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EP-4736626-A2 - WORK METHOD, WORK PROGRAM, AND WORK SYSTEM

EP4736626A2EP 4736626 A2EP4736626 A2EP 4736626A2EP-4736626-A2

Abstract

[Problem] Provided are a work method, a work program, and a work system that are capable of appropriately controlling a work implement attached to a work vehicle capable of automatic traveling. [Solution] A reaping control device 11B executes a process of controlling a height of a harvesting unit based on a height of a ground or a crop in a work area during automatic travel of a combine 1, and a process of switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.

Inventors

  • NOGUCHI, TAKUMA
  • NISHII, YASUTO
  • MURAYAMA, MASAAKI

Assignees

  • Yanmar Holdings Co., Ltd.

Dates

Publication Date
20260506
Application Date
20251029

Claims (18)

  1. A work method for harvesting a crop using a harvesting unit provided on a work vehicle, the work method comprising: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.
  2. The work method according to claim 1, wherein the harvesting unit is a work implement that harvests a crop on a ridge formed by ridge-making work, and the height of the harvesting unit from the target start position to the first position is set based on work information during the ridge-making work.
  3. A work method for harvesting a crop using a harvesting unit provided on a work vehicle, the work method comprising: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from enabled to disabled when the harvesting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction.
  4. The work method according to claim 3, wherein driving of the harvesting unit is stopped when the harvesting unit reaches a fourth position on a non-work path connected to the target end position, the fourth position being away from the target end position by a third predetermined distance in the work direction.
  5. The work method according to claim 3 or 4, wherein the harvesting unit is a work implement that harvests a crop on a ridge formed by ridge-making work, and the height of the harvesting unit from the second position to the target end position is set to a height when the harvesting unit reaches the second position.
  6. A work method for planting a planting target using a planting unit provided on a work vehicle, the work method comprising: controlling a planting depth of the planting target based on a height of a ground in a work area during automatic travel of the work vehicle; and switching a planting depth control function that controls the planting depth of the planting target from disabled to enabled when the planting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.
  7. The work method according to claim 6, wherein the planting unit is a work implement that plants the planting target on a ridge formed by ridge-making work, and a height of the planting unit from the target start position to the first position is set based on work information during the ridge-making work.
  8. A work method for planting a planting target using a planting unit provided on a work vehicle, the work method comprising: controlling a planting depth of the planting target based on a height of a ground in a work area during automatic travel of the work vehicle; and switching a planting depth control function that controls the planting depth of the planting target from enabled to disabled when the planting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction.
  9. The work method according to claim 8, wherein driving of the planting unit is stopped when the planting unit reaches the second position or the target end position.
  10. The work method according to claim 8 or 9, wherein the planting unit is a work implement that plants the planting target on a ridge formed by ridge-making work, and the height of the planting unit from the second position to the target end position is set to a height when the planting unit reaches the second position.
  11. A work program for harvesting a crop using a harvesting unit provided on a work vehicle, the work program for causing one or more processors to execute: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.
  12. A work program for harvesting a crop using a harvesting unit provided on a work vehicle, the work program for causing one or more processors to execute: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from enabled to disabled when the harvesting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction.
  13. A work program for planting a planting target using a planting unit provided on a work vehicle, the work program for causing one or more processors to execute: controlling a planting depth of the planting target based on a height of a ground in a work area during automatic travel of the work vehicle; and switching a planting depth control function that controls the planting depth of the planting target from disabled to enabled when the planting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.
  14. A work program for planting a planting target using a planting unit provided on a work vehicle, the work program for causing one or more processors to execute: controlling a planting depth of the planting target based on a height of a ground in a work area during automatic travel of the work vehicle; and switching a planting depth control function that controls the planting depth of the planting target from enabled to disabled when the planting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction.
  15. A work system for harvesting a crop using a harvesting unit provided on a work vehicle, the work system comprising a control processing unit that executes: a process of controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and a process of switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.
  16. A work system for harvesting a crop using a harvesting unit provided on a work vehicle, the work system comprising a control processing unit that executes: a process of controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and a process of switching a harvest height control function that controls the height of the harvesting unit from enabled to disabled when the harvesting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction.
  17. A work system for planting a planting target using a planting unit provided on a work vehicle, the work system comprising a control processing unit that executes: a process of controlling a planting depth of the planting target based on a height of a ground in a work area during automatic travel of the work vehicle; and a process of switching a planting depth control function that controls the planting depth of the planting target from disabled to enabled when the planting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.
  18. A work system for planting a planting target using a planting unit provided on a work vehicle, the work system comprising a control processing unit that executes: a process of controlling a planting depth of the planting target based on a height of a ground in a work area during automatic travel of the work vehicle; and a process of switching a planting depth control function that controls the planting depth of the planting target from enabled to disabled when the planting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction.

Description

TECHNICAL FIELD The present invention relates to a technique for performing predetermined work using a work implement provided on a work vehicle. BACKGROUND ART In the related art, an automatic traveling system is known in which a work vehicle equipped with a work implement such as a tiller, a ridger, a mower, a rake, or a seeder travels automatically within a field to perform predetermined work (see, for example, Patent Document 1). PRIOR ART DOCUMENT PATENT DOCUMENT Patent Document 1: JP 6253678 B2 SUMMARY OF INVENTION TECHNICAL PROBLEM When work is performed while the work vehicle is caused to automatically travel, it is necessary to appropriately control the work implement, such as by setting the position of the work implement (the working height or the like) to match the work start position, in order to ensure work accuracy. An object of the present invention is to provide a work method, a work program, and a work system that are capable of appropriately controlling a work implement attached to a work vehicle capable of automatic traveling. SOLUTION TO PROBLEM A work method according to the present invention is a method for harvesting a crop using a harvesting unit provided on a work vehicle. The work method includes: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction. A work method according to the present invention is a method for harvesting a crop using a harvesting unit provided on a work vehicle. The work method includes: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from enabled to disabled when the harvesting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction. A work program according to the present invention is a program for harvesting a crop using a harvesting unit provided on a work vehicle. The work program is a program for causing one or more processors to execute: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction. A work program according to the present invention is a program for harvesting a crop using a harvesting unit provided on a work vehicle. The work program is a program for causing one or more processors to execute: controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and switching a harvest height control function that controls the height of the harvesting unit from enabled to disabled when the harvesting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direction to a work direction. A work system according to the present invention is a system for harvesting a crop using a harvesting unit provided on a work vehicle. The work system includes a control processing unit that executes: a process of controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and a process of switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction. A work system according to the present invention is a system for harvesting a crop using a harvesting unit provided on a work vehicle. The work system includes a control processing unit that executes: a process of controlling a height of the harvesting unit based on a height of a ground or a crop in a work area during automatic travel of the work vehicle; and a process of switching a harvest height control function that controls the height of the harvesting unit from enabled to disabled when the harvesting unit reaches a second position on a work path away from a target end position of work on the work path by a second predetermined distance in an opposite direct