JP7643607B2 - combine - Google Patents

Description

The present invention relates to a combine harvester that cuts stalks with a cutting device while traveling in a straight line.

Conventional combine harvesters have a harvesting method in which the machine moves in a straight line to cut the stalks, and when it reaches the end of the cutting row, it turns the machine 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 rod on the display to assist the operator in maneuvering. (See Patent Document 1)

JP 2019-80496 A

However, with the technology in 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 adjust the height of the harvesting device, etc., which creates a problem in that the steering assistance effect cannot be obtained, particularly for operators who are inexperienced in steering.

In addition, depending on the shape of the field and the state of rice growth, some rice may not be harvested, or conversely, some rice may be crushed by the traveling equipment, resulting in extra labor required to move to harvest later and reducing the yield.

The present invention aims to solve the above problems by providing a combine harvester that can efficiently move to the start position for the next harvesting row, regardless of the operator's driving skills.

The present invention, which solves the above problems, is as follows:

In other words, the invention of claim 1 is a combine harvester equipped with a harvesting device (3) at the front of a machine body traveling on a traveling device (2) and with a traveling assist function that automatically steers along a reference line for straight traveling, the combine harvester is equipped with a position information receiving device (51) that receives position information of the machine 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 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).

The invention of claim 2 is a combine harvester as described in claim 1, in which, when the second straight-line reference line (BG2) is calculated, a turning stage is initiated 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 permitted during the turning stage.

According to the present invention, when the harvesting sensor (57) no longer detects the harvesting of stalks, the second straight-line reference line (BG2) is formed, allowing the vehicle to use the driving assist function to drive for harvesting in the next harvesting work row, improving harvesting accuracy. In addition, the second straight-line reference line (BG2) can be calculated based on the first straight-line reference line (BG1), reducing the load on the driving calculation device (50).

Combine harvester front view Top view of a combine harvester Left side view of combine harvester Engine E output rotation transmission diagram Transmission diagram of engine E's output rotation to the running gear and harvesting equipment Diagram of main gear shift lever Diagram of a continuously variable transmission Schematic diagram showing a 90 degree reverse turn Block diagram showing each operation device and the controlled object A flowchart showing calculation control of the first straight driving reference line. 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 the first straight-line reference line is not calculated; and FIG. 1C is a schematic diagram showing a case where the first and second straight-line reference lines are calculated. Flowchart showing straight line assist control Flowchart showing reverse 90 degree turn control Flowchart showing another configuration of reverse 90 degree turn control Flowchart showing another configuration of reverse 90 degree turn control 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 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 Flowchart showing the travel speed control for a 90 degree reverse turn based on the difference in predicted arrival time based on the distance and heading deviation Front view showing the switch panel Flowchart showing control for stopping voice guidance during volume dial operation Flowchart showing the control for stopping the voice guidance when the control lever is operated in the left and right directions continuously A flowchart showing the control for stopping the voice guidance during manual operation ignoring the straight-line assistance. Flowchart showing detection control of culms by the culm sensor and the auxiliary culm sensor

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

Below the control section 5 is an engine room 6 that houses the engine E, and behind the control section 5 is a grain tank 7 that stores grains that have been threshed and sorted by the threshing device 4. 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 section 5, and a side panel 15 is provided to the left of the driver's seat.

A monitor 11 that displays the engine E output rotation speed and other information is provided on the left side of the front panel 10, and an operating lever 12 that controls the rotation of the traveling device 2 and the raising and lowering of the harvesting device 3 is provided on the right side. The position of the operating lever 12 is measured by an angle sensor 12S, such as a potentiometer, attached to the bottom of the operating lever 12.

In addition, a parking brake pedal 13 is provided on the front left part of the floor located below the front panel 10 to activate and deactivate 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 to connect and disconnect the reaping clutch (described later).

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

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

As shown in FIG. 4, the output rotation output from the engine E is transmitted to the continuously variable transmission 20 provided on the transmission path (the "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 the direction of rotation is switched by the continuously variable transmission 20, and then transmitted to the transmission 21.

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 tachograph 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.

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

As shown in FIG. 5, the output rotation of the continuously variable transmission 20 is transmitted to the input shaft 30 of the transmission 21. The output rotation transmitted to the input shaft 30 is transmitted to the counter shaft 32 via gears 30A, 31A, and 32A. Gear 30A is provided on the input shaft 30, gear 31A is rotatably provided on the output shaft 31, and gear 32A is provided on the counter shaft 32.

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

The output rotation transmitted to the counter shaft 33 is transmitted to the output shaft 34 via a pair of left and right gears 33B and 34A, which are provided on both sides of the gear 33A. The gear 33B is provided on the counter shaft 33, and the gear 34A is provided on the output shaft 34 so that it can slide left and right.

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.

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 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.

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 left-right via the shifter 36 by operating a shifter device (not shown).

The output rotation transmitted to the output shaft 31 is transmitted to the input shaft 37 of the harvesting device 3 via the harvesting clutch 22.

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.

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 the 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 the 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.

When the cutting/threshing lever 18 is in the forward tilt position, the cutting clutch 22 and the threshing clutch 23 are disconnected. When the cutting/threshing lever 18 is in the rearward tilt position, the cutting clutch 22 and the threshing clutch 23 are connected. When the cutting/threshing lever 18 is in the neutral position between the forward tilt position and the rearward tilt position, the cutting clutch 22 is disconnected and the threshing clutch 23 is connected. The position of the cutting/threshing lever 18 is measured by an angle sensor 18S, such as a potentiometer, attached to the bottom of the cutting/threshing lever 18.

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). This allows the forward motor 42 and the reverse motor 43 to be driven based on the attitude of the main shift 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 direction of rotation. The output rotation of the engine E is transmitted to the input shaft 44 of the continuously variable transmission 20.

In addition, Figure 7 shows 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, but it is also possible to support an arm extending radially on the trunnion shaft 40 of the continuously variable transmission 20, and connect a forward cylinder driven by a forward solenoid and a reverse cylinder driven by a reverse solenoid to the outer periphery of this arm.

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 to harvest toward the center of the field.

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, then driving the left and right crawlers in opposite directions to turn 90 degrees on the spot, a so-called pivot turn.

However, when pivoting, the crawler's reaction force pushes the soil in the field toward the unharvested rice plants, which can cause the culms to be knocked over by the soil clumps. If this happens, the fallen culms must be pulled up and harvested using a weed splitter or lifting device during the perpendicular harvesting operation, but if the fallen seedlings are not pulled up sufficiently, they may not be harvested, and they will have to be harvested by hand later.

In addition, if the stalks are harvested while still mixed with soil lumps and then handed over to the threshing device 4, the crushed soil may get into the transmission system of the harvesting device 3 or threshing device 4, causing damage due to the load.

Therefore, as an example of turning without using a pivot turn, as shown in Figure 8, when the end position E of the harvesting row is reached, the harvesting device 3 is raised and the machine turns and travels to the deployment point T diagonally forward of the machine. Note that the deployment point T to which the machine heads is located closer to the unharvested (uncut) side N of the stalks, so the traveling device 2 travels straight ahead a little from the end position E of the harvesting row before starting to turn so as not to crush the stalks.

Then, after moving forward to a position away from the unworked 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 position perpendicular to the previous cutting work row, and the cutting device 3 moves backward to a position facing the next cutting row.

This allows the next harvesting row to be harvested without soil on the field being pushed up against the unharvested culms and without disturbing the fallen culms, preventing leftover culms and damage caused by soil and other impurities being caught in the culms.

However, when turning forward from the end of a harvesting row, the combine 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 misalignment. Therefore, while it is sufficient for the operator to be skilled in operating the combine, if the operator is not sufficiently skilled, the combine will have to repeatedly adjust the turning path and the harvesting position, which significantly reduces work efficiency and requires extra effort from the operator.

Furthermore, if the operator does not have a high level of proficiency in operating the combine harvester, it is difficult to make the machine travel in a straight line along the vegetation of the stalks, which can lead to snaking motions that can leave stalks uncut, or the machine can cut stalks that should be harvested later in the process.

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.

As shown in Figures 9 and 10, a harvesting clutch sensor 53 and a threshing clutch sensor 54 are provided to detect the on/off state of the harvesting clutch 22 and the threshing clutch 23, respectively. When it is determined that the harvesting clutch sensor 53 and the threshing clutch sensor 54 are on, i.e., in the harvesting operation state, the coordinate acquisition switch 52 is operated to record the first reference point A in the driving control device 50.

If 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 travel distance is calculated from the detection value of the travel rotation sensor 55, which detects the rotation of the transmission system to the traveling device 2, from the time the coordinates of the first reference point A were acquired, and it is determined whether the first reference point A is a predetermined distance or more (e.g., 5 to 10 m) away from the acquired coordinates.

If the traveled distance is less than the specified distance, the location information acquired by the GPS antenna 51 is not recorded as an invalid operation, and an alarm device such as a buzzer (not shown) is activated to notify the user that the operation is invalid.

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 has traveled in a straight line between points A and B, and therefore the first straight line reference line BG1 is set.

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 tilted, so a notice is issued that the first straight-line reference line BG1, which is 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.

The GPS antenna 51, in addition to the communication device with satellites, also has an ICU 51a built in that determines the direction (azimuth) of the aircraft using geomagnetism, a gyroscope, etc. When the first straight-line reference line BG1 is recorded in the driving control device 50 and the reaping clutch sensor 53 and threshing clutch sensor 54 are on and detected, if the straight-line assist switch 56 provided in the cockpit 5 or 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) when the first straight-line reference line BG1 was acquired.

If the orientation of the first straight-line reference line BG1 and the forward direction of the aircraft are parallel, 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 to adapt it as a virtual straight-line reference line GL.

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, the second straight-line reference line BG2 is generated by extending infinitely in the positive and negative directions of the X-axis with the Y coordinate of the first straight-line reference line BG1 as a reference.

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 that the state is not suitable for straight-line assistance, and neither the virtual straight-line reference line GL nor the second straight-line reference line BG2 is calculated.

As a result, when the operator operates the straight-line assist switch 56 under working conditions in which the direction of the machine is changed by 90 degrees at the end of the cutting row and the next cutting 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.

The travel control device 50 can turn on and off the side clutches 2a and 2b, which turn on and off the transmission of power to the left and right crawlers, regardless of the operation of the control 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 and 2b are turned on and off to travel along a trajectory that corresponds to straight-line mowing travel.

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

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

As mentioned 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.

As shown in Figures 10 and 13, the harvesting device 3 is provided with a stalk sensor 57 that detects the entry of the stalks to be harvested. When the stalk sensor 57 changes from a detection state to a non-detection state, it can be determined that there are no more stalks to be harvested, i.e., the harvesting work row has reached the end position E. An alarm device such as a buzzer is used to notify the operator of this arrival.

Furthermore, when the straight-line assist switch 56 is operated and the driving control device 50 is controlling straight-line driving, if 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 machine has reached a turning position where the direction of the machine body is changed by 90 degrees.

At this time, the travel 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 forward at a low speed, and controls the left and right side clutches 2a and 2b to turn 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.

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

The aircraft is moved diagonally forward, and when the angle between the forward direction of the aircraft detected by ICU51a and the first straight-line reference line BG1 or the second straight-line reference line BG2 reaches a specified angle (e.g. 30 to 45 degrees), it is determined that the deployment point T has been reached, and the cruise control device 50 sets the output of HST60 to 0 (neutral) to stop the aircraft from traveling.

When the stalk sensor 57 no longer detects the stalk, the driving 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 specified distance (e.g., the fore-aft length of the registered machine) in the X-axis direction when reaping and harvesting travel has been performed along the first straight-line reference line BG1, or in the Y-axis direction when reaping and 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.

More specifically, when the Y coordinate value of the first straight-line reference line BG1 increases, the coordinate is 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 coordinate is 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.

The next step straight-line reference point NB is set so that its own Y coordinate coincides with the Y coordinate of the second straight-line reference line BG2 when cutting along the first straight-line reference line BG1, and its own X coordinate coincides with the X coordinate of the first straight-line reference line BG1 when cutting along the second straight-line reference line BG2.

When the output of the HST 60 stops, the operator operates the main shift lever 16 to reverse, or after a certain period of time (e.g., 2 to 3 seconds) has elapsed as shown in Figure 14, the HST 60 will output in the reverse direction. At this time, if the main shift lever 16 is operated too much, there is a risk of the machine reversing at high speed, so the travel control device 50 makes it take longer than usual to increase the output of the HST 60, or sets an upper limit on the reverse output of the HST 60, thereby preventing the machine from accidentally crushing unharvested stalks.

When the vehicle starts to move backwards, the travel control device 50 controls the direction of travel by switching 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 with the vehicle 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 close to it, the output of the HST 60 is set to 0 (neutral) and the vehicle stops.

Then, the operator visually confirms that there is uncut stalk growing in a straight line where the machine is stopped, and that one side of the harvesting device 3 in the left-right direction is at the outer end of the uncut stalk, and then 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.

Then, when the stalk sensor 57 no longer detects the entry of stalks, the position coordinates of that location, and if there are no abnormalities, the xth reference line BGx is calculated, 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, and in the next process the yth reference line BGy is calculated... and this process is repeated until the end of the harvesting operation. Note that the above x is assumed to be an odd number and y is assumed to be an even number.

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 workload and prevents the crushing of stalks or damage to the field due to operating errors.

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 mower will travel along an appropriate trajectory, improving work efficiency and mowing accuracy.

When reverse driving is started, 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, as shown in FIG. 16.

At this time, the travel distance between the 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).

Alternatively, as shown in FIG. 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 orientation acquired by ICU51. At this time, the change in azimuth deviation acquired by ICU51a 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).

These numbers will be displayed on the display of the control unit 5 and will be counted down. If necessary, the numbers may be recalculated and changed.

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 traveling speed, and the time based on heading deviation is the time until the machine's orientation 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.

The estimated arrival time is calculated from both the heading deviation and distance, and if both results match or are close within an acceptable range, automatic reverse assist will be performed.

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 control is performed to reduce the amount of change in distance and match the predicted arrival time.

This allows the machine to be oriented in a position suitable for the next harvesting operation by the time it reaches its destination, and prevents the machine from moving to a position that is not aligned with the harvesting operation position of the next operation, improving work efficiency and accuracy.

Conversely, when the predicted time based on the distance is longer than the predicted time based on the heading 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.

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.

In the above configuration, coordinate information is acquired by the GPS antenna 51, so the location information of the position where mowing ended and the position where automatic reverse assist started can be recorded. After the work is done, it is possible to check whether any grass was left uncut or whether the starting point of the automatic reverse assist was appropriate, and the like, and the information can be used to consider improvements for future work.

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 consider a method in which the position information of either non-detection of culms or raising of the reaping device 3, whichever occurs first, is used as the reaping end position.

This allows the end position of the harvest to be output to a field map or similar after the work is completed, allowing the variation in the end position of the harvest and whether it is suitable as the starting position for the automatic reverse assist that will be performed afterwards to be checked, and areas for improvement from the next time onwards can be identified, improving long-term work accuracy.

Note that the automatic reverse assist reverses while changing the body's attitude to the start position for the next mowing operation. However, if the body is determined to be in a position significantly shifted to the left or right when it moves to a position along the first straight-line reference line BG1 or the second straight-line reference line BG2 for the next process due to the influence of the start position of reverse, etc., 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, the driving control device 50 is configured not to activate the straight-line assist function even if the straight-line assist switch 56 is turned on.

When the aircraft 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 close to within the allowable range, the straight-line assist switch 56 is turned on and the driving control device 50 performs straight-line assist control.

As shown in FIG. 19, the straight-line assist switch 56 is provided on one of the left and right sides of a switch panel 62 provided on the control unit 5, etc. This straight-line assist switch 56 may be used to operate both the straight-line assist and the automatic reverse assist, but an operating error may make it difficult to move to the next cutting position or may cause unnecessary movement.

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

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.

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 determine whether or not he or she has performed the operations correctly until control begins. In addition, although poor communication with the satellite and abnormalities in various parts of the aircraft are indicated by lamps and other indicators, these are difficult for operators concentrating on other tasks to notice.

Therefore, as shown in FIG. 10, the control system is equipped with a voice guide device 65 with multiple preset sounds, and the driving control device 50 emits the corresponding sounds 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.

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 if the straight-line assist switch 56 is operated while the harvesting device 3 is raised, the message "Assist has ended" will be displayed.

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 A and B, and 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.

However, if the voice guide device 65 issues a message each time the mode is switched,
The operator must endure the noise when switching. If the volume dial 66 is operated during pronunciation, the discomfort is somewhat alleviated 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.

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 guide device 65 will not produce the corresponding sound until the cruise control device 50 determines that the operating position of the volume dial 66 has not changed for a certain period of time (e.g., slightly less than one second).

This prevents the operator from being bothered by noise when operating the volume dial 66, and also prevents multiple audio files from being loaded multiple 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 operator from working in the wrong mode due to a control error that occurs when audio files are loaded multiple times in a short period of time, resulting in the sound not corresponding to the operating position of the volume dial 66 being played.

As described above, by providing the GPS antenna 51 and the ECU 51a, 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 assistance.

The straight-line assist creates a speed difference between the left and right traveling devices 2, correcting the orientation of the machine to correct this misalignment, but when the misalignment becomes large due to unevenness in the field, the operator can correct the posture to a greater extent by operating the operating lever 12 to the left or right, allowing the machine to quickly return to the straight-line position.

Therefore, when a position deviation of a set value or more is detected, the system is configured to give a voice instruction to the operator to correct the direction of travel by operating the control lever 12. Note that since the operator may not be aware of the deviation, or may not be aware of whether the deviation is to the left or right, or may be mistaken, the voice that is pronounced will specifically explain the operation in the direction approaching the straight-ahead driving position, such as "Operate the control lever to the right (left)."

This allows deviations from the straight-ahead position to be quickly corrected, preventing the occurrence of stalks that are not cut by the harvesting device 3 and preventing areas within the left-right width of the harvesting device 3 from being cut, thereby improving work efficiency and accuracy.

However, if the sound continues to be emitted after the operating lever 12 is operated in the desired direction when adjusting to the straight ahead position, this can be unpleasant for the operator.

As shown in FIG. 21, if the driving control device 50 is configured to cause the voice guide device 65 to stop emitting the same voice when the operating lever 12 is operated in the same direction for a predetermined time (e.g., 1 to 2 seconds) or more, the same voice will not be emitted unnecessarily many times, reducing discomfort to the operator.

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 message will be issued saying, "Please operate the operating lever to the right (left)."

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 control lever 12, and the voice guidance device 65 stops emitting the voice encouraging the operator to operate in the left or right direction.

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 try to control the vehicle's position to align with the first straight-line reference line BG1 or the second straight-line reference line BG2, so it may sound "Please turn off the assist switch" once or a predetermined number of times (e.g., 2 to 3 times).

When a combine harvester is harvesting, the harvester 3 may travel close to the edge of the field. At this time, it is important for the stalk sensor 57 to detect the presence or absence of stalks in order to stop the harvester 3 from touching the field 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 harvester 3 may come into contact with the field ridge and be damaged.

To prevent this, as shown in Figure 10, an auxiliary stalk sensor 57a is installed at a position on the machine body rearward of the conventional stalk sensor 57, and both are configured to come into contact with the stalks being cut.

As shown in FIG. 23, when the stalk sensor 57 is always in a detection state or always in a non-detection state and the auxiliary stalk sensor 57a changes from a detection state to a non-detection state, it can be said that the stalk sensor 57 is malfunctioning and the auxiliary stalk sensor 57a is functioning normally.

Therefore, when the auxiliary stalk sensor 57a becomes non-detecting, it can be determined that the stalks are gone, and the alarm device can then alert the operator.

Alternatively, when the stalk sensor 57 switches from a non-detection state to a detection state and the auxiliary stalk sensor 57a changes from a detection state to a non-detection state, it can be said that the stalk sensor 57 is malfunctioning and the auxiliary stalk sensor 57a is functioning normally.

On the other hand, when the stalk sensor 57a switches from a detection state to a non-detection state, the stalk sensor 57a is operating normally, so the alarm device is activated to notify the operator.

2 Traveling device 3 Harvesting device 57 Grain stalk sensor (harvesting sensor)
BG1 First straight reference line BG2 Second straight reference line

Claims (2)

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 location information acquisition member (52) for recording the location information received from the location 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). 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.