combine

Abstract

To provide a combine-harvester capable of efficiently moving to a reaping start position of a next reaping work row regardless of an operating skill of an operator.SOLUTION: A combine-harvester: includes a position information receiver (51) for receiving position information of a harvester body, a position information acquisition member (52) for recording the position information received from the position information receiver (51), and a reaping sensor (57) for detecting reaping work of a reaper (3); and when the reaping sensor (57) does not detect a working state during travel along a first straight advance reference line (BG1), the reference line, calculates a second straight advance reference line (BG2), the reference line, based on position information of the point where the working state has not been detected and a direction of the first straight reference line (BG1).SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a combine harvester that harvests grain stalks with a harvesting device while traveling straight ahead. [Background technology]

[0002] In conventional combine harvesters, the machine runs straight to cut the stalks, and when it reaches the end of the cutting line, it turns the machine by about 90 degrees and cuts in the perpendicular direction toward the center of the field. When turning the machine, there is a technology that displays a virtual line indicating the cutting line on the display to assist the operator in maneuvering the machine (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-80496 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology of Patent Document 1, the operator must control the direction of travel of the machine in accordance with the virtual line, and at the same time must perform operations such as adjusting the height of the harvesting device, which means that there is a problem that the steering assistance effect cannot be obtained, especially for operators who are inexperienced in operating the machine.

[0005] Furthermore, depending on the shape of the field and the growth condition of the rice, some parts may not be harvested, or conversely, some parts may be crushed by the traveling equipment, which results in extra labor required to move to harvest later and reduces the harvest yield.

[0006] SUMMARY OF THE PRESENT EMBODIMENT In order to solve the above problems, the present invention provides a combine harvester that can efficiently move to the reaping start position for the next reaping row, regardless of the operator's driving skill. [Means for solving the problem]

[0007] The present invention which has solved the above problems is as follows.

[0008] In other words, the invention of claim 1 is a combine harvester having a harvesting device (3) at the front of a body traveling on a traveling device (2) and having a traveling assist function that automatically steers along a reference line for straight traveling, the combine harvester comprising a position information receiving device (51) that receives position information of the body, a position information acquisition member (52) that records the position information received from the position information receiving device (51), and a harvesting sensor (57) that detects the harvesting operation of the harvesting device (3), and when the harvesting sensor (57) stops detecting the working state while traveling along a first straight traveling reference line (BG1) as the reference line, the combine harvester calculates a second straight traveling reference line (BG2) as the reference line based on the position information of the point where the working state is no longer detected and the direction of the first straight traveling reference line (BG1).

[0009] In the invention of claim 2, when the second straight-line reference line (BG2) is calculated, a transition is made to a turning stage in which the direction is changed from the direction of the first straight-line reference line (BG1) to the direction of the second straight-line reference line (BG2), and a manual turning operation is allowed in the turning stage. The method according to claim 1 It's a combine. Effect of the Invention

[0010] According to the present invention, when the reaping sensor (57) no longer detects the reaping of the stalks, the second straight-line reference line (BG2) is formed, so that the reaping travel can be performed using the travel assist function even in the next reaping work row, improving the reaping accuracy. In addition, the second straight-line reference line (BG2) can be calculated based on the first straight-line reference line (BG1), so that the load on the travel calculation device (50) can be reduced. [Brief description of the drawings]

[0011] [Figure 1] Combine harvester front view [Diagram 2] Top view of a combine harvester [Diagram 3] Left side view of combine harvester [Figure 4]Engine E output rotation transmission diagram [Diagram 5] Transmission diagram of engine E output rotation to the running gear and harvesting equipment [Figure 6] Diagram of main gear shift lever [Figure 7] Diagram of a continuously variable transmission [Figure 8] Schematic diagram showing a 90 degree reverse turn [Figure 9] Block diagram showing each operation device and the controlled object [Figure 10] Flowchart showing calculation control of the first straight running reference line [Figure 11] FIG. 1A is a schematic diagram showing a case where a first straight-line reference line is calculated; FIG. 1B is a schematic diagram showing a case where a first straight-line reference line is not calculated; and FIG. 1C is a schematic diagram showing a case where a first and a second straight-line reference line are calculated. [Figure 12] Flowchart showing straight line assist control [Figure 13] Flowchart showing reverse 90 degree turn control [Figure 14] Flowchart showing another configuration of reverse 90 degree turn control [Figure 15] Flowchart showing another configuration of reverse 90 degree turn control [Figure 16] A flowchart showing the control for calculating the predicted arrival time from the distance between the current position and the straight-line reference point of the next process [Figure 17] Flowchart showing the control for calculating the predicted arrival time from the azimuth deviation between the current position and the straight-line reference point of the next process [Figure 18] Flowchart showing the travel speed control for a 90 degree backward turn based on the difference in predicted arrival time based on the distance and heading deviation [Figure 19] Front view showing the switch panel [Figure 20] Flowchart showing control for stopping voice guidance during volume dial operation [Figure 21] Flowchart showing the control for stopping the voice guidance when the control lever is operated in the left and right directions continuously [Figure 22]A flowchart showing the control for stopping the voice guidance during manual operation while ignoring the straight-line assistance. [Figure 23] Flowchart showing detection control of culms by the culm sensor and the auxiliary culm sensor DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 1 to 3, the combine harvester has a traveling device 2 consisting of a pair of left and right crawlers provided on the underside of a machine frame 1, and a reaping device 3 for harvesting culms growing in a field provided in front of the machine frame 1. In addition, a thresher 4 for threshing and sorting the culms harvested by the reaping device 3 is provided on the left rear side of the reaping device 3, and a control unit 5 for an operator to ride on is provided on the right rear side of the reaping device 3.

[0013] An engine room 6 in which an engine E is mounted is provided below the control unit 5, and a grain tank 7 for storing grains threshed and sorted by the threshing device 4 is provided behind the control unit 5, and the grains stored in the grain tank 7 are discharged to the outside by a discharge auger 70 connected to the grain tank 7. A front panel 10 is provided in front of the driver's seat of the control unit 5, and a side panel 15 is provided to the left of the driver's seat.

[0014] A monitor 11 that displays the output rotation of the engine E and the like is provided on the left side of the front panel 10, and an operation lever 12 that controls the rotation of the traveling device 2 and the elevation and lowering of the reaping device 3 is provided on the right side. The position of the operation lever 12 is measured by an angle sensor 12S, such as a potentiometer, attached to the lower part of the operation lever 12.

[0015] In addition, a parking brake pedal 13 is provided on the front left part of the floor located below the front panel 10, which activates and deactivates a pair of left and right brake devices 38 provided on the transmission 21 described later, and a raking pedal 14 is provided on the front right part of the floor, which engages and disengages the mowing clutch described later.

[0016] The depression posture of the parking brake pedal 13 is measured by a sensor 13S such as a limit switch or a contact sensor attached to the bottom of the parking brake pedal 13, and by an angle sensor 12S such as a potentiometer or a proximity sensor, and the depression posture of the stowing pedal 14 is measured by a sensor 14S such as a limit switch or a contact sensor attached to the bottom of the stowing pedal 14.

[0017] A main speed change lever ("speed change lever" in the claims) 16 is provided at the front of the side panel 15 to operate a continuously variable transmission 20 which increases / decreases the output rotation of the engine E and switches the direction of rotation, and behind the main speed change lever 16 is provided an auxiliary speed change lever 17 which operates a transmission 21 which increases / decreases the output rotation of the continuously variable transmission 20, and behind the auxiliary speed change lever 17 is provided a reaper / threshing lever 18 which operates the connection and disconnection of the reaping clutch 22 and threshing clutch 23.

[0018] 4, the output rotation output from the engine E is transmitted to the continuously variable transmission 20 provided on a transmission path ("first transmission path" in the claims) A. The output rotation of the engine E transmitted to the input shaft 44 of the continuously variable transmission 20 is accelerated or decelerated and its rotation direction is switched by the continuously variable transmission 20, and then transmitted to the transmission 21.

[0019] The output rotation of the continuously variable transmission 20 transmitted to the input shaft 30 of the transmission 21 is accelerated or decelerated by the multiple gears of the transmission 21, output from the output shaft 34, and transmitted to the traveling device 2. The traveling speed v of the traveling device 2 is measured by a speed sensor 2S, such as a tachometer generator attached to the truck wheel or a gyro attached to the machine frame 1. The output rotation output from the output shaft 31 of the transmission 21 is transmitted to the harvesting device 3 via the harvesting clutch 22.

[0020] In addition, the output rotation output from the engine E is transmitted to the threshing device 4 via a threshing clutch 23 provided on a transmission path ("second transmission path" in the claims) B.

[0021] 5, the output rotation of the continuously variable transmission 20 is transmitted to an input shaft 30 of the transmission 21. The output rotation transmitted to the input shaft 30 is transmitted to a counter shaft 32 via gears 30A, 31A, and 32A. The gear 30A is provided on the input shaft 30, the gear 31A is rotatably provided on the output shaft 31, and the gear 32A is provided on the counter shaft 32.

[0022] The output rotation transmitted to the counter shaft 32 is transmitted to the counter shaft 33 via the gears 32B and 33A. The gear 32B is provided on the counter shaft 32, and the gear 33A is provided on the counter shaft 33.

[0023] The output rotation transmitted to the countershaft 33 is transmitted to an output shaft 34 via a pair of left and right gears 33B and a pair of left and right gears 34A provided on both sides of the gear 33A. The gear 33B is provided on the countershaft 33, and the gear 34A is provided on the output shaft 34 so as to be slidable in the left-right direction.

[0024] A brake device 33C for braking the rotation of the counter shaft 33 is provided on both sides of the pair of left and right gears 33B of the counter shaft 33. As a result, when the operating lever 12 is tilted to the left, the rotation speed of the left gear 33B becomes slower than the rotation speed of the right gear 33B, causing the traveling device 2 to turn to the left in the traveling direction, and when the operating lever 12 is tilted to the right, The rotation speed of the right gear 33B becomes slower than the rotation speed of the left gear 33B, so that the traveling device 2 can be turned to the right in the traveling direction.

[0025] The output rotation transmitted to the output shaft 34 is transmitted to the input shaft 35 of the traveling device 2 via a pair of left and right gears 34B and a pair of left and right gears 35A provided on the outside of the gear 34A. The gear 34B is provided on the output shaft 34 so as to be slidable in the left and right direction, and the gear 35A is provided on the input shaft 35.

[0026] The output rotation transmitted to the counter shaft 32 is transmitted to the output shaft 31 via gears 32C and 31B, or gears 32D and 31C. Gears 32C and 32D are provided on the counter shaft 32, and gears 31B and 31C are provided on the output shaft 31 so as to be slidable in the left-right direction. Gears 31B and 31C can be moved in the left-right direction via a shifter 36 by operating a shifter device (not shown).

[0027] The output rotation transmitted to the output shaft 31 is transmitted to the input shaft 37 of the mowing device 3 via the mowing clutch 22 .

[0028] As shown in Fig. 6, when the main speed change lever 16 is in the neutral position, the output rotation of the continuously variable transmission 20 is zero. When the main speed change lever 16 is tilted forward from the neutral position, the rotation direction of the output rotation of the continuously variable transmission 20 becomes forward rotation, which is the same as the rotation direction of the output rotation of the engine E. When the tilt angle of the forward tilt position is increased, the output rotation of the continuously variable transmission 20 is accelerated. When the tilt angle of the front tilt position is reduced, the output rotation of the continuously variable transmission 20 is decelerated. When the main speed change lever 16 is moved from the neutral position to the rear tilt position, the rotation direction of the output rotation of the continuously variable transmission 20 becomes reverse to the rotation direction of the output rotation of the engine E, and when the tilt angle of the rear tilt position is increased, the output rotation of the continuously variable transmission 20 is accelerated, whereas when the tilt angle of the rear tilt position is decreased, the output rotation of the continuously variable transmission 20 is decelerated. The position of the main speed change lever 16 is measured by an angle sensor 16S, such as a potentiometer, attached to the lower part of the main speed change lever 16.

[0029] When the sub-speed-change lever 17 is in the neutral position, the output rotation of the transmission 21 is not increased or decreased. When the sub-speed-change lever 17 is moved from the neutral position to a forward tilted position, the output rotation of the transmission 21 is increased, and when the sub-speed-change lever 17 is moved from the neutral position to a rearward tilted position, the output rotation transmitted from the continuously variable transmission 20 is decelerated. The position of the sub-speed-change lever 17 is measured by an angle sensor 17S, such as a potentiometer, attached to the lower part of the sub-speed-change lever 17.

[0030] When the mowing / threshing lever 18 is in the forward tilted position, the mowing clutch 22 and the threshing clutch 23 are disengaged. When the mowing / threshing lever 18 is in the rearward tilted position, the mowing clutch 22 and the threshing clutch 23 are engaged. When the mowing / threshing lever 18 is in a neutral position which is between the forward tilted position and the rearward tilted position, the mowing clutch 22 is disengaged and the threshing clutch 23 is engaged. The position of the mowing / threshing lever 18 is measured by an angle sensor 18S, such as a potentiometer, attached to the bottom of the mowing / threshing lever 18.

[0031] As shown in Fig. 7, a sector gear 41 is supported on the trunnion shaft 40 of the continuously variable transmission 20, and a gear formed on the outer periphery of the sector gear 41 is engaged with a gear 42A provided on the output shaft of a forward motor (the "drive means" in the claims) 42 and a gear 43A provided on the output shaft of a reverse motor (the "drive means" in the claims). As a result, the forward motor 42 and the reverse motor 43 are driven based on the attitude of the main speed change lever 16, i.e., the measured value of the angle sensor 16S, to rotate the trunnion shaft 40 of the continuously variable transmission 20, thereby increasing or decreasing the output rotation of the engine E and switching the rotation direction. The output rotation of the engine E is transmitted to an input shaft 44 of the continuously variable transmission 20.

[0032] In addition, while Figure 7 illustrates a configuration in which the trunnion shaft 40 of the continuously variable transmission 20 is rotated by a forward motor 42 and a reverse motor 43 via a sector gear 41, it is also possible to support an arm extending radially on the trunnion shaft 40 of the continuously variable transmission 20, and to connect to the outer periphery of this arm a forward cylinder driven by a forward solenoid and a reverse cylinder driven by a reverse solenoid.

[0033] One method of harvesting rice stalks using a combine harvester is to harvest in a straight line starting from a row near the periphery of the field, and when it reaches the end of the harvest, it turns perpendicular to the current harvest row, i.e., at about 90 degrees, and continues harvesting in a straight line on the next harvest row, continuing toward the center of the field.

[0034] If the combine harvester has a traveling device 2 consisting of a pair of left and right crawlers, this 90-degree turn can be easily achieved by raising the harvesting device 3 at the end of the harvesting position, and then driving the left and right crawlers in opposite directions to make a 90-degree turn on the spot, a so-called pivot turn.

[0035] However, when pivoting, the crawler may push the soil in the field toward the unharvested rice plants due to the reaction force, causing the culms to be pushed down by the soil clumps. If this happens, the fallen culms will be pulled up by a weed splitter or a lifting device during the perpendicular harvesting work, but if the fallen seedlings are not lifted up sufficiently, they may not be harvested, and they will have to be harvested by hand later.

[0036] Furthermore, if the stalks are harvested while still containing lumps of soil and then handed over to the threshing device 4, the crushed soil may get into the transmission system of the harvesting device 3 or the threshing device 4, causing damage due to the load.

[0037] Therefore, as an example of turning without pivot turning, when the end position E of the reaping work row is reached, the reaping device 3 is raised and the machine body turns and travels to the deployment point T diagonally forward of the machine body, as shown in Figure 8. Note that the deployment point T to which the machine body heads is located closer to the unharvested (uncut) side N of the culms, so that the traveling device 2 does not crush the culms, it starts turning after moving straight ahead a little from the end position E of the reaping work row.

[0038] Then, after moving forward to a position away from the non-working position, the machine switches to reverse travel and turns diagonally backward to the next process straight-line reference point NB. At this time, the machine body assumes a posture perpendicular to the previous reaping work row, and the reaping device 3 moves backward to a position facing the next reaping row.

[0039] This allows the next harvesting row to harvest without the soil in the field being pushed against the unharvested culms and without causing the fallen culms to be disturbed, thereby preventing the occurrence of leftover culms and damage caused by the inclusion of soil and other impurities.

[0040] However, when turning forward from the end of a harvesting row, it must move along a path that does not step on the stalks, and when turning backward toward the start of the next harvesting row, the harvesting device 3 must move to a position that faces the next harvesting row without any deviation. Therefore, while it is sufficient if the operator is skilled in operating the combine harvester, if the operator is not sufficiently skilled, the operator will have to adjust the turning path and the harvesting position many times, which will significantly reduce work efficiency and cause the operator to work with extra effort.

[0041] Furthermore, if the operator does not have a high level of proficiency in operating the combine, it can be difficult to make the machine run in a straight line along the vegetation of the culms, which can lead to snaking motions that leave culms uncut, or the machine cutting culms that should be harvested in a later process first.

[0042] In order to solve the above problems and to allow the machine to be moved regardless of the skill level of the operator, as shown in Figures 1 to 3, at least one part of the machine, such as the grain tank 7 or the control unit 5, is provided with a A GPS antenna 51 is provided to communicate with a satellite to obtain current position information. This GPS antenna 51 automatically obtains position information at a predetermined time interval (e.g., 0.2 seconds). Alternatively, an information terminal (not shown) carried by the worker can be provided with a coordinate acquisition switch 52 that allows the worker to acquire location information at any time and record the location information (position coordinates) in the driving control device 50, thereby making it possible to acquire and record specific location information.

[0043] As shown in Figures 9 and 10, a mowing clutch sensor 53 and a threshing clutch sensor 54 are provided to detect the on / off state of the mowing clutch 22 and the threshing clutch 23, and when it is determined that the mowing clutch sensor 53 and the threshing clutch sensor 54 are on, i.e., in the mowing operation state, the coordinate acquisition switch 52 is operated to cause the first reference point A to be recorded in the driving control device 50.

[0044] When the first reference point A has already been acquired, the coordinates of the first reference point A are compared with the coordinates newly acquired by operating the coordinate acquisition switch 52, or the traveling distance is calculated from the detection value of the traveling rotation sensor 55, which detects the rotation of the transmission system to the traveling device 2, from the time when the coordinates of the first reference point A were acquired, and it is determined whether the first reference point A is more than a predetermined distance (e.g., 5 to 10 m) away from the acquired coordinates.

[0045] If the traveled distance is less than the predetermined distance, the position information acquired by the GPS antenna 51 is not recorded as an invalid operation, and an annunciation device (not shown) such as a buzzer notifies the user that the operation is invalid.

[0046] On the other hand, when the mower has traveled a predetermined distance or more, the position information of the position where the coordinate acquisition switch 52 was operated is recorded as the second reference point B, and the driving control device 50 calculates an imaginary line connecting the coordinates of the first reference point A and the second reference point B, as shown in Fig. 11(a). When the field shape is rectangular, the smaller the difference between the X coordinate of the first reference point A and the X coordinate of the second reference point B, the more successfully the mower is traveling in a straight line between points A and B, and therefore a first straight line reference line BG1 is set.

[0047] In other words, when the difference between the X coordinate of the first reference point A and the X coordinate of the second reference point B exceeds the allowable value, as shown in Fig. 11(b), there is a possibility that the mowing travel trajectory is significantly inclined, so a notice is issued that the first straight-line reference line BG1 used as the reference for straight-line travel is inappropriate as a reference for straight-line travel, and the first reference point A and the second reference point B are deleted. In this case, the first reference point A and the second reference point B are re-acquired in the next process that is perpendicular to the current mowing work row, or in the process after that that is approximately parallel to the current mowing work row.

[0048] The GPS antenna 51 is equipped with an ICU 51a that determines the direction (azimuth) of the aircraft using geomagnetism, a gyro, etc., in addition to a communication device with a satellite. When the first straight-line reference line BG1 is recorded in the driving control device 50 and the reaping clutch sensor 53 and the threshing clutch sensor 54 are detected, if the straight-line assist switch 56 provided in the cockpit 5 or the information terminal is operated, the current forward direction of the aircraft acquired by the ICU 51a is compared with the direction (e.g. east-west, south-north) at the time of acquisition of the first straight-line reference line BG1.

[0049] If the orientation of the first straight-line reference line BG1 is parallel to the forward direction of the aircraft, as shown in Figures 11(a) and 12, the cruise control device 50 slides the first straight-line reference line BG1 in the X-axis direction and adapts it as a virtual straight-line reference line GL.

[0050] On the other hand, when the direction of the first straight-line reference line BG1 and the forward direction of the aircraft are perpendicular to each other, as shown in FIG. 11(c) and FIG. 12, the cruise control device 50 is perpendicular to the first straight-line reference line BG1. That is, a second straight-line reference line BG2 is generated by extending a line infinitely in the positive and negative directions of the X-axis based on the Y coordinate of the first straight-line reference line BG1.

[0051] In addition, when the first straight-line reference line BG1 and the forward direction of the aircraft are not nearly parallel or nearly perpendicular, it is determined that the direction of travel is changing and the state is not suitable for straight-line assistance, and neither the imaginary straight-line reference line GL nor the second straight-line reference line BG2 is calculated.

[0052] As a result, when the operator operates the straight-line assist switch 56 in a working condition in which the direction of the machine is changed by 90 degrees at the end of the cutting work row and the next cutting work row is in the perpendicular direction, the machine can perform cutting travel in a straight line along the first straight-line reference line BG1 or the second straight-line reference line BG2.

[0053] The travel control device 50 allows the side clutches 2a, 2b that turn on and off the transmission of power to the left and right crawlers to be turned on and off regardless of the operation of the operation lever 12. When the straight-line assist switch 56 is turned on, the first straight-line reference line BG1 or the second straight-line reference line BG2 is compared with the position coordinates acquired by the GPS antenna 51, and when a deviation in the coordinates exceeds an allowable value, the left and right side clutches 2a, 2b are turned on and off to travel along a trajectory that corresponds to straight-line mowing travel.

[0054] As a result of the above, if the initial mowing operation is performed to the extent that the first straight-line reference line BG1 can be obtained, the subsequent process can be performed from the very beginning using the straight-line assistance provided by the driving control device 50 to perform the mowing operation, thereby preventing any stalks from being left uncut regardless of the operator's driving proficiency.

[0055] In addition, since the operation of the straight-line assist switch 56 is accepted when the mowing clutch sensor 53 and the threshing clutch sensor 54 are in a detection state, the straight-line assist function can be used before starting travel, making it possible to reliably mow and harvest the stalks from the mowing start position of each mowing work row.

[0056] As described above, harvesting work, which requires straight-line driving, is less dependent on skill level, but we will also show a control configuration that makes turning, which changes the direction of the machine by 90 degrees, and forward and backward driving less dependent on skill level.

[0057] As shown in Figures 10 and 13, the harvesting device 3 is provided with a culm sensor 57 that detects the entry of the culms to be harvested, and when the culm sensor 57 changes from a detection state to a non-detection state, it can be determined that there are no more culms to be harvested, that is, the harvesting work row has reached the end position E. This arrival is notified to the operator by an alarm device such as a buzzer.

[0058] Furthermore, when the straight-line assist switch 56 is operated and the straight-line driving is controlled by the driving control device 50, and the stalk sensor 57 goes into a non-detecting state, it is determined that the end position E of the harvesting work row has been reached and that the turning position where the direction of the machine body is changed by 90 degrees has been reached.

[0059] At this time, the driving control device 50 raises the harvesting device 3 to move toward the deployment point T, switches off the harvesting clutch 22 and the threshing clutch 23, operates the HST 60 with an output that allows it to travel slowly forward, and controls the left and right side clutches 2a, 2b to be turned on and off, respectively, to move the machine toward the side where the stalks are growing and toward a position where there are no stalks, i.e., moves it diagonally forward.

[0060] The position without stalks is ensured either before obtaining the first straight reference line BG1 or by manually harvesting the stalks after obtaining the first straight reference line BG1. Another combine may be used to harvest the stalks to provide space for turning.

[0061] The aircraft is moved diagonally forward, and when the angle between the forward direction of the aircraft detected by ICU 51a and the first straight-line reference line BG1 or the second straight-line reference line BG2 reaches a predetermined angle (e.g., 30 to 45 degrees), it is determined that the deployment point T has been reached, and the driving control device 50 sets the output of HST 60 to 0 (neutral) to stop driving.

[0062] When the stalk sensor 57 no longer detects the stalk, the travel control device 50 obtains and records position information from the GPS antenna 51. The coordinates of this position information are compared with the coordinates of the first straight-line reference line BG1 or the second straight-line reference line BG2, and the position moved a predetermined distance (e.g., the length of the registered machine from front to back) in the X-axis direction when reaping / harvesting travel has been performed along the first straight-line reference line BG1, or in the Y-axis direction when reaping / harvesting travel has been performed along the second straight-line reference line BG2, is set as the next-step straight-line reference point NB, which is the starting point of the next reaping work row.

[0063] More specifically, when the Y coordinate value of the first straight-line reference line BG1 increases, the next-step straight-line reference point NB is set at a position shifted in the positive direction of the X axis, and when the Y coordinate value decreases, the next-step straight-line reference point NB is set at a position shifted in the negative direction of the X axis. Also, when the X coordinate value of the second straight-line reference line BG2 decreases, the next-step straight-line reference point NB is set at a position shifted in the positive direction of the Y axis, and when the X coordinate value increases, the next-step straight-line reference point NB is set at a position shifted in the negative direction of the Y axis.

[0064] In addition, when mowing work is performed along the first straight-line reference line BG1, the next-step straight-line reference point NB's Y coordinate is set to coincide with the Y coordinate of the second straight-line reference line BG2, and when mowing work is performed along the second straight-line reference line BG2, the next-step straight-line reference point NB's X coordinate is set to coincide with the X coordinate of the first straight-line reference line BG1.

[0065] When the output of the HST 60 stops, the operator operates the main speed change lever 16 to reverse, or when a certain period of time (e.g., 2 to 3 seconds) has elapsed as shown in Fig. 14, the HST 60 outputs in the reverse direction. At this time, if the operation amount of the main speed change lever 16 is too large, there is a risk of the machine moving backward at high speed. Therefore, if the travel control device 50 makes the time it takes to increase the output of the HST 60 longer than usual, or sets an upper limit on the reverse output of the HST 60, the machine will be prevented from accidentally crushing unharvested stalks.

[0066] When the vehicle starts traveling backward, the travel control device 50 controls the traveling direction by turning on and off the left and right side clutches 2a and 2b so that the vehicle reaches the next-step straight-line reference point NB in ​​a state where the vehicle has rotated 90 degrees counterclockwise from before the turn. Then, when the vehicle reaches the coordinate position of the next-step straight-line reference point NB or a position considered to be approximate, the output of the HST 60 is set to 0 (neutral) and the vehicle stops.

[0067] The operator then visually confirms that uncut stalks are growing in a straight line at the stopping position of the machine and that one side of the harvesting device 3 in the left-right direction is at the outer end of the uncut stalks, lowers the harvesting device 3 to the working height, switches the harvesting clutch 22 and threshing clutch 23 to the on state, and turns on the straight-line assist switch 56 to perform harvesting work along the second straight-line reference line BG2.

[0068] Then, when the stalk sensor 57 no longer detects the entry of stalks, the position coordinates of that location, if there are no abnormalities, are calculated, and the x-th reference line BGx, which extends infinitely in the positive and negative directions from the X-coordinate of the second straight-line reference line BG2 and is parallel to the first straight-line reference line BG1, is calculated, and in the next process, the y-th reference line BGy is calculated, and so on. This flow is repeated until the end of the harvesting work. Note that the above x is assumed to be an odd number, and y is assumed to be an even number.

[0069] As a result of the above, there is little or no need for the operator to perform turning operations when changing the direction of the machine by 90 degrees, which reduces the operator's labor and prevents the crushing of stumps and damage to the field due to operating errors.

[0070] In addition, by automatically moving in a straight line to the start position of the next mowing operation, if the mower is in operation and the straight-line assist switch 56 is turned on, the mowing operation will be performed along an appropriate trajectory, thereby improving work efficiency and mowing accuracy.

[0071] When reverse travel is started, as shown in FIG. 16, the distance to the next step straight-line reference point NB is calculated from the next step straight-line reference point NB and the current position coordinates acquired by the GPS antenna 51.

[0072] At this time, the travel distance between two points acquired by the GPS antenna 51 over a certain period of time (e.g., 1 to 3 seconds) is calculated as a sample, and based on this sample, the predicted time to reach the next step straight-line reference point NB is calculated (e.g., sample = 0.25 m / sec, distance = 5.00 m (5-0.25) / 0.25 = 19 seconds remaining).

[0073] 17, when reverse travel is started, the azimuth deviation required to reach the next step straight-line reference point NB is calculated from the next step straight-line reference point NB and the current aircraft azimuth acquired by the ICU 51. At this time, the change in azimuth deviation acquired by the ICU 51a over a certain period of time (e.g., 1 to 3 seconds) is calculated as a sample, and the predicted time to reach the next step straight-line reference point NB is calculated based on this sample (e.g., sample = 4 degrees / second, azimuth deviation until arrival is 40 degrees (36-4) / 4 = 9 seconds remaining).

[0074] These numbers are to be displayed on the display of the control unit 5 and counted down. If necessary, the numbers may be recalculated and changed.

[0075] In the above example, only one of the distance and the heading deviation is calculated and used to calculate the predicted time. Both may be calculated in parallel and displayed in parallel. In this case, the time based on distance is the predicted arrival time at the next step straight reference point NB at the current driving speed, and the time based on heading deviation is the time until the machine's direction matches the next harvesting work step, and there is no problem even if the two do not match. However, if there is only one display frame, the display of the time based on the distance at which work can actually start is given priority.

[0076] The predicted arrival time is calculated from both the amount of heading deviation and the distance, and if the two results match or are close within an acceptable range, automatic reverse assist is performed.

[0077] On the other hand, as shown in FIG. 18, when the predicted time based on the amount of heading deviation is longer than the predicted time based on the distance, the brake output to the traveling device 2 is increased, and the amount of change in distance is reduced to match the predicted arrival time.

[0078] This allows the orientation of the machine body to be adjusted to a position suitable for the next mowing operation before it reaches its destination, and also prevents the machine body from shifting from the mowing operation position of the next operation, thereby improving work efficiency and work accuracy.

[0079] Conversely, when the predicted time based on the distance is longer than the predicted time based on the azimuth deviation, the brake output to the traveling device 2 is reduced, and the amount of change in distance is increased to match the predicted arrival time.

[0080] This allows the machine to adjust its orientation while moving to the starting position for the next process. Since priority can be given to movement speed, work efficiency is improved.

[0081] In the above configuration, coordinate information is obtained by the GPS antenna 51, so that the location information of the position where mowing ended and the position where automatic reverse assist began can be recorded. This makes it possible to check after work whether any grass was left uncut or whether the starting point of the automatic reverse assist was appropriate, and the like, and use the information to consider improvements to work from the next time onwards.

[0082] The above-mentioned reaping end position is preferably the position coordinate obtained when the culm sensor 57 no longer detects culms or when the reaping device 3 is raised. However, depending on the work conditions and the operator, the reaping device 3 may be raised after moving forward a little even when there are no culms, or the reaping device 3 may be raised at the same time as the last culm is harvested. Therefore, it is also possible to use the position information of either non-detection of culms or raising of the reaping device 3, whichever occurs first, as the reaping end position.

[0083] This allows the end position of the harvesting process to be output to a field map or the like after the work is completed, allowing the variation in the end position of the harvesting process to be checked and whether it is suitable as the starting position for the subsequent automatic reverse assist to be confirmed, thereby identifying areas for improvement from next time onwards, thereby improving long-term work accuracy.

[0084] In addition, the automatic reverse assist reverses while changing the attitude of the machine to the start position of the next mowing operation. However, if, due to the influence of the start position of reverse, etc., the orientation of the machine moves to a position along the first straight-line reference line BG1 or the second straight-line reference line BG2 of the next process and it is determined that the machine is in a position that is significantly shifted to the left or right, the mowing device 3 will not be at the position that should be the mowing position for the next process, which may result in some grass being left uncut or a position where the mowing function of the mowing device 3 cannot be performed. Therefore, even if the straight-line assist switch 56 is turned on, the driving control device 50 is configured not to activate the straight-line assist function.

[0085] In addition, when the vehicle is moved left or right from the first straight-line reference line BG1 or the second straight-line reference line BG2 by manual operation or the like so that there is no deviation in coordinates or it is within the acceptable range, the straight-line assist switch 56 is turned on and the driving control device 50 performs straight-line assist control.

[0086] As shown in Fig. 19, the straight assist switch 56 is provided on one of the left and right sides of a switch panel 62 provided on the operation unit 5, etc. This straight assist switch 56 may be used to operate both the straight assist and the automatic reverse assist, but an operational error may make it difficult to move to the next mowing position or may cause unnecessary movement.

[0087] To prevent this, as shown in Fig. 19, a reverse assist switch 63 may be provided on the other side of the switch panel 62, to the left or right, so that when the reverse assist switch 63 is operated under suitable conditions, the automatic reverse assist shown in Fig. 15 is performed. Also, to further prevent confusion between the straight assist and the automatic reverse assist, a mode changeover switch 64 may be provided between the left and right of the straight assist switch 56 and the reverse assist switch 63, so that only the operation of the side set by this mode changeover switch 64 is accepted.

[0088] This prevents culms from being left uncut or crushed due to incorrect operation, and by using the necessary assist functions, work can be carried out efficiently with high precision.

[0089] The acquisition of the first reference point A and the second reference point B, and the operation of the straight-line assist and automatic reverse assist are performed by predetermined operations, but the operator cannot judge whether or not he or she performed the operation correctly until control starts. In addition, although a failure in communication with the satellite and the occurrence of an abnormality in each part of the aircraft are indicated by lamps and other indicators, they are difficult for an operator concentrating on other tasks to confirm.

[0090] Therefore, as shown in FIG. 10, the control system is equipped with a voice guidance device 65 with multiple preset voices, and the driving control device 50 emits the corresponding voice in response to the operation of levers or switches by the operator, or when each sensor mounted on the vehicle switches between detection and non-detection.

[0091] For example, if the coordinate acquisition switch 52 is operated when the first reference point A has not yet been acquired, the message "Point A has been acquired" will be displayed. If the coordinate acquisition switch 52 is operated after the first reference point A has been acquired, the message "Point B has been acquired. The assist function is ready" will be displayed. If the stalk sensor 57 is not detected during straight-line assisted driving or the straight-line assist switch 56 is operated with the harvesting device 3 raised, the message "Assist has ended" will be displayed.

[0092] Depending on the model, the straight-line assist function turns 90 degrees from the end of the cutting position to move on to the next process. In addition to the row-horizontal mode, which includes horizontal mowing, an alternating mowing mode may be set in which mowing work is performed alternately on a mowing work row at one end of the field and a mowing work row at the other end of the field along a first straight-line reference line BG1 calculated by connecting points AB, and the straight-line assist is turned off at the edge of the field while turning, aiming for the center of the field. These multiple straight-line assist modes can be easily switched by turning the volume dial 66.

[0093] However, if the voice guide device 65 issues a message each time the mode is switched, The operator must endure the noise when switching between modes. If the volume dial 66 is operated during pronunciation, the discomfort is somewhat reduced if the previous sound is interrupted, but if the previous sound is not interrupted, the current mode becomes difficult to distinguish, and the discomfort increases.

[0094] To prevent this problem, as shown in FIG. 20, when the volume dial 66 is used to switch the straight-line assist mode or to switch between other modes, the voice guidance device 65 will not produce the corresponding sound until the driving control device 50 determines that the operating position of the volume dial 66 has not changed for a certain period of time (e.g., just under one second).

[0095] This prevents the worker from being bothered by noise when operating the volume dial 66, and also prevents multiple audio files from being loaded many times in a short period of time, placing a strain on the driving control device 50 and the audio guide device 65. In particular, this prevents the worker from working in the wrong mode due to a control error that occurs when audio files are loaded many times in a short period of time, resulting in the sound not corresponding to the operating position of the volume dial 66 being emitted.

[0096] As described above, by providing the ECU 51a together with the GPS antenna 51, it is possible to determine how far the vehicle is deviating from the first straight-line reference line BG1 and the second straight-line reference line BG2 during straight-line driving assistance.

[0097] The straight-line assist generates a speed difference between the left and right traveling devices 2 to correct the deviation and correct the orientation of the machine body, but when the deviation becomes large due to unevenness in the field, the operator can correct the posture by operating the operating lever 12 to the left or right to make a larger amount of correction, and quickly return to the straight-line position.

[0098] Therefore, when a position deviation of a set value or more is detected, a voice instruction is given to the operator to correct the traveling direction by operating the operation lever 12. Note that since there is a possibility that the operator is not aware of the deviation, does not know whether the deviation is to the left or right, or may be mistaken, the voice that is pronounced is "Please operate the operation lever to the right (left)", specifically explaining the operation in the direction approaching the straight-ahead driving position.

[0099] This allows deviation from the straight-ahead position to be quickly corrected, preventing the occurrence of grain stalks that are not cut by the harvesting device 3 and preventing the occurrence of areas within the left and right width of the harvesting device 3 where cutting work is not performed, thereby improving work efficiency and accuracy.

[0100] However, if the sound continues to be emitted even after the operating lever 12 is operated in the direction to be operated when adjusting to the straight ahead position, this may cause discomfort to the operator.

[0101] Therefore, as shown in FIG. 21, when the operating lever 12 is operated in the same direction continuously for a predetermined time (e.g., 1 to 2 seconds) or more, the driving control device 50 is configured to cause the voice guide device 65 to stop emitting the same voice. This prevents the same voice from being unnecessarily emitted multiple times, reducing discomfort to the operator.

[0102] In addition, if the operating lever 12 continues to be operated in the same direction beyond the straight ahead position and must be operated in the opposite direction, a voice will be emitted saying, "Please operate the operating lever to the right (left)."

[0103] In addition, as shown in FIG. 22, when the angle between the virtual line indicating the direction calculated by the ECU 51a and the first straight-line reference line BG1 or the second straight-line reference line BG2 becomes equal to or greater than a predetermined angle, it is determined that the deviation is due to the operator's intentional operation of the operating lever 12, and the voice guidance device 65 stops emitting voice prompting the operator to operate in the left or right direction.

[0104] However, if the straight-line assist switch 56 is not operated to turn off the straight-line assist, the cruise control device 50 will continue to attempt to control the position of the vehicle to align with the first straight-line reference line BG1 or the second straight-line reference line BG2, so it may sound the message "Please turn off the assist switch" once or a predetermined number of times (e.g., 2 to 3 times).

[0105] In the harvesting operation of the combine harvester, the harvesting device 3 may approach the edge of the rice ridge during harvesting operation. At this time, it is important for the stalk sensor 57 to detect the presence or absence of stalks in order to stop the harvesting device 3 at a position where it will not come into contact with the ridge. However, if the essential stalk sensor 57 is broken due to a disconnection or short circuit, no notification is given even if there are no stalks, and the harvesting device 3 may come into contact with the ridge and be damaged.

[0106] To prevent this, as shown in FIG. 10, an auxiliary stalk sensor 57a is provided at a position on the machine body rearward of the conventionally installed stalk sensor 57, so that both come into contact with the stalks being cut.

[0107] As shown in Figure 23, when the stump sensor 57 is always in a detection state or always in a non-detection state, and the auxiliary stump sensor 57a changes from a detection state to a non-detection state, it can be said that the stump sensor 57 has failed and the auxiliary stump sensor 57a is functioning normally.

[0108] Therefore, since it can be determined that the grain stalks are gone when the auxiliary grain stalk sensor 57a is no longer detecting the grain stalks, it becomes possible to notify the operator by the alarm device.

[0109] Alternatively, when the stump sensor 57 switches from a non-detection state to a detection state and the auxiliary stump sensor 57a changes from a detection state to a non-detection state, it can be said that the stump sensor 57 has failed and the auxiliary stump sensor 57a is functioning normally.

[0110] On the other hand, when the stalk sensor 57a switches from the detection state to the non-detection state, the stalk sensor 57a is functioning normally, so that the alarm device is activated to notify the operator. [Explanation of symbols]

[0111] 2 Running gear 3 Reaping device 57 Grain stalk sensor (harvesting sensor) BG1 First straight reference line BG2 Second straight reference line

Claims

1. A combine harvester having a reaping device (3) on the front side of a machine body traveling on a traveling device (2) and having a traveling assist function that automatically steers along a reference line for straight traveling, A location information receiving device (51) for receiving location information of the aircraft; a position information acquisition member (52) for recording the position information received from the position information receiving device (51); A mowing sensor (57) is provided to detect the mowing operation of the mowing device (3), When the cutting sensor (57) no longer detects a working state while traveling along a first straight-line reference line (BG1) serving as the reference line, the combine calculates a second straight-line reference line (BG2) serving as the reference line based on the position information of the point where the cutting sensor (57) no longer detects the working state and the direction of the first straight-line reference line (BG1).

2. A combine harvester as described in claim 1, wherein when the second straight-line reference line (BG2) is calculated, a turning stage is performed in which the direction is changed from the direction of the first straight-line reference line (BG1) to the direction of the second straight-line reference line (BG2), and manual turning operation is allowed during the turning stage.

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