Harvesting Machine

Abstract

To provide a harvester capable of coping with farm fields of various forms.SOLUTION: A harvester includes: a machine body; a reaping apparatus 15 supported by the machine body in a state of being vertically lifted or lowered for reaping crops in a farm field; an actuator 15A for lifting or lowering the reaping apparatus 15; a reaping height sensor S for detecting a ground height of the reaping apparatus 15; a lowering command part for issuing a lowering command to lower the reaping apparatus 15; and a lifting and lowering control part for controlling operation of the actuator 15A. The lifting and lowering control part is set to either a first mode for executing first lowering operation to lower the reaping apparatus 15 until the ground height detected by the reaping height sensor S becomes a predetermined first height when the lowering command part issues the lowering command or a second mode for executing second lowering operation to lower the reaping apparatus 15 until the height relative to the machine body of the reaping apparatus 15 becomes a predetermined second height when the lowering command part issues the lowering command.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a harvester. [Background technology]

[0002] Patent Document 1 discloses a mowing height control system for a combine harvester. The disclosed combine harvester includes a mowing height detection device and a control unit that maintains a pre-mowing processing section at a constant height from the field surface based on a detection signal from the device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-182084 A Summary of the Invention [Problem to be solved by the invention]

[0004] A combine harvester raises the reaping device when traveling on already-mowed land, and lowers the reaping device before entering unmowed land. In the case of the combine harvester in Patent Document 1, the reaping device is lowered until the cutting height detection device detects the field surface. Here, if there are parts of the field that protrude from the field surface, such as ridges or ruts, there is a possibility that these parts will come into contact with the reaping device. In other words, the combine harvester described in Patent Document 1 cannot handle fields that have parts protruding from the field surface.

[0005] An object of the present invention is to provide a harvester that can be used in various types of farm fields. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the harvester of the present invention comprises a machine body, a reaping device that is supported on the machine body in a state in which it can be raised and lowered and that reaps crops in a field, an actuator that raises and lowers the reaping device, a mowing height sensor that detects the height of the reaping device above the ground, a lowering command unit that issues a lowering command to lower the reaping device, and a lifting and lowering control unit that controls the operation of the actuator. An automatic travel control unit that automatically travels the machine along a preset reaping travel route; and the lifting control unit is set to either a first mode in which, when the lowering command unit issues the lowering command, a first lowering operation is performed to lower the mowing device until the height relative to the ground detected by the mowing height sensor reaches a predetermined first height, or a second mode in which, when the lowering command unit issues the lowering command, a second lowering operation is performed to lower the mowing device until the height of the mowing device relative to the machine body reaches a predetermined second height. The descent command unit issues the descent command when the vehicle travels automatically and the reaping device enters an unmowed area and the distance between the vehicle and the starting point of the reaping travel path becomes equal to or shorter than a predetermined distance. It is characterized by the above.

[0007] According to this configuration, by switching the lift control unit between the first mode and the second mode, it is possible to deal with various types of fields. For example, in a field where there are no parts protruding from the field surface, such as ridges or ruts, it is preferable to set the lift control unit to the first mode. In this case, when a lowering command is issued, the reaping device is lowered until the height relative to the ground reaches a predetermined first height, so that it is possible to quickly lower the reaping device to a height suitable for harvesting crops. On the other hand, in a field where there are parts protruding from the field surface, such as ridges or ruts, it is preferable to set the lift control unit to the second mode. In this case, when a lowering command is issued, the reaping device is lowered until the height relative to the machine body reaches a predetermined second height, so that it is possible to lower the reaping device to a height that does not come into contact with the parts protruding from the field surface and allows crops to be harvested. In addition, it is preferable that the above-mentioned advantages of the harvester can be enjoyed when harvesting crops by automatic travel.

[0008] In the present invention, the lifting control unit is configured to be capable of executing a mowing height control operation that controls the actuator so that the ground height detected by the mowing height sensor becomes the first height, and when set to the first mode, it is preferable that the lifting control unit executes the mowing height control operation after executing the first lowering operation.

[0009] According to this configuration, the harvesting device is lowered until the height above the ground reaches a predetermined first height, and then the actuator is controlled so that the height above the ground reaches the predetermined first height, so that the harvesting device can be kept at an appropriate height while harvesting crops.

[0010] The present invention Another harvester in the above relates to a machine body, a reaping device that is supported on the machine body in a state where it can be raised and lowered and that reaps crops in a field, an actuator that raises and lowers the reaping device, a mowing height sensor that detects the height of the reaping device above the ground, a lowering command unit that issues a lowering command to lower the reaping device, and a lifting and lowering control unit that controls the operation of the actuator. Operating tools that accept manual operation and, Equipped with The lifting control unit is set to either a first mode in which a first lowering operation is performed to lower the mowing device until the height relative to the ground detected by the mowing height sensor becomes a predetermined first height when the lowering command unit issues the lowering command, or a second mode in which a second lowering operation is performed to lower the mowing device until the height of the mowing device relative to the machine body becomes a predetermined second height when the lowering command unit issues the lowering command, The lifting control section is configured to be capable of executing a mowing height control operation for controlling the actuator so that the ground height detected by the mowing height sensor becomes the first height, and is configured to operate the actuator in response to a manual operation input to the operating tool to lift and lower the mowing device, and when set to the second mode, waits for input of a manual operation to the operating tool after executing the second lowering operation, and executes the mowing height control operation in response to the ground height detected by the mowing height sensor becoming the first height. It is characterized by do.

[0011] According to this configuration, after the second lowering operation is performed, the cutting height control operation is executed when the cutting device is manually lowered until the height above the ground reaches the first height, so that the cutting device can be kept at an appropriate height to cut crops.

[0012] The present invention Another harvester in the above relates to a machine body, a reaping device that is supported on the machine body in a state where it can be raised and lowered and that reaps crops in a field, an actuator that raises and lowers the reaping device, a mowing height sensor that detects the height of the reaping device above the ground, a lowering command unit that issues a lowering command to lower the reaping device, and a lifting and lowering control unit that controls the operation of the actuator. Operating tools that accept manual operation and, Equipped with The lifting control unit is set to either a first mode in which a first lowering operation is performed to lower the mowing device until the height relative to the ground detected by the mowing height sensor becomes a predetermined first height when the lowering command unit issues the lowering command, or a second mode in which a second lowering operation is performed to lower the mowing device until the height of the mowing device relative to the machine body becomes a predetermined second height when the lowering command unit issues the lowering command, The lifting control section is configured to be capable of executing a mowing height control operation for controlling the actuator so that the height above the ground detected by the mowing height sensor becomes the first height, and when set to the second mode, waits for a manual operation input to the operating tool after executing the second lowering operation, executes the first lowering operation in response to the operating tool receiving the manual operation input, and then executes the mowing height control operation. It is characterized by do.

[0013] According to this configuration, after the second lowering operation is performed, the cutting device is lowered in accordance with manual operation until the height above the ground reaches the first height (first lowering operation), and then a cutting height control operation is performed, so that the cutting device can be maintained at an appropriate height to cut crops.

[0014] In the present invention, it is preferable that an operating tool that accepts manual operation is provided, and the descent command unit issues the descent command in response to the operating tool accepting the manual operation.

[0015] According to the present configuration, when manually operated, a lowering command is issued and the above-mentioned operation is carried out, which is preferable because it allows the above-mentioned advantages of the harvester to be enjoyed when harvesting crops by manual travel.

[0016]

[0017]

[0018] In the present invention, it is preferable to include an operation display device capable of accepting manual operation and displaying information, and a mode setting unit that sets the lift control unit to either the first mode or the second mode depending on the manual operation accepted by the operation display device.

[0019] According to this configuration, the lift control unit is set to either the first mode or the second mode in response to manual operation, making it possible for the operator to adapt the harvester to various types of farm fields. [Brief description of the drawings]

[0020] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a diagram showing mowing travel along a mowing travel path. [Figure 4] FIG. 2 is a functional block diagram showing a control configuration. [Diagram 5] FIG. 2 is a diagram for explaining a first height and a second height. [Figure 6] 13 is a flowchart showing a lowering process. [Figure 7] 11 is a graph showing the manner in which the reaping device descends during a lowering process. [Figure 8] 13 is a flowchart showing a modified example of a lowering process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] The embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow F shown in FIG. 1 is the "front" direction, and the direction of the arrow B is the "rear" direction. The direction of the arrow U shown in FIG. 1 is the "up" direction, and the direction of the arrow D is the "down" direction. The present invention is not limited to the following embodiment, and various modifications are possible within the scope of the gist of the present invention.

[0022] [Overall configuration of the combine] As shown in Figure 1, a standard combine harvester 1 (corresponding to the "harvest machine" of the present invention) is equipped with a crawler-type running device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharge device 18, a satellite positioning module 80, and an engine E.

[0023] The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 is driven by power from the engine E. The combine harvester 1 can be self-propelled by the traveling device 11.

[0024] The driving section 12, the threshing device 13, and the grain tank 14 are provided on the traveling device 11. An operator who monitors the operation of the combine harvester 1 can ride on the driving section 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0025] The grain discharge device 18 is provided on the grain tank 14. In addition, a satellite positioning module 80 is attached to the upper surface of the driving section 12.

[0026] The harvesting device H is provided at the front of the combine harvester 1. The transport device 16 is provided behind the harvesting device H. The harvesting device H also has a reaping device 15 and a reel 17. The reaping device 15 is supported on the body of the combine harvester 1 in a state in which it can be raised and lowered vertically.

[0027] The harvesting device 15 harvests crops in the field. The reel 17 is driven to rotate about a reel axis 17b that runs along the left-right direction of the machine body to rake in the planted stalks (crops) to be harvested. With this configuration, the harvesting device H harvests crops in the field. The combine 1 is capable of harvesting travel, traveling on the traveling device 11 while harvesting crops in the field with the harvesting device 15.

[0028] The harvested stalks harvested by the harvesting device 15 are transported by the transport device 16 to the threshing device 13. In the threshing device 13, the harvested stalks are threshed. The grains obtained by the threshing process are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary.

[0029] As shown in FIG. 1 , a communication terminal 4 (an example of an "operation display device") is disposed in the driving unit 12. The communication terminal 4 is configured to be able to accept manual operations and display information. In this embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, or the communication terminal 4 may be located outside the combine harvester 1.

[0030] Here, the combine harvester 1 is configured to harvest grain in the field by making circular travel while harvesting grain in the outer peripheral area of ​​the field, as shown in Figure 2, and then making a reaping travel in the inner area of ​​the field, as shown in Figure 3.

[0031] In this embodiment, the circular travel shown in Fig. 2 is performed by manual travel, and the reaping travel in the inner area shown in Fig. 3 is performed by automatic travel. That is, the combine harvester 1 is capable of automatic travel.

[0032] However, the present invention is not limited to this, and the circular travel shown in Fig. 2 may be performed by automatic travel, and the mowing travel in the inner area shown in Fig. 3 may be performed by manual travel.

[0033] As shown in Fig. 1, the driving section 12 is provided with a main speed change lever 19. The main speed change lever 19 is manually operated. When the combine harvester 1 is being manually driven, the speed of the combine harvester 1 changes when the operator operates the main speed change lever 19. In other words, when the combine harvester 1 is being manually driven, the operator can change the speed of the combine harvester 1 by operating the main speed change lever 19.

[0034] Incidentally, the operator can change the rotation speed of the engine E by operating the communication terminal 4.

[0035] Depending on the type of crop, the growth characteristics such as the ease of threshing or lodging vary. Therefore, the appropriate working speed varies depending on the type of crop. If the operator operates the communication terminal 4 to set the rotation speed of the engine E to an appropriate rotation speed, work can be performed at a working speed suitable for the type of crop.

[0036] [Control configuration] 4, the combine harvester 1 includes a harvesting clutch C1 and a control device 20. Power output from an engine E is distributed to the harvesting clutch C1 and a traveling device 11. The traveling device 11 is driven by the power from the engine E.

[0037] The mowing clutch C1 is configured to be able to change its state between an ON state in which power is transmitted and an OFF state in which power is not transmitted.

[0038] When the mowing clutch C1 is in a disengaged state, the power output from the engine E is not transmitted to the mowing device 15 and the reel 17. At this time, the mowing device 15 and the reel 17 are in a non-driven state.

[0039] When the mowing clutch C1 is in the engaged state, the power output from the engine E is transmitted to the mowing device 15 and the reel 17. At this time, the mowing device 15 and the reel 17 are driven by the power from the engine E.

[0040] That is, the mowing clutch C1 connects and disconnects the power transmission to the reel 17 and the mowing device 15.

[0041] The control device 20 is a so-called ECU, and includes a memory (such as a HDD or non-volatile RAM, not shown) that stores programs corresponding to functional units described below, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. In other words, the control device 20 includes a non-transitory recording medium that stores the programs.

[0042] The control device 20 includes a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, and a driving control unit 24 (an example of an "automatic driving control unit").

[0043] 1, the satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal from an artificial satellite, generates positioning data indicating the vehicle position of the combine harvester 1 based on the received signal, and transmits the positioning data to the vehicle position calculation unit 21. As the GNSS, GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used.

[0044] The vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the area calculation unit 22 and the travel control unit 24.

[0045] The area calculation unit 22 calculates an outer periphery area SA and a work target area CA, as shown in FIG. 3, based on the time-dependent position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21.

[0046] More specifically, the area calculation unit 22 calculates the travel path of the combine harvester 1 during circular travel on the outer periphery of the field based on the time-dependent position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, based on the calculated travel path of the combine harvester 1, the area on the outer periphery of the field where the combine harvester 1 has traveled while harvesting grains is calculated as an outer periphery area SA. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery area SA as a work target area CA.

[0047] For example, in Fig. 2, the travel path of the combine harvester 1 for traveling around the outer periphery of the field is shown by an arrow. In the example shown in Fig. 2, the combine harvester 1 travels around the field three times. When the harvesting travel along this travel path is completed, the field becomes as shown in Fig. 3.

[0048] 3, the area calculation unit 22 calculates the area on the outer periphery of the field where the combine 1 has traveled while harvesting grains as an outer periphery area SA. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery area SA as a work target area CA.

[0049] Then, as shown in FIG. 4, the calculation result by the area calculation unit 22 is sent to the path calculation unit 23.

[0050] Based on the calculation results received from the area calculation unit 22, the route calculation unit 23 calculates a mowing travel route LI, which is a travel route for mowing travel in the work target area CA, as shown in Fig. 3. As shown in Fig. 3, in this embodiment, the mowing travel route LI is a plurality of mesh lines extending in the vertical and horizontal directions. Furthermore, the plurality of mesh lines do not have to be straight lines, and may be curved.

[0051] As shown in FIG. 4, the mowing travel route LI calculated by the route calculation unit 23 is sent to the travel control unit 24.

[0052] The travel control unit 24 is configured to be able to control the travel device 11. The travel control unit 24 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23. More specifically, the travel control unit 24 controls the travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI, as shown in Fig. 3.

[0053] [Flow of harvesting work using a combine harvester] In the following, as an example of harvesting work by the combine harvester 1, a flow of operations when the combine harvester 1 performs harvesting work in the farm field shown in FIG. 2 will be described.

[0054] First, the operator manually operates the combine harvester 1 to perform a reaping run in a circular motion along the boundary line of the field in the outer periphery of the field, as shown in Fig. 2. In the example shown in Fig. 2, the combine harvester 1 performs three circular runs. When this circular run is completed, the field is in the state shown in Fig. 3.

[0055] The area calculation unit 22 calculates the travel path of the combine harvester 1 in the circular travel shown in Fig. 2 based on the time-dependent position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, as shown in Fig. 3, the area calculation unit 22 calculates the area on the outer periphery side of the field where the combine harvester 1 has traveled in a circular travel while harvesting planted stalks as an outer periphery area SA based on the calculated travel path of the combine harvester 1. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery area SA as a work target area CA.

[0056] Next, the route calculation unit 23 sets a mowing travel route LI in the work target area CA as shown in FIG.

[0057] Then, when the operator presses an automatic travel start button (not shown), automatic travel along the reaping travel route LI is started as shown in Fig. 3. At this time, the travel control unit 24 controls the travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the reaping travel route LI.

[0058] When automatic travel in the work area CA is started, the combine 1 performs mowing travel so as to circle around the outer shape of the work area CA in the outer periphery of the work area CA, as shown in Fig. 3. The combine 1 then performs mowing travel so as to cover the entire work area CA by repeating travel along the mowing travel path LI and direction changes by an α turn.

[0059] In this embodiment, the transport vehicle CV is parked outside the field as shown in Figures 2 and 3. A parking position PP is set in the outer circumferential area SA in the vicinity of the transport vehicle CV.

[0060] The transporter CV can collect and transport the grain discharged by the combine harvester 1 from the grain discharge device 18. When discharging grain, the combine harvester 1 stops at the parking position PP, and the grain is discharged by the grain discharge device 18 to the transporter CV.

[0061] Then, when the mowing travel along all of the mowing travel routes LI in the work target area CA is completed, the entire field is considered to have been harvested.

[0062] [Configuration related to lifting and lowering control of the reel and the harvesting device] 1 and 4, the combine harvester 1 is equipped with a cutting cylinder 15A (an example of an "actuator"), a reel cylinder 17A, a cutting height sensor S, and an operating lever 40 (an example of an "operating tool"). Also, as shown in FIG. 4, the combine harvester 1 is equipped with a reel up button 41 and a reel down button 42.

[0063] The reel up button 41 and the reel down button 42 are both provided on the upper part of the operating lever 40. The operating lever 40, the reel up button 41, and the reel down button 42 all accept manual operation.

[0064] The mowing height sensor S is a sensor that detects the height of the mowing device 15 from the ground. The mowing height sensor S is provided on the lower part of the mowing device 15. The mowing height sensor S is composed of a plate-shaped member supported on the mowing device 15 in a state in which it can swing around an axis extending in the left-right direction of the machine body, and an angle sensor that detects the swing angle of the plate-shaped member. When the mowing device 15 approaches the ground, the plate-shaped member comes into contact with the ground. The smaller the distance between the mowing device 15 and the ground (the height of the mowing device 15 from the ground), the closer the attitude of the plate-shaped member becomes to the horizontal. In other words, the output of the angle sensor changes according to the height of the mowing device 15 from the ground. The output of the mowing height sensor S is input to the control device 20. The control device 20 calculates the height of the mowing device 15 from the ground based on the output of the mowing height sensor S.

[0065] As shown in FIG. 4, the control device 20 has a clutch control unit 25, a lowering command unit 26, a lifting / lowering control unit 27, and a mode setting unit .

[0066] When the combine harvester 1 is manually traveling, if the operator presses the reel lift button 41, a signal corresponding to the operation is sent to the lift control unit 27. In response to this signal, the lift control unit 27 controls the reel cylinder 17A in the extension direction. As a result, the reel 17 is lifted relative to the harvesting device 15.

[0067] In addition, when the combine harvester 1 is manually traveling, if the operator presses the reel lowering button 42, a signal corresponding to the operation is sent to the lift control unit 27. In response to this signal, the lift control unit 27 controls the reel cylinder 17A in the retracting direction. As a result, the reel 17 is lowered relative to the harvesting device 15.

[0068] In this manner, the lift control unit 27 controls the lifting and lowering of the reel 17 relative to the reaping device 15 in response to manual operation of the reel up button 41 and the reel down button 42.

[0069] In addition, when the combine harvester 1 is manually traveling, if the operator swings the operation lever 40 backward, a signal corresponding to the operation is sent to the lift control unit 27. In response to this signal, the lift control unit 27 controls the reaping cylinder 15A in the extension direction. As a result, the reaping device 15 rises relative to the machine body.

[0070] In addition, when the combine harvester 1 is manually traveling, if the operator swings the operation lever 40 forward, a signal corresponding to the operation is sent to the lift control unit 27. In response to this signal, the lift control unit 27 controls the reaping cylinder 15A in the retracting direction, causing the reaping device 15 to descend relative to the machine body.

[0071] In this way, the lift control unit 27 controls the operation of the mowing cylinder 15A in response to manual operation of the operation lever 40 to raise and lower the mowing device 15 relative to the machine body. The lift control unit 27 is configured to be able to detect the height of the mowing device 15 relative to the machine body based on the output of a sensor (not shown) provided on the mowing cylinder 15A. Therefore, the lift control unit 27 can control the mowing cylinder 15A so that the height of the mowing device 15 relative to the machine body becomes a set value (for example, a second height H2 described later).

[0072] [Lowering device lowered during automatic driving] 4, the position coordinates of the combine 1 calculated by the vehicle position calculation unit 21 are sent to the lowering command unit 26. In addition, the reaping travel path LI calculated by the path calculation unit 23 is sent to the lowering command unit 26.

[0073] The descent command unit 26 issues a descent command to lower the reaping device 15 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the reaping travel path LI received from the path calculation unit 23 during automatic travel. In detail, the descent command unit 26 issues a descent command when the combine harvester 1 enters the work target area CA from the outer periphery area SA. More specifically, the descent command unit 26 issues a descent command before the combine harvester 1 runs automatically and the reaping device 15 enters the work target area CA (unmowed area). In other words, the descent command unit 26 issues a descent command when the combine harvester 1 enters the reaping travel path LI. More specifically, the descent command unit 26 issues a descent command when the distance between the combine harvester 1 and the start point of the reaping travel path LI becomes equal to or shorter than a predetermined distance.

[0074] When the lowering command unit 26 issues a lowering command, the lifting / lowering control unit 27 lowers the reaping device 15 in a different manner according to the set mode. The lifting / lowering control unit 27 is set to either the first mode or the second mode by the mode setting unit 28.

[0075] In the first mode, when the lowering command unit 26 issues a lowering command, the lifting control unit 27 executes a first lowering operation to lower the reaping device 15 until the ground height detected by the mowing height sensor S reaches a predetermined first height H1. In more detail, as the first lowering operation, the lifting control unit 27 operates the mowing cylinder 15A in a retracting direction, and stops the mowing cylinder 15A when the ground height reaches the first height H1. The first height H1 is set in advance. For example, the first height H1 is set by the operator to a height suitable for the crop to be harvested.

[0076] The lifting control section 27 is configured to be capable of executing a mowing height control operation that controls the mowing cylinder 15A so that the height above the ground detected by the mowing height sensor S becomes the first height H1. When set to the first mode, the lifting control section 27 executes the first lowering operation and then executes the mowing height control operation.

[0077] In the second mode, when the lowering command unit 26 issues a lowering command, the lifting control unit 27 executes a second lowering operation to lower the mowing device 15 until the height of the mowing device 15 relative to the machine body reaches a predetermined second height H2. In detail, as the second lowering operation, the lifting control unit 27 operates the mowing cylinder 15A in the retracting direction, and stops the mowing cylinder 15A when the height of the mowing device 15 relative to the machine body reaches the second height H2.

[0078] The height of the reaping device 15 relative to the machine body is the height of the reaping device 15 based on a predetermined position on the machine body (for example, the contact surface of the traveling device 11 or the upper limit position of the lifting and lowering of the reaping device 15).

[0079] The second height H2 is set in advance. For example, the second height H2 is set by the operator to a height (height relative to the machine body) at which the reaping device 15 is located above the ridges of the field. The second height H2 is preferably set so that the reaping device 15 when the height relative to the machine body is at the second height H2 is located higher than the reaping device 15 when the height relative to the ground is at the first height H1.

[0080] When set to the second mode, the lifting control section 27 waits for manual input of operation to the operating lever 40 after performing the second lowering operation, and performs the above-mentioned mowing height control operation in response to the ground height detected by the mowing height sensor S reaching the first height H1.

[0081] The mode setting unit 28 sets the lift control unit 27 to either the first mode or the second mode in accordance with the manual operation received by the communication terminal 4. For example, the mode setting unit 28 displays a screen on the display device of the communication terminal 4 that requests the operator to set a mode, and waits for the input of the manual operation. The mode setting unit 28 then sets the mode in accordance with the received manual operation. It is preferable that the mode setting of the lift control unit 27 by the mode setting unit 28 be performed before the driving control unit 24 starts automatic driving.

[0082] [Downward Processing] The lowering process executed by the control device 20 will be described with reference to the flowchart of Fig. 6. The lowering process is executed when the combine 1 is automatically traveling in the outer circumferential area SA during harvesting work in a farm field. The lowering process may be executed when the combine 1 is manually traveling in the outer circumferential area SA.

[0083] The lift control unit 27 waits until the descent command unit 26 issues a descent command (step S101: No).

[0084] When the descent command unit 26 issues a descent command (step S101: Yes), the lift control unit 27 checks the set mode (step S102).

[0085] When the lift control section 27 is set to the first mode (step S102: first mode), the lift control section 27 executes a first lowering operation (step S103), and then executes a mowing height control operation (step S104). Then, the lowering process ends.

[0086] If the lift control unit 27 is set to the second mode (step S102: second mode), the lift control unit 27 executes the second lowering operation (step S105) and then waits for manual operation of the operating lever 40 (S106: No).

[0087] When the operating lever 40 is manually operated (Step S106: Yes), the lift control unit 27 operates the mowing cylinder 15A in accordance with the input manual operation (S107) and checks the output of the mowing height sensor S (S108). If the height of the mowing device 15 above the ground indicated by the output of the mowing height sensor S has not reached the first height (S108: No), the lift control unit 27 waits for manual operation of the operating lever 40 (S106).

[0088] If the height of the reaper 15 from the ground, as indicated by the output of the mowing height sensor S, has reached the first height (S108: Yes), the lift control section 27 executes the mowing height control operation (step S109), and the lowering process ends.

[0089] The graph in Fig. 7 shows the change in the extension amount of the mowing cylinder 15A due to execution of the lowering process, i.e., the manner in which the mowing device 15 is lowered. The vertical axis of the graph represents the extension amount of the mowing cylinder 15A, and the larger the value, the more the mowing cylinder 15A is extended, i.e., the mowing device 15 is at the top. The horizontal axis of the graph represents time.

[0090] First, the first mode indicated by the solid line will be described. Before time T1 when the lowering command is issued, the extension amount of the cutting cylinder 15A is large, and the cutting device 15 is in a high position.

[0091] When a lowering command is issued at time T1, the lift control unit 27 operates the cutting cylinder 15A in the retracting direction until the ground height reaches the first height H1. Thereafter, the lift control unit 27 executes the cutting height control operation, and the ground height of the cutting device 15 is maintained at the first height.

[0092] Next, the second mode indicated by the dashed line will be described. As in the first mode, before time T1 when the lowering command is issued, the extension amount of the cutting cylinder 15A is large and the cutting device 15 is in a high position.

[0093] When a command to lower is issued at time T1, the lift control unit 27 operates the cutting cylinder 15A in the retracting direction until the height relative to the machine body reaches the second height H2. After that, the lift control unit 27 waits for manual operation input to the operation lever 40. The cutting device 15 is maintained at the second height H2 (height relative to the machine body).

[0094] When the operator operates the control lever 40 in the downward direction at time T1, the lift control unit 27 operates the mowing cylinder 15A in the retracting direction. The mowing device 15 descends. When the height above the ground reaches the first height H1, the lift control unit 27 thereafter executes the mowing height control operation, and the height above the ground of the mowing device 15 is maintained at the first height.

[0095] The first mode is preferably used in a field without ridges, and the second mode is preferably used in a field with ridges. The following description will be given with reference to FIG.

[0096] In the first mode, when a lowering command is issued, the reaping device 15 quickly descends to the first height H1 (height above the ground) (left part of FIG. 5). Therefore, the crops in the work target area CA are appropriately reaped.

[0097] When the first mode is used in a field with ridges UN, the reaping device 15 quickly descends to the first height H1 before the combine harvester 1 enters the work target area CA. If the first height H1 is set lower than the height of the ridges UN, the reaping device 15 may come into contact with the ridges UN when the combine harvester 1 enters the work target area CA. If the reaping device 15 becomes soiled with soil due to contact with the ridges UN, the soil may adhere to the crop, reducing its commercial value.

[0098] In the second mode, when a descent command is issued, the reaping device 15 descends to the second height H2 (height relative to the machine body) before the combine harvester 1 enters the work target area CA (center part of FIG. 5). If the second height H2 is set appropriately, the reaping device 15 is prevented from contacting the ridges UN. Also, the crops on the ridges UN can be harvested appropriately. Thereafter, the reaping device 15 rises and falls in response to manual operation by the operator. When the reaping device 15 descends until the ground height reaches the first height, the ground height of the reaping device 15 is maintained at the first height. In other words, the height of the reaping device 15 from the top surface of the ridges UN is maintained at the first height H1 (right part of FIG. 5). Therefore, the crops on the ridges UN can be harvested more appropriately.

[0099] The use of the second mode is not limited to fields with ridges UN. It can also be suitably used in fields with ruts and undulations.

[0100] [Modifications] A modified example of the descending process will be described with reference to the flowchart of Fig. 8. The processes from step S201 to step S205 are the same as the processes from step S101 to step S105 described above, and therefore the description will be omitted.

[0101] When the operating lever 40 is manually operated (step S206: Yes), the lift control unit 27 executes a first lowering operation (step S207). That is, the lift control unit 27 lowers the mowing device 15 until the height above the ground detected by the mowing height sensor S becomes a predetermined first height H1. Next, the lift control unit 27 executes a mowing height control operation (step S208). Then, the lowering process ends.

[0102] That is, in this example, when the lifting control section 27 is set to the second mode, it is configured to wait for manual input to the operating lever 40 after performing the second lowering operation, and then perform the first lowering operation in response to the operating lever 40 receiving the manual input, and then perform the cutting height control operation.

[0103] The lift control unit 27 may be configured to execute the processing of steps S207 and S208 based on the reception of a manual operation input by an operating tool other than the operating lever 40 (e.g., the communication terminal 4 or another button, lever, etc.).

[0104] The lift control unit 27 may be configured to selectively execute the process of the above-mentioned embodiment (the lowering process in FIG. 6) and the process of this modified example (the lowering process in FIG. 8). For example, the lift control unit 27 may be configured to set whether to execute the process of the above-mentioned embodiment (the lowering process in FIG. 6) or the process of this modified example (the lowering process in FIG. 8) based on a manual operation by an operator.

[0105] Other Embodiments (1) The above-described lowering process may be performed when the combine harvester 1 is being manually driven. For example, the lowering command unit 26 may be configured to issue a lowering command in response to the acceptance of a manual operation of the operating lever 40 (or another manual operating tool).

[0106] (2) The mowing height sensor S may have a form different from that of the above-mentioned example. For example, the mowing height sensor S may be a non-contact sensor such as an optical positioning sensor, or may be an ON / OFF type contact switch.

[0107] (3) The control device 20 may automatically set the first height H1 according to the type of crop. The control device 20 may acquire the type of crop based on the output of a sensor or a camera, based on the recorded data of the farming system, or based on the input from the operator.

[0108] (4) The control device 20 may automatically set the second height H2 according to the height of the ridge. The control device 20 may acquire the height of the ridge based on the output of a sensor or a camera, based on the recorded data of the farming system, or based on input from an operator.

[0109] (5) In the process of the embodiment described above (the descent process of FIG. 6), the descent process may end after the first descent operation of step S103 is completed. The descent process may end after the second descent operation of step S105 is completed. In the process of the modified example (the descent process of FIG. 8), the descent process may end after the first descent operation of step S203 is completed. The descent process may end after the second descent operation of step S205 is completed. [Industrial Applicability]

[0110] The present invention is applicable not only to normal combine harvesters, but also to harvesters such as head-feeding combine harvesters, corn harvesters, and sugarcane harvesters. [Explanation of symbols]

[0111] 4: Communication terminal (operation display device) 15: Reaping device 15A: Mowing cylinder (actuator) 24: Driving control unit (automatic driving control unit) 26 :Descent command part 27: Lift control section 28: Mode setting section 40: Operating lever (operating tool) CA: Working area (uncut area) S: Mowing height sensor

Claims

1. The aircraft and a harvesting device supported on the machine body in a vertically ascending and descending state and configured to harvest crops in a field; An actuator for raising and lowering the reaping device; a mowing height sensor for detecting the height of the mowing device from the ground; A lowering command unit that issues a lowering command to lower the reaping device; A lift control unit that controls the operation of the actuator; An automatic travel control unit that automatically travels the machine along a preset reaping travel route, The lift control unit is a first mode in which, when the lowering command unit issues the lowering command, a first lowering operation is performed to lower the mowing device until the height from the ground detected by the mowing height sensor reaches a predetermined first height; a second mode in which, when the descent command unit issues the descent command, a second descent operation is performed to lower the reaping device until the height of the reaping device relative to the machine body reaches a predetermined second height; The descent command unit of the harvester issues the descent command when the distance between the machine body and the starting point of the mowing travel path becomes less than a predetermined distance before the machine body travels automatically and the mowing device enters an unmowed area.

2. the lifting control unit is configured to be capable of executing a mowing height control operation for controlling the actuator so that the height to the ground detected by the mowing height sensor becomes the first height, The harvester according to claim 1 , wherein when the lifting control section is set to the first mode, the lifting control section performs the first lowering operation and then performs the mowing height control operation.

3. An airframe, a harvesting device supported on the machine body in a vertically ascending and descending state and configured to harvest crops in a field; An actuator for raising and lowering the reaping device; a mowing height sensor for detecting the height of the mowing device from the ground; A lowering command unit that issues a lowering command to lower the reaping device; A lift control unit that controls the operation of the actuator; An operating tool that accepts manual operation, The lift control unit is a first mode in which, when the lowering command unit issues the lowering command, a first lowering operation is performed to lower the mowing device until the height from the ground detected by the mowing height sensor reaches a predetermined first height; a second mode in which, when the descent command unit issues the descent command, a second descent operation is performed to lower the reaping device until the height of the reaping device relative to the machine body reaches a predetermined second height; The lifting control unit is configured to be capable of executing a mowing height control operation that controls the actuator so that the ground height detected by the mowing height sensor becomes the first height, and is configured to operate the actuator in response to manual operation input to the operating tool to raise and lower the mowing device, and when set to the second mode, the harvester waits for manual operation input to the operating tool after executing the second lowering operation, and executes the mowing height control operation in response to the ground height detected by the mowing height sensor becoming the first height.

4. An airframe, a harvesting device supported on the machine body in a vertically ascending and descending state and configured to harvest crops in a field; An actuator for raising and lowering the reaping device; a mowing height sensor for detecting the height of the mowing device from the ground; A lowering command unit that issues a lowering command to lower the reaping device; A lift control unit that controls the operation of the actuator; An operating tool that accepts manual operation, The lift control unit is a first mode in which, when the lowering command unit issues the lowering command, a first lowering operation is performed to lower the mowing device until the height from the ground detected by the mowing height sensor reaches a predetermined first height; a second mode in which, when the descent command unit issues the descent command, a second descent operation is performed to lower the reaping device until the height of the reaping device relative to the machine body reaches a predetermined second height; The lifting control unit is configured to be capable of executing a mowing height control operation that controls the actuator so that the ground height detected by the mowing height sensor becomes the first height, and when set to the second mode, the harvester waits for manual input to the operating tool after executing the second lowering operation, executes the first lowering operation in response to the operating tool receiving the manual input, and then executes the mowing height control operation.

5. Equipped with an operating tool that accepts manual operation, The harvester according to claim 1 , wherein the lowering command unit issues the lowering command in response to a manual operation being received by the operating tool.

6. an operation display device capable of receiving manual operations and displaying information; A harvester as described in any one of claims 1 to 5, further comprising a mode setting unit that sets the lifting control unit to either the first mode or the second mode in accordance with a manual operation received by the operation display device.

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