 as shown in Fig. 11 may be created using a server configuration in the management system of the combine harvester 1. Fig. 12 shows a management system 200 of the combine harvester 1.

[0158] 12, the management system 200 includes a combine harvester 1, a control terminal 100, and a management server 230 capable of communicating with the combine harvester 1. The management server 230 is provided in a management center 220, which is a facility for remotely monitoring the combine harvester 1 and is installed at a predetermined location.

[0159] The combine harvester 1 is configured to be able to communicate with a management server 230 of a management center 220 via a network 210, allowing mutual transmission and reception of data. The network 210 is a communication network such as a public telephone network or the Internet. The combine harvester 1 has an antenna for communication via the network 210, and communicates with the management server 230 via a communication unit or the like included in the control unit 50 or the like. A remote monitoring system for the combine harvester 1 is configured by the combine harvester 1, the control terminal 100, and the management server 230 that communicates with them via the network 210. Note that the networks 210 that allow communication between the combine harvester 1 and the control terminal 100 and the management server 230 may be different communication networks.

[0160] The management server 230 receives and acquires the position information and operation information of the combine harvester 1, processes and stores this information. Based on the position information and operation information, the management server 230 generates and acquires operation trajectory data such as the first operation trajectory 191 in FIG. 11 .

[0161] The management server 230 receives, as operation information of the combine harvester 1, detection data from the main machine inclination sensor 102, calculation data of the ground inclination angle γ based on detection values ​​of the main machine inclination sensor 102 and the left and right stroke sensors 106, detection data from the angular velocity sensor 117, and detection data from the storage volume detection sensor 114. These data are acquired in association with date, time, etc. The operation information of the combine harvester 1 acquired by the management server 230 includes, for example, information about the operation of the engine 25, such as the start and stop times of the engine 25, vehicle speed, engine RPM, and other information about the operation of each part linked to the engine 25.

[0162] 12, the management server 230 includes a control unit 231, a display unit 232, an operation unit 233, and a communication unit 235. The display unit 232, the operation unit 233, and the communication unit 235 are connected to the control unit 231.

[0163] The control unit 231 is configured with a microcomputer or the like having a calculation unit configured with a CPU or the like and a storage unit configured with a ROM, RAM, non-volatile memory, etc. The control unit 231 performs transmission and reception of information, various input / output control, and control of calculation processing by reading and executing a control program stored in advance in the storage unit using the calculation unit. The storage unit of the control unit 231 stores map data and the like in addition to the position information and operation information of the combine harvester 1 received by the management server 230.

[0164] The display unit 232 is configured to display various data and is, for example, a touch panel display. The operation unit 233 is configured to operate the management server 230 and includes, for example, a keyboard and a mouse. The communication unit 235 is a functional unit for communicating with the combine harvester 1 and the control terminal 100.

[0165] The control unit 231 of the management server 230 includes a field information generation unit 236 as a functional unit that records and maps steep slope points based on position information at the work site. The field information generation unit 236 records steep slope points in the map data of the field based on the position information of the combine harvester 1 and data on the ground slope angle γ transmitted from the combine harvester 1. In this way, the control unit 231 creates a hazard map for steep slope points in the field.

[0166] Fig. 13 shows an example of detection data of the ground inclination angle γ transmitted from the combine harvester 1 to the management server 230. In the graph shown in Fig. 13, the horizontal axis represents the time when the combine harvester 1 is operating, and the vertical axis represents the magnitude (°) of the detected value of the ground inclination angle γ. Note that the data shown in Fig. 13 is an example of detection data obtained by the running-unit inclination sensor 116.

[0167] As shown in Figure 13, while the combine harvester 1 is operating, the value of the ground inclination angle γ detected by the running-arm inclination sensor 116 changes from moment to moment. In the example shown in Figure 13, there are locations between 12:00 and 13:00 where the value of the ground inclination angle γ is equal to or greater than the set inclination angle θa (see the location indicated by reference character B1). In the example shown in Figure 13, the set inclination angle θa is set to 11°, and at the location indicated by reference character B1 on the graph, the ground inclination angle γ temporarily becomes equal to or greater than 12°.

[0168] In this way, the control unit 231 identifies the position when the ground inclination angle γ becomes equal to or greater than the set inclination angle θa during operation by the combine harvester 1 based on the position information, registers that position as a steep slope point Pa, which is steep slope information, and displays it on the map 170 (see Figure 11).

[0169] During harvesting work in the field by the combine harvester 1, the control unit 231 compares and determines the ground inclination angle γ, which is constantly transmitted from the combine harvester 1, with the set inclination angle θa, and detects steep inclination points Pa. The steep inclination points Pa detected by the control unit 231 are stored as data in a memory unit or the like along with the operating trajectory of the combine harvester 1 in the field. The set inclination angle θa is set in advance and stored in a memory unit or the like by the control unit 231. The hazard map created by the control unit 231 is displayed as appropriate on the display unit 232 of the management server 230, the monitor 112 of the combine harvester 1, or the operation display unit 182 of the control terminal 100.

[0170] The control unit 231 also has a function of recording and mapping sudden change points based on position information at the work site as a function of the field information generation unit 236. The field information generation unit 236 uses the position information of the combine harvester 1 and detection data from the angular velocity sensor 117 transmitted from the combine harvester 1 to record points where the detection value from the angular velocity sensor 117 is equal to or greater than a predetermined threshold value Ta as sudden change points in the map data of the field. In this way, the control unit 231 creates a hazard map of sudden change points in the field. The threshold value Ta is set and stored in advance in a storage device or the like by the control unit 231.

[0171] In this way, the control unit 231 identifies the position when the detection value of the angular velocity sensor 117 becomes equal to or greater than the threshold value Ta during operation of the combine harvester 1 based on the position information, registers that position as a sudden change point Pb, which is sudden change value information, and displays it on the map 170 (see Figure 11).

[0172] During harvesting work in the field by the combine harvester 1, the control unit 231 compares and determines the detection value of the angular velocity sensor 117, which is constantly transmitted from the combine harvester 1, with the threshold value Ta, and detects the sudden change point Pb. The sudden change point Pb detected by the control unit 231 is accumulated as data in a memory unit or the like together with the operating trajectory of the combine harvester 1 in the field. Note that, when the management server 230 detects the sudden change point Pb, acceleration measured by the inertial navigation system 152 may be used.

[0173] 11 may also be created by the control terminal 100. In this case, the control terminal 100 has a function unit in the control unit 181 that records and maps steep slope points based on position information at the work site, and records steep slope points in the map data of the field based on the position information of the combine harvester 1 and data on the ground inclination angle γ received from the combine harvester 1. In this way, the control unit 181 creates a hazard map for steep slope points in the field. In this way, the control unit 181 identifies the position when the ground inclination angle γ becomes equal to or greater than the set inclination angle θa during work by the combine harvester 1 based on the position information, registers that position as a steep slope point Pa, and displays it on the map 170 (see FIG. 11).

[0174] During harvesting work in the field by the combine harvester 1, the control unit 181 compares and determines the ground inclination angle γ, which is constantly transmitted from the combine harvester 1, with the set inclination angle θa, and detects steep inclination points Pa. The steep inclination points Pa detected by the control unit 181 are stored as data in the memory unit 184 or the like, along with the operating trajectory of the combine harvester 1 in the field. The set inclination angle θa is set and stored in advance in the memory unit 184 or the like. The hazard map created by the control unit 181 is displayed as appropriate on the display unit 232 of the management server 230, the monitor 112 of the combine harvester 1, or the operation display unit 182 of the control terminal 100.

[0175] The control unit 181 of the control terminal 100 may also have a function of recording and mapping sudden change points based on position information at the work site. In this case, the control unit 181 records points where the detection value of the angular velocity sensor 117 is equal to or greater than a predetermined threshold value Ta in the map data of the farm field based on the position information of the combine harvester 1 and the detection data of the angular velocity sensor 117 received from the combine harvester 1 as sudden change points. In this way, the control unit 181 creates a hazard map of sudden change points in the farm field. The threshold value Ta is set and stored in advance in a storage device or the like in the control unit 181. In this way, the control unit 181 identifies the position where the detection value of the angular velocity sensor 117 is equal to or greater than the threshold value Ta during work by the combine harvester 1 based on the position information, registers the position as a sudden change point Pb, and displays it on the map 170 (see FIG. 11).

[0176] During harvesting work in the field by the combine harvester 1, the control unit 181 compares and determines the detection value of the angular velocity sensor 117, which is constantly transmitted from the combine harvester 1, with the threshold value Ta, and detects the sudden change point Pb. The sudden change point Pb detected by the control unit 181 is accumulated as data in the memory unit 184 or the like together with the operating trajectory of the combine harvester 1 in the field. Note that, when the control terminal 100 detects the sudden change point Pb, the acceleration measured by the inertial navigation system 152 may be used.

[0177] The combine harvester 1 of this embodiment, which has the above-mentioned configuration, has a body level control function that automatically keeps the body level according to the inclination of the ground 20, etc., and can improve safety, especially when working on slopes.

[0178] In the combine harvester 1, when the ground inclination angle γ is equal to or greater than the set inclination angle θa, the control unit 50 performs control to maintain the horizontal control of the machine body in preference to releasing the horizontal control of the machine body by operating the threshing clutch lever 105, i.e., by operating the clutch OFF of the threshing clutch lever 105.

[0179] With this configuration, for example, when the combine harvester 1 is working on a slope that is greater than the allowable inclination angle for its configuration, even if the operator does not notice this due to the influence of the machine body leveling control, the release of the machine body leveling control by operating the threshing clutch lever 105 to OFF can be automatically disabled. This prevents the machine, which has become parallel to the ground due to the release of the machine body leveling control, from tilting more than expected due to the influence of the slope, preventing the machine from tipping over on a slope and improving safety.

[0180] In this way, the combine harvester 1 of this embodiment aims to improve the safety of working on slopes by preventing automatic release of the machine body horizontal control by operating a specified operating member when the inclination angle of the ground is equal to or greater than a specified angle.

[0181] Furthermore, the control unit 50 is configured to issue an alarm using an alarm buzzer 111 or the like during control of the machine body leveling control and maintenance control. With this configuration, the operator can be notified of the danger that may occur if the combine harvester 1 is on a relatively steep slope and the machine body leveling control is released, causing the combine harvester to become parallel to the ground. The operator who receives the alarm can take appropriate action, such as stopping work or moving the machine to a safe location. This makes it possible to prevent the machine from tipping over on slopes, etc., and improves safety.

[0182] Furthermore, with regard to the control for maintaining the machine level, the control unit 50 controls to change the set inclination angle θa for the ground inclination angle γ in accordance with the amount of grain stored in the grain tank 10 detected by the storage amount detection sensor 114. With this configuration, the control for maintaining the machine level can be effectively performed in accordance with the change in the center of gravity of the machine, which changes depending on the amount of grain stored in the grain tank 10. In other words, when the amount of grain stored in the grain tank 10 is relatively large, making the machine more susceptible to the effects of sloping ground, by making the set inclination angle θa relatively small, it becomes easier to activate the control for maintaining the machine level even when the threshing clutch lever 105 is turned OFF, thereby improving safety.

[0183] The combine harvester 1 also includes an antenna unit 150. The control unit 50 has a function of recording and mapping points where the ground inclination angle γ is equal to or greater than the set inclination angle θa and points where the terrain changes suddenly (abrupt change points) based on the position information received by the antenna unit 150. This configuration allows the operator to visually identify the locations of steep slopes and sudden changes on the field map, allowing the operator to avoid working in these areas. This prevents the machine from tipping over on slopes and improves safety. Similar effects can be achieved by providing the management server 230 and the control terminal 100 with a function for mapping steep slopes and sudden changes.

[0184] The above-described embodiment is an example of the present invention, and the present invention is not limited to the above-described embodiment. Therefore, even if it is not the above-described embodiment, various modifications are possible depending on the design, etc., as long as they do not deviate from the technical idea of ​​the present invention. Furthermore, the effects described in this disclosure are merely examples and are not limited, and other effects may also be obtained.

[0185] In the above-described embodiment, the operating member for releasing the horizontal control of the machine body is the threshing clutch lever 105, but this operating member may also be an operating member other than the threshing clutch lever 105, such as the horizontal control switch 103.

[0186] Furthermore, in the above-described embodiment, the detection value of the aircraft-side inclination sensor 102 used for aircraft level control is used to calculate the ground inclination angle γ, but aircraft level control may be performed by an inclination sensor provided separately from the aircraft-side inclination sensor 102. In other words, the same inclination sensor may be used for aircraft level control and calculation of the ground inclination angle γ, or separate inclination sensors may be provided for each.

[0187] In the combine harvester 1 and the management system 200 according to this embodiment, the following configurations are appropriately adopted.

[0188] The control unit 50 is configured to issue an alarm using an alarm buzzer 111, an alarm lamp 113, or the like before the machine body tilt angle β detected by the machine-side tilt sensor 102 reaches a limit tilt angle (e.g., tipping angle) set for the combine harvester 1. In such a configuration, a predetermined tilt angle smaller than the limit tilt angle is set for the machine body tilt angle β, and the control unit 50 issues an alarm when the machine body tilt angle β detected by the machine-side tilt sensor 102 becomes equal to or greater than the predetermined tilt angle.

[0189] With this configuration, the operator can be notified that the vehicle tilt angle β is approaching the limit tilt angle, thereby preventing the vehicle from tipping over on slopes, etc., and improving safety.

[0190] The combine harvester 1 may also be provided with a pitching inclination sensor as an inclination sensor that detects the inclination angle of the machine body in the fore-and-aft direction relative to the horizontal. The pitching inclination sensor is installed, for example, on the chassis 23 of the machine body 21 and is configured to detect the inclination angle of the machine body 21 in the fore-and-aft direction. The pitching inclination sensor is connected to the control unit 50 via a cable.

[0191] The control unit 50 is configured to issue an alarm using an alarm buzzer 111, an alarm lamp 113, or the like when the angle detected by the pitching tilt sensor exceeds a predetermined threshold. This configuration can notify the operator that the tilt angle of the machine in the fore-and-aft direction has become considerably large, thereby preventing the machine from tipping over on slopes and improving safety.

[0192] Furthermore, with regard to the inclination sensors possessed by the combine harvester 1, a plurality of machine-side inclination sensors 102 and running section-side inclination sensors 116 may be provided. Furthermore, as the machine-side inclination sensor 102 and running section-side inclination sensor 116, an inclination sensor that detects inclination in the front-to-back direction (pitching direction) of the machine body in addition to inclination in the left-to-right direction (rolling direction) of the machine body may be used, or an inclination sensor that detects inclination in all directions may be used.

[0193] The control unit 50 is configured to issue a turn prohibition warning when the ground inclination angle γ becomes equal to or greater than the set inclination angle θa. The turn prohibition warning is issued, for example, by displaying the message "Turn Prohibited" on the monitor 112.

[0194] With this configuration, turning operations of the machine body by operating the control handle 18 or the like can be suppressed when the ground inclination angle γ is relatively large, thereby preventing the machine body from tipping over on slopes, etc., and improving safety. The turning prohibition warning can be effectively alerted to the operator by displaying a warning on the monitor 112, emitting a warning sound from the warning buzzer 111, and turning on the warning lamp 113.

[0195] Furthermore, the control unit 50 is configured to restrict the operation of the left and right lift cylinders 101 when the ground inclination angle γ becomes equal to or greater than the set inclination angle θa so that the machine body 21 is not tilted in the tilting direction during machine body level control. For example, when the ground inclination angle γ is the angle of the inclined surface 20A tilted to the left and becomes equal to or greater than the set inclination angle θa, the control unit 50 controls the left and right lift cylinders 101 to restrict the operation of tilting the machine body 21 to the left.

[0196] Similarly, the control unit 50 may be configured to disable operation of the tilt angle adjustment dial 104 to tilt the aircraft body 21 to the left when the ground inclination angle γ becomes equal to or greater than the set inclination angle θa. For example, when the ground inclination angle γ is the angle of the inclined surface 20A tilted to the left and becomes equal to or greater than the set inclination angle θa, the control unit 50 controls operation of the tilt angle adjustment dial 104 to disable operation to tilt the aircraft body 21 to the left.

[0197] With this configuration, when the running section 22 is inclined at a relatively large ground inclination angle γ, the machine body level control can prevent the machine body 21 from automatically tilting in the same direction as the inclination of the running section 22. This can prevent the machine from tipping over on slopes or the like, improving safety.

[0198] Furthermore, the map 170 (see FIG. 11) created for the combine harvester 1 can be used to create a travel route for the combine harvester 1 during work, such as when the combine harvester 1 is automatically traveling. That is, a travel route for work can be created that avoids the steep slope points Pa and the sudden change points Pb on the map 170. This allows the combine harvester 1 to be guided to a safe location in the field, preventing the combine harvester 1 from tipping over on slopes and improving safety.

[0199] Furthermore, the map 170 (see FIG. 11) created for the combine harvester 1 can be shared with other combine harvesters, tractors, rice transplanters, and other implements under the management of the management center 220. This allows the steep slope points Pa and sudden change points Pb to be confirmed during work by other implements, thereby preventing the implements from tipping over on slopes and improving safety. Furthermore, maps created for implements other than combine harvesters, such as tractors and rice transplanters, can also be used by the combine harvester 1.

[0200] The control unit 50 is configured to transmit position information to the management server 230 or a fire department via the network 210 to request rescue if the ground inclination angle γ remains equal to or greater than the set inclination angle θa for a certain period of time or longer. In other words, if the ground inclination angle γ remains equal to or greater than the set inclination angle θa for a certain period of time or longer, there is a possibility that the combine harvester 1 has overturned. Therefore, the control unit 50 transmits position information of the combine harvester 1 to the management server 230 or a fire department to request rescue. The fire department may be contacted via the management server 230. In addition to the position information, the information transmitted from the control unit 50 includes, for example, the time when the ground inclination angle γ became equal to or greater than the set inclination angle θa, the name of the owner of the combine harvester 1 (such as the business operator), the model of the combine harvester, and other information.

[0201] According to this configuration, the detected value of the ground inclination angle γ can be used to automatically notify the management server 230 or the like that the combine harvester 1 is in a rescue-needed state, such as a toppled state, so that the operator of the combine harvester 1 in a rescue-needed state can be rescued promptly.

[0202] The present technology can be configured as follows: The configurations described below can be selected and combined as desired.

[0203] (1) a traveling machine body having a machine body main body and a traveling part supporting the machine body; a tilting drive device for tilting the machine body left and right relative to the traveling section; an inclination sensor for detecting an inclination angle of the aircraft body in the left-right direction of the aircraft body; a control unit that performs aircraft level control to control the tilt drive device so as to maintain the aircraft body in a horizontal state based on the tilt angle detected by the tilt sensor; an operating member that releases the airframe horizontal control by the control unit when a predetermined release operation is received during the airframe horizontal control by the control unit, When a ground tilt angle corresponding to a tilt angle in the left-right direction of the aircraft body in a state where the aircraft body is parallel to the ground is equal to or greater than a predetermined angle, the control unit performs control to maintain the aircraft body horizontal control in preference to releasing the aircraft body horizontal control by operating the operating member. Work vehicle. (2) The control unit issues an alarm during control to maintain the aircraft horizontal control. The work vehicle described in (1) above. (3) Further comprising a device for receiving location information at the work site; The control unit has a function of recording and mapping points where the ground inclination angle is equal to or greater than the predetermined angle based on the position information. The work vehicle according to (1) or (2). (4) A grain tank for storing grains, Further provided is a storage amount detection sensor that detects the storage amount of grain in the grain tank, The control unit changes the predetermined angle of the ground inclination angle in accordance with the storage amount detected by the storage amount detection sensor. The work vehicle according to any one of (1) to (3) above. [Explanation of symbols]

[0204] 1 Combine (work vehicle) 2 Running body 10 Glentank 21 Aircraft body 22 Running part 50 control section 101 Lifting cylinder (tilt drive device) 102 Machine side tilt sensor (tilt sensor) 105 Threshing clutch lever (operating member) 114 Storage volume detection sensor 150 Antenna unit (device for receiving location information) β Aircraft tilt angle γ Ground slope angle θa Set tilt angle

Claims

1. a traveling machine body having a machine body main body and a traveling part supporting the machine body; a tilting drive device for tilting the machine body left and right relative to the traveling section; an inclination sensor for detecting an inclination angle of the aircraft body in the left-right direction of the aircraft body; a control unit that performs aircraft level control to control the tilt drive device so as to maintain the aircraft body in a horizontal state based on the tilt angle detected by the tilt sensor; an operating member that releases the airframe horizontal control by the control unit when a predetermined release operation is received during the airframe horizontal control by the control unit, When a ground tilt angle corresponding to a tilt angle in the left-right direction of the aircraft body in a state where the aircraft body is parallel to the ground is equal to or greater than a predetermined angle, the control unit performs control to maintain the aircraft body horizontal control in preference to releasing the aircraft body horizontal control by operating the operating member. Work vehicle.

2. The control unit issues an alarm during control to maintain the aircraft horizontal control. The work vehicle according to claim 1 .

3. Further comprising a device for receiving location information at the work site; The control unit has a function of recording and mapping points where the ground inclination angle is equal to or greater than the predetermined angle based on the position information. The work vehicle according to claim 1 or 2.

4. A grain tank for storing grains, Further provided is a storage amount detection sensor that detects the storage amount of grain in the grain tank, The control unit changes the predetermined angle of the ground inclination angle in accordance with the storage amount detected by the storage amount detection sensor. The work vehicle according to claim 1 .

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