JP7641764B2 - Harvesting Machine - Google Patents

Description

The present invention relates to a harvester.

Patent Document 1 discloses a mowing height control system for a combine harvester. The disclosed combine harvester is equipped with a mowing height detection device and a control unit that maintains the pre-mowing processing section at a constant height above the field surface based on a detection signal from the device.

JP 2016-182084 A

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

The objective of the present invention is to provide a harvester that can be used in a variety of different fields.

As a means for solving the above-mentioned problems, the harvester of the present invention comprises a machine body, a reaping device supported on the machine body in a state in which it can be raised and lowered up and down and which reaps crops in a field, an actuator for raising and lowering the reaping device, a mowing height sensor that detects the height of the reaping device above the ground, a descent command unit that issues a descent command to lower the reaping device, a lift control unit that controls the operation of the actuator, and an automatic travel control unit that automatically travels the machine body along a predetermined mowing travel path, and the lift control unit controls the reaping device to move up and down when the descent command unit issues the descent command. The mowing device 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 a height sensor becomes 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 body becomes a predetermined second height , and the lowering command unit issues the lowering command when the distance between the body and the starting point of the mowing travel path becomes less than a predetermined distance before the body starts to travel automatically and the mowing device enters an unmowed area .

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 the reaping device to harvest crops.
Moreover, it is preferable that the above-mentioned advantages of the harvester can be enjoyed when harvesting crops by automatic travel.

In the present invention, the lift control unit is configured to be capable of executing a cutting height control operation that controls the actuator so that the ground height detected by the cutting height sensor becomes the first height, and when set to the first mode, the lift control unit preferably executes the first lowering operation and then executes the cutting height control operation.

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.

Another harvester of the present invention includes a machine body, a reaping device supported on the machine body in a state in which it can be raised and lowered vertically and which reaps crops in a field, an actuator for raising and lowering 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, a lifting control unit that controls the operation of the actuator, and an operating tool that accepts manual operation , wherein the lifting control unit has a first mode for executing a first lowering operation to lower the reaping device until the height above the ground detected by the mowing height sensor reaches a predetermined first height when the lowering command unit issues the lowering command, and a second mode for executing a first lowering operation to lower the reaping device above the machine body when the lowering command unit issues the lowering command. and a second mode in which a second lowering operation is performed to lower the mowing device until the height above the ground detected by the mowing height sensor becomes a predetermined second height, and the lifting control unit is configured to be capable of executing a mowing height control operation to control the actuator so that the height above the ground 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 lifting control unit waits for manual operation to be input to the operating tool after executing the second lowering operation, and executes the mowing height control operation in response to the height above the ground detected by the mowing height sensor becoming the first height.

According to this configuration, after the second lowering operation is performed, the cutting height control operation is performed 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 while cutting crops.

Another harvester according to the present invention includes a body, a reaping device supported on the body in a state in which it can be raised and lowered vertically and which reaps crops in a field, an actuator for raising and lowering 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, a lifting control unit that controls the operation of the actuator , and an operating tool that accepts manual operation , wherein the lifting control unit is configured to execute a first lowering operation for lowering the reaping device until the height above the ground detected by the mowing height sensor reaches a predetermined first height when the lowering command unit issues the lowering command, and a first mode in which, when the descent command is issued, a second lowering operation is performed to lower the mowing device until the height of the mowing device relative to the body reaches a predetermined second height, and the lifting control unit is configured to be capable of executing a mowing height control operation to control the actuator so that the height relative to the ground detected by the mowing height sensor becomes the first height, and when set to the second mode, the lifting control unit waits for manual input of operation to the operating tool after executing the second lowering operation, and executes the first lowering operation in response to the operating tool receiving the manual input, and then executes the mowing height control operation.

According to this configuration, after the second lowering operation is performed, the harvesting device is lowered in response to manual operation until the height above the ground reaches the first height (first lowering operation), and then the harvesting height control operation is performed, so that the harvesting device can be kept at an appropriate height while harvesting crops.

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.

With this configuration, when manually operated, a command to lower 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 driving.

In the present invention, it is preferable to provide an operation display device capable of receiving manual operations and displaying information, and a mode setting unit that sets the lift control unit to either the first mode or the second mode in response to the manual operations received by the operation display device.

With this configuration, the lift control unit can be set to either the first mode or the second mode depending on the manual operation, allowing the operator to adapt the harvester to various types of fields.

FIG. FIG. FIG. 2 is a diagram showing mowing travel along a mowing travel route. FIG. 2 is a functional block diagram showing a control configuration. FIG. 11 is a diagram for explaining a first height and a second height. 13 is a flowchart showing a lowering process. 11 is a graph showing the manner in which the reaping device descends during a lowering process. 13 is a flowchart showing a modified example of a lowering process.

The embodiment for carrying out 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. Note that the present invention is not limited to the following embodiment, and various modifications are possible without departing from the spirit of the invention.

[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.

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.

The driving section 12, threshing device 13, and 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 also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

The grain discharge device 18 is provided on top of the grain tank 14. The satellite positioning module 80 is attached to the top surface of the driving section 12.

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.

The harvesting device 15 harvests crops in the field. The reel 17 rotates around the 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.

The harvested stalks harvested by the harvesting device 15 are transported by the conveying 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.

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.

The combine harvester 1 is configured to harvest grains in the field by making circular runs while harvesting grains in the outer peripheral area of the field as shown in FIG. 2, and then making a reaping run in the inner area of the field as shown in FIG. 3.

In this embodiment, the circular travel shown in FIG. 2 is performed by manual travel. The harvesting travel in the inner area shown in FIG. 3 is performed by automatic travel. In other words, the combine harvester 1 is capable of automatic travel.

However, the present invention is not limited to this, and the circular driving shown in Figure 2 may be performed by automatic driving. The mowing driving in the inner area shown in Figure 3 may be performed by manual driving.

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.

The operator can change the rotation speed of engine E by operating communication terminal 4.

Different types of crops have different growth characteristics, such as how easily they thresh or how easily they fall over. 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 appropriate to the type of crop.

[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.

The harvesting clutch C1 is also configured to be able to change between an on state in which power is transmitted and an off state in which power is not transmitted.

When the mowing clutch C1 is in the 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.

When the mowing clutch C1 is engaged, 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.

In other words, the harvesting clutch C1 interrupts the transmission of power to the reel 17 and the harvesting device 15.

The control device 20 is a so-called ECU, and includes a memory (HDD, non-volatile RAM, etc., not shown) that stores programs corresponding to the 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.

The control device 20 has 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").

As shown in FIG. 1, the satellite positioning module 80 receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data indicating the vehicle position of the combine harvester 1 based on the received signals, and sends the positioning data to the vehicle position calculation unit 21. GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used as the GNSS.

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

The area calculation unit 22 calculates the outer perimeter area SA and the 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.

More specifically, the area calculation unit 22 calculates the travel trajectory 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 trajectory 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 the outer periphery area SA. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery area SA as the work target area CA.

For example, in FIG. 2, the travel path of the combine harvester 1 for traveling around the outer periphery of the field is indicated by an arrow. In the example shown in FIG. 2, the combine harvester 1 travels around the field three times. Then, when the harvesting travel along this travel path is completed, the field becomes as shown in FIG. 3.

As shown in FIG. 3, the area calculation unit 22 calculates the area on the outer periphery of the field where the combine harvester 1 has traveled while harvesting grain as the outer periphery area SA. The area calculation unit 22 also calculates the area inside the field from the calculated outer periphery area SA as the work target area CA.

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

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, based on the calculation results received from the area calculation unit 22. Note that, as shown in FIG. 3, in this embodiment, the mowing travel route LI is a plurality of mesh lines extending vertically and horizontally. Furthermore, the plurality of mesh lines do not have to be straight lines, and may be curved.

As shown in FIG. 4, the harvesting driving route LI calculated by the route calculation unit 23 is sent to the driving control unit 24.

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 harvesting 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 harvesting travel is performed by automatic travel along the harvesting travel route LI, as shown in FIG. 3.

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

First, the operator manually operates the combine harvester 1, and as shown in FIG. 2, the combine harvester 1 performs a circular run along the boundary line of the field in the outer periphery of the field to harvest crops. 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.

The area calculation unit 22 calculates the travel path of the combine harvester 1 during 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 of the field where the combine harvester 1 has traveled while harvesting the planted stalks as the 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 the work target area CA.

Next, the route calculation unit 23 sets a harvesting travel route LI in the work target area CA as shown in FIG. 3 based on the calculation results received from the area calculation unit 22.

Then, when the operator presses an automatic driving start button (not shown), automatic driving along the cutting driving path LI is started as shown in FIG. 3. At this time, the driving control unit 24 controls the driving of the combine 1 so that cutting is performed by automatic driving along the cutting driving path LI.

When automatic travel in the work area CA is started, as shown in FIG. 3, the combine harvester 1 performs mowing travel in a circular motion along the outer shape of the work area CA in the outer periphery of the work area CA. The combine harvester 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.

In this embodiment, as shown in Figures 2 and 3, the transport vehicle CV is parked outside the field. A parking position PP is set in the outer periphery area SA near the transport vehicle CV.

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

When harvesting has been completed along all harvesting routes LI in the work area CA, the entire field is considered harvested.

[Configuration related to lifting and lowering control of the reel and the harvesting device]
1 and 4, the combine harvester 1 includes 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 includes a reel up button 41 and a reel down button 42.

The reel up button 41 and the reel down button 42 are both located on the top of the operating lever 40. The operating lever 40, the reel up button 41, and the reel down button 42 all accept manual operation.

The cutting height sensor S is a sensor that detects the height of the mowing device 15 from the ground. The cutting height sensor S is provided at the bottom of the mowing device 15. The cutting 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 horizontal. In other words, the output of the angle sensor changes depending on 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.

As shown in FIG. 4, the control device 20 has a clutch control unit 25, a descent command unit 26, a lift control unit 27, and a mode setting unit 28.

When the combine harvester 1 is being manually driven and 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. This causes the reel 17 to rise relative to the harvesting device 15.

When the combine harvester 1 is being manually driven and 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. This causes the reel 17 to lower relative to the harvesting device 15.

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

When the combine harvester 1 is being manually driven and the operator swings the control 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 cutting cylinder 15A in the extension direction. As a result, the cutting device 15 rises relative to the machine body.

When the combine harvester 1 is being manually driven and the operator swings the control 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 cutting cylinder 15A in the retracting direction. As a result, the cutting device 15 descends relative to the machine body.

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

[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 descent command unit 26. In addition, the reaping travel path LI calculated by the path calculation unit 23 is sent to the descent command unit 26.

During automatic travel, the descent command unit 26 issues a descent command to lower the harvesting device 15 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the harvesting travel path LI received from the path calculation unit 23. 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 body travels automatically and the harvesting device 15 enters the work target area CA (uncut area). In other words, the descent command unit 26 issues a descent command when the combine harvester 1 enters the harvesting 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 harvesting travel path LI becomes equal to or less than a predetermined distance.

When the lowering command unit 26 issues a lowering command, the lifting/lowering control unit 27 lowers the harvesting 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.

When 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 harvesting device 15 until the ground height detected by the cutting height sensor S reaches a predetermined first height H1. In detail, as the first lowering operation, the lifting control unit 27 operates the harvesting cylinder 15A in the retracting direction and stops the harvesting 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.

The lifting control unit 27 is configured to be capable of performing a mowing height control operation that controls the cutting cylinder 15A so that the ground height detected by the mowing height sensor S becomes the first height H1. When set to the first mode, the lifting control unit 27 performs the first lowering operation and then the mowing height control operation.

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 more 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.

The height of the harvesting device 15 relative to the machine body is the height of the harvesting 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 harvesting device 15).

The second height H2 is set in advance. For example, the operator sets the second height H2 to a height (height relative to the machine body) at which the harvesting device 15 is located above the ridges of the field. It is preferable to set the second height H2 so that the harvesting device 15 when its height relative to the machine body is at the second height H2 is located higher than the harvesting device 15 when its height relative to the ground is at the first height H1.

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

The mode setting unit 28 sets the lift control unit 27 to either the first mode or the second mode in response to a 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 input of a manual operation. The mode setting unit 28 then sets the mode in response to the received manual operation. It is preferable that the mode setting unit 28 sets the mode of the lift control unit 27 before the driving control unit 24 starts automatic driving.

[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.

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

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

If the lift control unit 27 is set to the first mode (step S102: first mode), the lift control unit 27 executes a first lowering operation (step S103), and then executes a cutting height control operation (step S104). The lowering process then ends.

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).

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

If the height of the mowing device 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 unit 27 executes the mowing height control operation (step S109). The lowering process then ends.

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

First, we will explain the first mode indicated by the solid line. 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.

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.

Next, we will explain the second mode indicated by the dashed line. As with 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.

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 input of operation to the operating lever 40. The cutting device 15 is maintained at the second height H2 (height relative to the machine body).

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

The first mode is preferably used in fields without ridges. The second mode is preferably used in fields with ridges. This will be explained with reference to Figure 5.

In the first mode, when a command to lower is issued, the harvesting device 15 quickly lowers to the first height H1 (height above the ground) (left part of Figure 5). Therefore, the harvesting of the crops in the work area CA is performed appropriately.

When the first mode is used in a field with ridges UN, the harvesting device 15 quickly descends to the first height H1 before the combine harvester 1 enters the work area CA. If the first height H1 is set lower than the height of the ridges UN, the harvesting device 15 may come into contact with the ridges UN when the combine harvester 1 enters the work area CA. If the harvesting device 15 becomes soiled with soil due to contact with the ridges UN, there is a risk that the soil will adhere to the crops, reducing their commercial value.

In the second mode, when a command to descend is issued, the harvester 15 descends to a second height H2 (height relative to the machine body) before the combine harvester 1 enters the work area CA (center part of FIG. 5). If the second height H2 is set appropriately, the harvester 15 is prevented from coming into contact with the ridges UN. Also, the crops on the ridges UN can be harvested appropriately. The harvester 15 then rises and falls in response to manual operation by the operator. When the harvester 15 descends until its height above the ground reaches the first height, the harvester 15's height above the ground is maintained at the first height. In other words, the height of the harvester 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 even more appropriately.

The use of the second mode is not limited to fields with ridges. It can also be used effectively in fields with ruts and undulations.

[Modifications]
A modified example of the lowering 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.

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). The lowering process then ends.

In other words, in this example, when the lift control unit 27 is set to the second mode, it is configured to perform the second lowering operation, wait for manual input to the operating lever 40, perform the first lowering operation in response to the operating lever 40 receiving the manual input, and then perform the cutting height control operation.

The lift control unit 27 may be configured to execute the processes 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.).

The lift control unit 27 may be configured to selectively execute the process of the above-described 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-described embodiment (the lowering process in FIG. 6) or the process of this modified example (the lowering process in FIG. 8) based on manual operation by an operator.

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

(2) The cutting height sensor S may have a form different from the above example. For example, the cutting height sensor S may be a non-contact sensor such as an optical positioning device, or may be an ON/OFF type contact switch.

(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 camera, based on recorded data of the farming system, or based on input from an operator.

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

(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.

The present invention can be applied not only to normal combine harvesters, but also to harvesters such as head-feeding combine harvesters, corn harvesters, and sugarcane harvesters.

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

Claims (6)

The aircraft and
a harvesting device supported on the machine body in a state capable of ascending and descending and harvesting 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;
and 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 and the starting point of the mowing travel path becomes less than a predetermined distance before the machine travels automatically and the mowing device enters an unmowed area . 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. The aircraft and
a harvesting device supported on the machine body in a state capable of ascending and descending and harvesting 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. The aircraft and
a harvesting device supported on the machine body in a state capable of ascending and descending and harvesting 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. 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. 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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