CN116889150A

CN116889150A - combine harvester

Info

Publication number: CN116889150A
Application number: CN202310129490.4A
Authority: CN
Inventors: 神崎健豪; 稻垣成祥
Original assignee: Iseki and Co Ltd
Current assignee: Iseki and Co Ltd
Priority date: 2022-03-29
Filing date: 2023-02-17
Publication date: 2023-10-17
Also published as: JP2023145878A; JP7406731B2; TW202406449A; KR20230140364A

Abstract

The invention provides a grain harvesting method capable of reducing the work load of an operator and reducing the residual harvesting of grain. An operation lever (12) for performing turning of a travelling device (2) and lifting operation of a harvesting device (3) is provided in an operation section (5), a shift lever (15) for performing acceleration and deceleration of a travelling speed of the travelling device is provided in the operation section, an operator operates the operation lever (12) and the shift lever to manually travel the combine along a grain bar row, a controller (30) of the combine is provided with a first reference point (41) along the grain bar row during manual travel of the combine, a second reference point (42) spaced a predetermined first distance from the first reference point in a travelling direction of the combine, and a linear reference path (43) connecting the first reference point and the second reference point, a setting path (45, 46) is provided based on the reference path, and the combine is automatically traveled along the setting path (45, 46).

Description

Combine harvester

Technical Field

The present invention relates to combine harvesters.

Background

In a harvesting method of a grain stalk of a conventional combine harvester, the following technique is known: in a work of harvesting a grain rod in an outer peripheral portion of a farmland while manually traveling a combine in a counterclockwise direction, a reference path is provided, a set path is provided at a predetermined interval inside the reference path, and the combine is automatically traveling along the set path to perform a harvesting work of the grain rod (patent document 1).

In addition, in the conventional rice transplanting machine, the following technique is known: the present invention relates to a seedling planting device, and more particularly, to a seedling planting device for planting seedlings by operating an operation lever provided on a lower side of a handle to obtain a first reference point and a second reference point, setting a reference path based on the first reference point and the second reference point, and operating the operation lever to automatically travel a seedling planting machine along a set path set based on the reference path (patent document 2).

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2020-110158

Patent document 2: japanese patent laid-open No. 2018-93793

Disclosure of Invention

Problems to be solved by the invention

However, in the harvesting method of the grain stalks of patent document 1, the procedure of setting the setting path based on the reference path is complicated, and it is difficult to set the reference path and the setting path in a straight line along the outer periphery of the farmland, so that there is a problem that harvesting residues of the grain stalks occur when the combine is automatically driven along the setting path to perform the harvesting operation.

In the rice transplanter of patent document 2, it is necessary to separate one hand from the handle, and to set the reference path and start and stop the automatic travel of the rice transplanter by operating the operation lever, and there is a problem that the reduction of the work load on the operator is suppressed.

Accordingly, the present invention provides a harvesting method of grain stalks, which can reduce the work load of an operator and reduce the harvesting residue of the grain stalks.

Means for solving the problems

The present invention to solve the above problems is as follows.

That is, in the combine harvester according to the aspect 1, a traveling device 2 for traveling in a farmland is provided on a lower side of a body frame 1, a harvesting device 3 for harvesting grain rods is provided on a front side of the body frame 1, an operating unit 5 for an operator to ride on is provided behind the harvesting device 3, an operating lever 12 for turning the traveling device 2 and lifting the harvesting device 3 is provided on the operating unit 5, a shift lever 15 for accelerating and decelerating a traveling speed of the traveling device 2 is provided on the operating unit 5, the operator operates the operating lever 12 and the shift lever 15 to manually travel the combine harvester along a grain rod row, a first reference point 41 is provided along the grain rod row during manual travel of the combine harvester, a second reference point 42 for separating a predetermined first distance from the first reference point 41 in a traveling direction of the combine harvester, and a linear reference path 43 for connecting the first reference point 41 and the second reference point 42 are provided on the basis, and the combine harvester is set along the path 45, 46 is set by the controller 30 for setting the combine harvester.

The combine harvester according to claim 1, wherein the first reference point 41 is provided at a predetermined second distance from the starting end portion of the cereal bar row along the travelling direction of the combine harvester.

A combine according to claim 1 is characterized in that the harvesting device 3 is provided with a first sensor 3A for measuring a grain lever in the harvesting device 3 and a second sensor 3B for measuring a working position and a waiting position of the harvesting device, a third sensor 15A is provided at a base of the gear lever 15, the third sensor 15A measures a forward tilting position of the gear lever 15 for advancing the combine, a neutral position for not advancing the combine, and a backward tilting position for retracting the combine, and the controller 30 is provided with the first reference point 41 when at least one of the first sensor 3A measures a grain lever and the second sensor 3B measures a working position of the harvesting device, and the controller 30 is provided with the second reference point 42 when the third sensor 15A measures a position of the gear lever 15.

The combine according to claim 4 is characterized in that the controller 30 starts the automatic forward travel of the combine when at least one of the first sensor 3A and the second sensor 3B detects the cereal bar and the working posture of the harvesting device is detected, and the controller 30 stops the automatic forward travel of the combine when at least one of the first sensor 3A and the second sensor 3B does not detect the cereal bar and the waiting posture of the harvesting device is detected.

A combine harvester according to any one of claims 1 to 3, wherein the controller 30 automatically moves the combine harvester forward from the start end to the end in the set path 45, automatically moves the combine harvester backward from the rear end to the start end in the set path 45 adjacent to one side of the set path 45, and automatically moves the combine harvester forward from the start end to the end in the set path 45 adjacent to the other side of the set path 45.

In the combine according to claim 5, the fourth sensor 12A is provided at the base of the lever 12 to measure the right-side tilting posture, the neutral posture, and the left-side tilting posture of the lever 12, and the controller 30 stops the automatic backward travel of the combine when the third sensor 15A measures the backward tilting posture of the shift lever 15, and when the fourth sensor 12A measures the neutral posture of the lever 12, and when at least one of the first sensor 3A does not measure the grain lever and the second sensor 3B measures the standby posture of the harvesting device is measured.

The combine harvester according to any one of claims 1 to 3 is characterized in that the controller 30 automatically moves the combine harvester forward from a start end portion toward a finish end portion on a set path 46 extending from the second reference point 42.

The combine according to claim 8 is characterized in that the controller 30 starts the automatic forward travel of the combine when the third sensor 15A detects the forward tilting posture of the shift lever 15, and the controller 30 stops the automatic forward travel of the combine when at least one of the first sensor 3A does not detect the cereal straw and the second sensor 3B detects the standby posture of the harvesting device.

In the combine according to claim 7, when the front tilt position of the shift lever 15 is measured by the third sensor 15A, and when at least one of the cereal lever position is measured by the first sensor 3A and the work position of the harvesting device is measured by the second sensor 3B, the controller 30 starts the automatic forward travel of the combine, and when at least one of the cereal lever position is not measured by the first sensor 3A and the standby position of the harvesting device is measured by the second sensor 3B, the controller 30 stops the automatic forward travel of the combine.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the invention of claim 1, the operator can set the first reference point 41, the second reference point 42, the reference path 43, and the reference path 43 without moving away from the lever 12 and the shift lever 15, and the work load of the operator can be reduced, and the harvesting residue of the cereal bars can be reduced.

According to the invention of claim 2, the first reference point 41 can be provided at the center in the width direction orthogonal to the cereal bar row.

According to the invention of claim 3, the first reference point 41 and the second reference point 42 can be provided by the operator without moving away from the lever 12 and the shift lever 15, and the work load of the operator can be further reduced.

According to the invention of claim 4, the operator can start and stop the automatic forward travel of the combine without leaving the hands from the operation lever 12 and the shift lever 15.

According to the invention of claim 5, the operator can automatically move forward and backward along the set path 45 or the like without moving away from the lever 12 and the shift lever 15, and the work load of the operator can be further reduced, and the harvesting residue of the cereal bars can be further reduced.

According to the invention of claim 6, the operator can start and stop the automatic backward travel of the combine without leaving the hands from the operation lever 12 and the shift lever 15.

According to the invention of claim 7, the operator can automatically advance the combine along the set path 46 without moving away from the lever 12 and the shift lever 15, and the work load of the operator can be further reduced, and the harvesting residue of the cereal bars can be further reduced.

According to the invention of claim 8, the operator can start and stop the automatic forward travel of the combine without leaving the hands from the operation lever 12 and the shift lever 15.

According to the invention of claim 9, the operator can start and stop the automatic forward travel of the combine without leaving the hands from the operation lever 12 and the shift lever 15, and the operator can limit stopping the automatic forward travel of the combine when the operator erroneously turns the shift lever 15 into the backward tilting posture.

Drawings

Fig. 1 is a left side view of a combine harvester.

Fig. 2 is a top view of the combine harvester.

Fig. 3 is a connection diagram of the positioning unit.

Fig. 4 is a connection diagram of the controller.

Fig. 5 is an explanatory view of the first reciprocation harvesting mode.

Fig. 6 is an explanatory view of the second reciprocation harvesting mode.

Fig. 7 is an explanatory view of a rotary harvesting mode.

Fig. 8 is an explanatory diagram of a common operation method.

Fig. 9 is an explanatory view of an operation method of the first reciprocating harvesting.

Fig. 10 is an explanatory view of an operation direction of the second reciprocating harvesting.

Fig. 11 is an explanatory view of an operation method of the rotary harvesting.

Detailed Description

As shown in fig. 1 and 2, the combine is provided with a traveling device 2 comprising a pair of left and right crawler belts traveling on a soil surface on a lower side of a frame 1, a harvesting device 3 for harvesting crop stalks in a farmland on a front side of the frame 1, a threshing device 4 for threshing and screening the harvested crop stalks on a rear left side of the harvesting device 3, and a manipulation unit 5 for a worker to ride on the rear right side of the harvesting device 3.

An engine room 6 for mounting the engine E is provided below the operation unit 5, a grain box 7 for storing grains subjected to threshing and screening is provided behind the operation unit 5, and a discharge auger 8 for discharging the grains to the outside is provided behind the grain box 7, and the discharge auger 8 includes a winnower extending in the up-down direction and a lateral discharge portion extending in the front-rear direction.

A touch monitor 11 for displaying the traveling speed of the traveling device 2 and the like is provided in the center of the front panel on the front side of the operator's seat 5, an operation lever 12 for turning the traveling device 2 in the left-right direction and for lifting and lowering the harvesting device 3 in the up-down direction is provided on the right side of the monitor 11, and a mode switch 13 for switching the mode of harvesting the grain lever is provided between the monitor 11 and the operation lever 12. The operating state of the operating lever 12 for turning the traveling device 2 in the left-right direction is measured by a potentiometer-like angle sensor 12A attached to the base of the operating lever 12 (a "fourth sensor" in the claims), and the operating state of the operating lever 12 for raising and lowering the harvesting device 3 is measured by a potentiometer-like angle sensor 12B attached to the base of the operating lever 12. The mode switch 13 may be provided on the lever 12, and the switching operation of the mode switch 13 may be performed at the start of the harvesting operation.

A shift lever 15 for accelerating and decelerating the traveling speed of the traveling device 2 is provided at the front portion of the left side panel of the operator's seat of the operating unit 5. The operating state of the shift lever 15 is measured by a potentiometer-like angle sensor (a "third sensor" in the claims) 15A attached to the base portion of the shift lever 15.

When the shift lever 15 is in the neutral position, the output rotation of the continuously variable transmission (not shown) for acceleration and deceleration of the output rotation of the engine E and switching of the rotation direction of the output rotation is zero. When the shift lever 15 is tilted from the neutral position to the forward-tilted position, the output rotation of the continuously variable transmission is accelerated and decelerated according to the magnitude of the tilting angle of the forward-tilted position, and the rotation direction of the output rotation of the continuously variable transmission is the same forward rotation as the rotation direction of the output rotation of the engine E. When the shift lever 15 is in the neutral position to the rear-side tilting position, the output rotation of the continuously variable transmission is accelerated and decelerated according to the magnitude of the tilting angle of the rear-side tilting position, and the rotation direction of the output rotation of the continuously variable transmission is reverse rotation to the rotation direction of the output rotation of the engine E.

As shown in fig. 3, the positioning unit 20 as an RTK-GPS positioning system is constituted by a positioning satellite 21, a base station 22 provided at a known position, and a mobile terminal 26 provided in the combine harvester. Thus, the position of the combine can be accurately obtained from the position of the mobile terminal 26 based on the position information transmitted from the positioning satellite 21 to the mobile terminal 26 and the position information for correction transmitted from the base station 22 to the mobile terminal 26.

The base station 22 includes a fixed communicator 23, a fixed GPS antenna 24 for receiving position information from the positioning satellites 21, and a fixed data transmitting antenna 25 for transmitting position information for correction to the mobile terminal 26.

The mobile terminal 26 includes a mobile communication device 27, a mobile GPS antenna 28 for receiving position information from the positioning satellites 21, and a mobile data transmission antenna 29 for receiving position information for correction from the base station 22.

As shown in fig. 4, the controller 30 of the combine harvester includes a processing unit 31 including a CPU, a storage unit 32 including a ROM, a RAM, a hard disk drive, a flash memory, and the like, and a communication unit 33 for communicating data with the outside.

The processing unit 31 calculates the positions of the first reference point 41 and the second reference point 42, and sets the reference path 43 and the setting path 45 based on the first reference point 41 and the second reference point 42, which will be described later.

The storage unit 32 stores the positions of the first reference point 41 and the second reference point 42 calculated by the processing unit 31, a linear reference path 43 passing through the first reference point 41 and the second reference point 42, and the like.

The communication unit 33 receives the position information from the positioning satellite 21 via the mobile GPS antenna 28, and receives the position information from the base station 22 via the mobile data transmission antenna 29.

On the input side of the controller 30, there is connected via a predetermined input interface circuit: a distance sensor 2A that detects a travel distance of the travel device 2; a grain rod sensor (a "first sensor" in claims) 3A for detecting the presence or absence of grain rods in the harvesting apparatus 3; a harvesting sensor 3B for detecting a lifting position of the harvesting device 3, that is, a lowered operation posture and a raised standby posture; an angle sensor 12A for measuring the operation posture of the operation lever 12 in the left-right direction; an angle sensor 12B for measuring an operation posture of the operation lever 12 in the up-down direction; a mode switching switch 13 for switching a harvesting mode such as a first reciprocation harvesting mode M1; an angle sensor 15A that measures an operation state of the shift lever 15; a mobile GPS antenna 28 for receiving position information of the combine harvester transmitted from the positioning satellite 21; and a mobile data transmitting antenna 29 for receiving positional information for correction of the combine transmitted from the base station 22.

An output side of the controller 30 is connected to: a brake device 38L for braking rotation of the left crawler belt of the traveling device 2; and a brake device 38R that brakes the rotation of the right crawler belt.

< first reciprocating harvesting mode >)

As shown in fig. 5, in the first reciprocating harvesting mode M1, the combine is driven to harvest while traveling along a linear reference path 43 connecting the first reference point 41 and the second reference point 42 and a plurality of setting paths 45 parallel to the reference path 43 provided at predetermined intervals.

In the present embodiment, during manual forward travel by the operator, the controller 30 sets the first reference point 41 and the second reference point 42, and sets the reference path 43 and the plurality of setting paths 45 based on the first reference point 41 and the second reference point 42.

The operator performs manual turning travel of the combine from the terminal end portion of the reference path 43 toward the start end portion of the set path 45A adjacent to the reference path 43, manual turning travel of the combine from the terminal end portion of the set path 45A toward the start end portion of the set path 45B adjacent to the set path 45A, and the like, and the controller 30 performs automatic forward travel of the combine along the set path 45. This can greatly reduce the work load of the worker. In fig. 5, the path along which the operator manually travels the combine is indicated by a solid line, the path along which the controller 30 automatically travels the combine is indicated by a broken line, and the travel direction of the combine is indicated by an arrow in the reference path 43 and the set path 45.

(first reference point)

When the operator makes the lever 12 a neutral position in the left-right direction and a forward-backward tilting position, makes the shift lever 15 a forward tilting position, and makes the combine manually travel along the grain bar row, and inputs at least one of an on signal of the grain bar in the harvesting apparatus 3 detected by the grain bar sensor 3A and an operation on signal of the harvesting apparatus 3 detected by the harvesting sensor (claim "second sensor") 3B to the input side of the controller 30, the controller 30 receives position information from the positioning satellite 21 and the base station 22 via the mobile GPS antenna 28 and the mobile data transmitting antenna 29, and sets the first reference point 41. Accordingly, the first reference point 41 can be set by the operator without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced.

The controller 30 may set the first reference point 41 when at least one of the on signal of the grain level sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30, and when the distance sensor 2A detects an on signal that the travel distance of the combine is longer than a predetermined distance. Accordingly, the first reference point 41 can be set in a state where the travel state of the combine is stabilized as compared with the start of harvesting of the cereal bars, and therefore, the first reference point 41 in the direction orthogonal to the advancing direction can be restrained from being shifted with respect to the cereal bar row in the direction orthogonal to the travel direction. The predetermined distance can be set by the operator through the monitor 11 in consideration of the uneven state and the wet state of the farmland surface. Usually set to 5 to 12m.

(second reference point)

When the angle sensor 15A detects that the shift lever 15 is operated to the neutral position in the manual forward travel of the combine, the controller 30 receives position information from the positioning satellite 21 and the base station 22 via the mobile GPS antenna 28 and the mobile data transmission antenna 29, and sets the second reference point 42. Accordingly, the operator can set the second reference point 42 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced. The second reference point 42 is preferably located at a position separated from the first reference point 41 by 15 to 12m or more.

When the neutral signal of the angle sensor 15A is input to the input side of the controller 30, and when at least one of the off signal of the grain lever in the harvesting apparatus 3 and the off signal of the standby posture of the harvesting apparatus 3 is detected by the harvesting sensor 3B and the off signal of the grain lever in the harvesting apparatus 3 is not detected by the grain lever sensor 3A, the controller 30 can set the second reference point 42. Accordingly, when the operator erroneously sets the shift lever 15 to the neutral position, the restriction controller 30 can set the second reference point 42.

(reference Path)

The controller 30 sets a linear reference path 43 connecting the first reference point 41 and the second reference point 42 based on the first reference point 41 and the second reference point 42. This allows the operator to set the reference path 43 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

(setting Path)

The controller 30 sets a plurality of setting paths 45 at predetermined intervals on the lower side of the reference path 43 based on the reference path 43. Accordingly, the operator can set the plurality of setting paths 45 without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced. The predetermined interval can be set by the operator via the monitor 11 in consideration of the interval between the cereal bar rows, and is usually set to the harvesting width of the harvesting apparatus 3.

(start and stop of automatic Forward running)

The operator turns the lever 12 in a left-side tilting posture in the left-right direction at the end portion of the reference path 43, turns the shift lever 15 in a front-side tilting posture in the front-rear direction, and manually turns the combine from the end portion of the reference path 43 toward the start portion of the setting path 45A adjacent to the reference path 43, and moves the combine toward the start portion of the setting path 45A. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from setting the setting path 45. When the lever 12 is set to the left-side tilting posture in the left-right direction, the traveling device 2 turns left, and when the lever 12 is set to the right-side tilting posture, the traveling device 2 turns right. When the lever 12 is set to the front-side tilting posture in the front-rear direction, the harvesting device 3 is lowered to the working posture, and when the lever 12 is set to the rear-side tilting posture, the harvesting device 3 is raised to the waiting posture.

The operator sets the lever 12 to a neutral position in the left-right direction and to a forward-side tilting position in the front-rear direction at the start end of the setting path 45A, and continues the shift lever 15 to a forward-side tilting position, thereby manually advancing the combine. Thus, at least one of the on signal of the grain lever sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be caused to start the automatic forward travel of the combine.

The controller 30 drives the braking device 38L for braking the left crawler belt and the braking device 38R for braking the right crawler belt of the traveling device 2 according to the offset amount of the combine harvester from the set path 45A to the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 45A, and moves the combine harvester from the start end portion to the end portion of the set path 45A. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load. The operator can operate the lever 12 to raise and lower the harvesting device 3 even during the automatic forward travel of the combine, and operate the shift lever 15 to accelerate and decelerate the travel speed of the travel device 2.

After the operator sets the shift lever 15 to the neutral position for a predetermined time at the end portion of the setting path 45A, the operator sets the operation lever 12 to the right-side tilting position in the right-left direction and to the rear-side tilting position in the front-rear direction, and continues to set the shift lever 15 to the front-side tilting position, and the combine is manually turned from the end portion of the setting path 45A toward the start portion of the setting path 45B adjacent to the setting path 45A, and is moved toward the start portion of the setting path 45B. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from automatically advancing the combine.

< second reciprocating harvesting mode >)

As shown in fig. 6, in the second reciprocating harvesting mode M2, the combine is harvesting while traveling forward and backward along a linear reference path 43 connecting the first reference point 41 and the second reference point 42 and a plurality of setting paths 45 parallel to the reference path 43 provided at predetermined intervals.

The controller 30 performs automatic forward travel and automatic backward travel of the combine along the set path 45, such as manual backward travel from the final end portion of the reference path 43 toward the start end portion, manual turning travel of the combine from the start end portion of the reference path 43 toward the start end portion of the set path 45 adjacent to the reference path 43, and manual turning travel of the combine from the terminal end portion of the set path 45 toward the terminal end portion of the reference path 43. This can greatly reduce the work load of the worker. In fig. 6, the path along which the operator manually travels the combine is indicated by a solid line, and the path along which the controller 30 automatically travels the combine is indicated by a broken line.

(first reference point)

When the operator makes the lever 12 in a neutral position in the left-right direction and in a forward-backward tilting position, makes the shift lever 15 in a forward tilting position, and makes the combine manually travel along the cereal bar row, and at least one of the on signal of the cereal bar sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30, the controller 30 sets the first reference point 41. Accordingly, the operator can set the first reference point 41 without moving away from the lever 12 and the shift lever 15, and thus, the work load of the operator can be reduced.

When at least one of the on signal of the grain level sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30, and when the distance sensor 2A detects an on signal that the travel distance of the combine is longer than a predetermined distance, the controller 30 may set the first reference point 41. Accordingly, the first reference point 41 can be set in a state where the travel state of the combine is stabilized as compared with the start of harvesting of the cereal bars, and therefore, the first reference point 41 in the direction orthogonal to the advancing direction can be restrained from being shifted with respect to the cereal bar row in the direction orthogonal to the travel direction.

(second reference point)

When the neutral signal of the angle sensor 15A is input to the input side of the controller 30 during the manual forward travel of the combine, the controller 30 sets the second reference point 42. Accordingly, the operator can set the second reference point 42 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

When the neutral signal of the angle sensor 15A is input to the input side of the controller 30, and when at least one of the off signal of the grain lever in the harvesting apparatus 3 and the off signal of the standby posture of the harvesting apparatus 3 is detected by the harvesting sensor 3B and the off signal of the grain lever in the harvesting apparatus 3 is not detected by the grain lever sensor 3A, the controller 30 can set the second reference point 42. Accordingly, when the operator erroneously sets the shift lever 15 to the neutral position, the controller 30 can be restricted from setting the second reference point 42.

(reference Path)

The controller 30 sets a linear reference path 43 of the first reference point 41 and the second reference point 42 based on the first reference point 41 and the second reference point 42. This allows the operator to set the reference path 43 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

(setting Path)

The controller 30 sets a plurality of setting paths 45 at predetermined intervals on the lower side of the reference path 43 based on the reference path 43. This allows the operator to set the plurality of setting paths 45 without leaving the hands from the operating lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

(start and stop of automatic Forward running)

The operator continues the operation lever 12 to a neutral posture in the left-right direction and a backward tilting posture in the front-rear direction at the end portion of the reference path 43, and moves the combine backward manually from the end portion of the reference path 43 toward the starting end portion to move the combine outward of the starting end portion of the reference path 43 with the shift lever 15 to the backward tilting posture. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from setting the setting path 45.

The operator sets the operation lever 12 to a left-side tilting posture after setting the operation lever 12 to a right-side tilting posture in the left-right direction outside the starting end portion of the reference path 43, and continues to a rear-side tilting posture in the front-rear direction, sets the shift lever 15 to a rear-side tilting posture, and then sets the combine to a forward tilting posture, and moves the combine to the starting end portion of the setting path 45A adjacent to the reference path 43.

The operator sets the lever 12 to a neutral position in the left-right direction and to a forward-side tilting position in the front-rear direction at the start end of the setting path 45A, and continues the shift lever 15 to the forward-side tilting position to manually move the combine forward. Thus, at least one of the on signal of the grain lever sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be caused to start the automatic forward travel of the combine.

The controller 30 drives the braking device 38L for braking the left crawler belt and the braking device 38R for braking the right crawler belt of the traveling device 2 according to the offset amount of the combine harvester from the set path 45A to the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 45A, and moves the combine harvester from the start end portion to the end portion of the set path 45A. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

After the operator sets the end portion of the path 45A to the neutral position for a predetermined time, the operator sets the lever 12 to the left-side tilting position in the left-right direction, then sets the lever 15 to the right-side tilting position and sets the lever to the rear-side tilting position in the front-rear direction, sets the lever 15 to the rear-side tilting position after setting the lever to the front-side tilting position, and manually turns the combine from the end portion of the set path 45A toward the end portion of the reference path 43 to move the combine to the end portion of the reference path 43. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from automatically advancing the combine.

The operator sets the operation lever 12 to a neutral position in the left-right direction at the end portion of the reference path 43, and continues to a rearward tilting position in the front-rear direction, and sets the shift lever 15 to a rearward tilting position, so that the combine is manually moved backward. Thus, the controller 30 can start the automatic reverse travel of the combine by inputting to the input side of the controller 30 a neutral signal that the angle sensor 12A detects that the lever 12 is operated to the neutral position in the left-right direction and a rear-side inclination signal that the angle sensor 15A detects that the shift lever 15 is operated to the rear-side inclination position.

When the neutral signal of the angle sensor 12A and the backward tilting signal of the angle sensor 15A are input to the input side of the controller 30, and when at least one of the off signal of the grain rod sensor 3A and the off signal of the harvesting sensor 3B is input, the controller 30 can start the automatic backward travel. Accordingly, when the operator erroneously sets the operation lever 12 to the neutral position in the left-right direction or the shift lever 15 to the rear-side tilting position, the controller 30 can be restricted from starting the automatic reverse travel.

The controller 30 drives the brake device 38L for braking the left crawler belt and the brake device 38R for braking the right crawler belt of the traveling device 2 according to the offset amount of the combine harvester from the reference path 43 to the direction orthogonal to the traveling direction, automatically moves the combine harvester backward along the reference path 43, and moves the combine harvester from the end portion of the reference path 43 to the outside of the start end portion. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

The operator sets the shift lever 15 to a neutral posture for a predetermined time outside the start end portion of the reference path 43, then sets the operation lever 12 to a left-side tilting posture after being set to a right-side tilting posture in the left-right direction, and continues to set the shift lever 15 to a rear-side tilting posture in the front-rear direction, and then sets the shift lever 15 to a forward tilting posture and moves the combine to the start end portion of the setting path 45B adjacent to the lower side of the setting path 45A. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from automatically moving backward of the combine.

The operator sets the lever 12 to a neutral position in the left-right direction and to a forward-side tilting position in the front-rear direction at the start end portion of the setting path 45B, and continues the shift lever 15 to a forward-side tilting position, thereby manually advancing the combine. Thus, at least one of the on signal of the grain lever sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be caused to start the automatic forward travel of the combine.

The controller 30 drives the braking device 38L for braking the left crawler belt and the braking device 38R for braking the right crawler belt of the traveling device 2 according to the offset amount of the combine harvester from the set path 45B to the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 45B, and moves the combine harvester from the start end portion to the end portion of the set path 45B. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

After the operator sets the shift lever 15 to the neutral position for a predetermined time, the operator sets the operation lever 12 to the left-side tilting position in the left-right direction, then to the right-side tilting position, and sets the shift lever 15 to the rear-side tilting position in the front-rear direction, then to the rear-side tilting position, and manually turns the combine from the end of the setting path 45B toward the end of the setting path 45A, and moves the combine toward the end of the setting path 45A. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from automatically advancing the combine.

The operator sets the lever 12 to a neutral position in the left-right direction and continues to a rearward tilting position in the front-rear direction at the end portion of the setting path 45A, and continues to a rearward tilting position with the shift lever 15, thereby causing the combine to perform manual reverse travel. Thus, the neutral signal of the angle sensor 12A and the rear-side inclination signal of the angle sensor 15A are input to the input side of the controller 30, and the controller 30 can be caused to start the automatic backward travel of the combine.

When the neutral signal of the angle sensor 12A and the backward tilting signal of the angle sensor 15A are input to the input side of the controller 30, and when at least one of the off signal of the grain rod sensor 3A and the off signal of the harvesting sensor 3B is input, the controller 30 can start the automatic backward travel. Accordingly, when the operator erroneously turns the operation lever 12 into the neutral position in the left-right direction or turns the shift lever 15 into the rearward tilting position, the controller 30 can be restricted from starting the automatic reverse travel.

The controller 30 drives the braking device 38L for braking the left crawler belt and the braking device 38R for braking the right crawler belt of the traveling device 2 according to the offset amount of the combine harvester from the setting path 45A to the direction orthogonal to the traveling direction, automatically moves the combine harvester backward along the reference path 43, and moves the combine harvester from the terminal end portion to the outside of the starting end portion of the setting path 45A. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

After the operator sets the shift lever 15 to the neutral position for a predetermined time outside the starting end portion of the setting path 45A, the operator sets the operation lever 12 to the right-side tilting position in the left-right direction, then to the left-side tilting position, and continues to the rear-side tilting position in the front-rear direction, and after the shift lever 15 is set to the rear-side tilting position, the operator sets the forward tilting position, and moves the combine to the starting end portion of the setting path 45C adjacent to the lower side of the setting path 45B. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from automatically moving backward of the combine.

< Rotary harvesting mode >)

As shown in fig. 7, in the rotary harvesting mode M3, the combine is driven to perform harvesting while traveling along a linear reference path 43 connecting the first reference point 41 and the second reference point 42 and a set path 46 extending the reference path 43 in the traveling direction from the second reference point 42.

In the present embodiment, during manual forward travel by the operator, the controller 30 sets the first reference point 41 and the second reference point 42, sets the reference path 43 based on the first reference point 41 and the second reference point 42, and sets the path 46 extending the reference path 43 from the second reference point 42 in the travel direction.

The operator performs manual turning travel in which the travel direction of the combine is rotated 90 degrees in the counterclockwise direction at the end portion of the set path 46, and the controller 30 performs automatic forward travel of the combine along the set path 46. This can greatly reduce the work load of the worker. In fig. 7, the path along which the operator manually travels the combine is indicated by a solid line, the path along which the controller 30 automatically travels the combine is indicated by a broken line, and the travel directions of the combine are shown by arrows on the reference path 43 and the set path 46.

(first reference point)

When the operator makes the operation lever 12 in a neutral posture in the left-right direction and in a front-side tilting posture in the front-rear direction, makes the shift lever 15 in a front-side tilting posture, and makes the combine manually travel along the cereal bar row, and at least one of the on signal of the cereal bar sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30, the controller 30 sets the first reference point 41. Accordingly, the first reference point 41 can be set by the operator without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced.

(second reference point)

When the angle sensor 15A detects that the shift lever 15 is operated to the neutral position in the neutral signal is input to the input side of the controller 30 during the manual forward travel of the combine, the controller 30 sets the second reference point 42. Accordingly, the operator can set the second reference point 42 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

When the neutral signal of the angle sensor 15A is input to the input side of the controller 30, and when at least one of the on signal of the grain level sensor 3A and the on signal of the harvesting sensor 3B is input, the controller 30 can set the second reference point 42. Accordingly, when the operator erroneously sets the shift lever 15 to the neutral position, the controller 30 can be restricted from setting the second reference point 42.

(reference Path)

(setting Path)

The controller 30 extends the reference path 43 from the second reference point 42 in the traveling direction, and sets the setting path 46A. This allows the operator to set the plurality of setting paths 45 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

(start and stop of automatic Forward running)

The operator continues the operation lever 12 to a left-right neutral posture in the left-right direction at the end portion of the reference path 43, and to a front-side tilting posture in the front-rear direction, and the shift lever 15 to a front-side tilting posture, so that the combine is manually moved forward. Thus, the front side inclination signal, which is detected by the angle sensor 15A that the shift lever 15 is operated to the front side inclination posture, is input to the input side of the controller 30, and the controller 30 can stop the setting of the setting path 45, and start the automatic forward travel of the combine.

When the front inclination signal of the angle sensor 15A is input to the input side of the controller 30, and when at least one of the on signal of the grain level sensor 3A and the on signal of the harvesting sensor 3B is input, the controller 30 can set the second reference point 42. Accordingly, when the operator erroneously turns the shift lever 15 into the forward tilting posture, the controller 30 can be restricted from starting the automatic forward travel of the combine.

The controller 30 drives the braking device 38L for braking the left crawler belt and the braking device 38R for braking the right crawler belt of the traveling device 2 according to the offset amount of the combine harvester from the set path 46A to the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 46A, and moves the combine harvester from the start end portion to the end portion of the set path 46A. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

The operator turns the lever 12 into a left-side tilting posture or the like in the left-right direction at the end portion of the setting path 46A, and continues to a rear-side tilting posture in the front-rear direction, and turns the shift lever 15 into a rear-side tilting posture after the front-side tilting posture, and then performs manual turning travel to move the combine toward the start end portion of the setting path 46B. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from automatically advancing the combine. After stopping the automatic forward travel, the controller 30 deletes the reference path 43 stored in the storage unit 32. This allows setting a new reference path 43, and allows performing the rotary harvesting as shown in fig. 7.

The operator sets the lever 12 to a neutral posture in the left-right direction and a forward-side tilting posture in the front-rear direction at the start end of the setting path 46B, sets the shift lever 15 to a forward-side tilting posture, and manually advances the combine along the cereal bar row.

When at least one of the on signal of the grain level sensor 3A and the on signal of the harvesting sensor 3B is input to the input side of the controller 30 during the manual forward travel, the controller 30 sets a new first reference point 41. Accordingly, the operator can set the new first reference point 41 without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced.

When the neutral signal of the angle sensor 15A is input to the input side of the controller 30 during the manual forward travel of the combine, the controller 30 sets a new second reference point 42. Accordingly, the operator can set the new second reference point 42 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

The controller 30 sets a linear new reference path 43 connecting the new first reference point 41 and the second reference point 42 based on the new first reference point 41 and the second reference point 42. This allows the operator to set the new reference path 43 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

The controller 30 extends the new reference path 43 from the second reference point 42 in the traveling direction, and sets the set path 46B. This allows the operator to set the plurality of setting paths 45 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

The operator continues the operation lever 12 to a left-right neutral posture in the left-right direction and a front-side tilting posture in the front-rear direction at the end portion of the reference path 43, and moves the shift lever 15 forward in the front-side tilting posture to manually move the combine forward. Thus, the front side inclination signal, which is detected by the input side input angle sensor 15A of the controller 30 that the shift lever 15 is operated in the front side inclination posture, is inputted to the controller 30, and the controller 30 can be stopped from setting the setting path 45, whereby the automatic forward travel of the combine can be started.

The controller 30 drives the braking device 38L for braking the left crawler belt and the braking device 38R for braking the right crawler belt of the traveling device 2 according to the offset amount of the combine harvester from the set path 46B to the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 46B, and moves the combine harvester from the start end portion to the end portion of the set path 46B. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

The operator turns the lever 12 into a left-side tilting posture or the like in the left-right direction at the end portion of the setting path 46B, and continues to a rear-side tilting posture in the front-rear direction, and after the shift lever 15 is turned into a front-side tilting posture, the operator turns the combine to move toward the start end portion of the setting path 46C. Thus, at least one of the off signal of the grain lever sensor 3A and the off signal of the harvesting sensor 3B is input to the input side of the controller 30, and the controller 30 can be stopped from automatically advancing the combine.

Common operation method

As shown in fig. 8, in step S1, the processing unit 31 of the controller 30 determines an input signal of the angle sensor 15A mounted on the base portion of the shift lever 15. If it is determined that the input signal of the shift lever 15 is the front side tilt signal, the flow proceeds to step S2, and if it is determined that the input signal of the angle sensor 15A is the neutral signal or the rear side tilt signal, step S1 is repeated.

In step S2, the processing unit 31 determines an input signal of the distance sensor 2A mounted on the traveling device 2. If the travel distance of the combine is longer than the predetermined distance and it is determined that the input signal of the distance sensor 2A is an on signal of the combine that is longer than the predetermined distance, the flow proceeds to step S3, and if it is determined that the input signal of the distance sensor 2A is an off signal, the step S2 is repeated. Thus, the first reference point 41 described later can be set in a state where the travel state of the combine is stabilized as compared with the start of harvesting of the grain stalks.

In step S3, the processing unit 31 determines input signals of the grain rod sensor 3A and the harvesting sensor 3B mounted on the harvesting apparatus 3. If it is determined that the input signal of the grain rod sensor 3A is at least one of the on signal for conveying the grain rod into the harvesting apparatus 3 and the on signal of the harvesting sensor 3B is the on signal for the harvesting apparatus 3 to be operated in the working posture, the flow proceeds to step S4, and if both the input signals of the grain rod sensor 3A and the harvesting sensor 3B are off signals, the step S3 is repeated.

In step S4, the processing unit 31 receives the position information from the positioning satellite 21 and the base station 22 via the mobile GPS antenna 28 and the mobile data transmission antenna 29, sets the first reference point 41, and advances to step S5. Accordingly, the first reference point 41 can be set by the operator without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced.

In step S5, the processing unit 31 determines the switching state of the mode switching switch 13. When the mode changeover switch 13 is switched to the first reciprocation harvesting mode M1, the routine proceeds to step S6, when the mode changeover switch 13 is switched to the second reciprocation harvesting mode M2, the routine proceeds to step S17, and when the mode changeover switch 13 is switched to the rotation harvesting mode M3, the routine proceeds to step S36.

Operation method of first reciprocating harvesting

As shown in fig. 9, in step S6, the processing unit 31 determines an input signal of the angle sensor 15A mounted on the base portion of the shift lever 15. If it is determined that the input signal of the shift lever 15 is the neutral signal, the flow proceeds to step S7, and if it is determined that the input signal of the angle sensor 15A is the front side inclination signal or the rear side inclination signal, step S6 is repeated. When the neutral signal is input to the angle sensor 15A, and when the input signal of the grain rod sensor 3A is at least one of the off signal and the input signal of the harvesting sensor 3B is the off signal, the processing unit 31 can set the second reference point 42. Accordingly, when the operator erroneously sets the shift lever 15 to the neutral position, the processing unit 31 can be restricted from setting the second reference point 42.

In step S7, the processing unit 31 receives the position information from the positioning satellite 21 and the base station 22 via the mobile GPS antenna 28 and the mobile data transmission antenna 29, sets the second reference point 42, and advances to step S8. Accordingly, the first reference point 41 can be set by the operator without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced.

In step S8, the processing unit 31 sets a linear reference path 43 connecting the first reference point 41 and the second reference point 42 based on the first reference point 41 and the second reference point 42, and the flow advances to step S9.

This allows the operator to set the reference path 43 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

In step S9, the processing unit 31 sets a plurality of setting paths 45 parallel to the reference path 43 for automatically traveling the combine at positions spaced apart from one side of the reference path 43 by a predetermined interval based on the reference path 43, and the flow advances to step S10. Accordingly, the operator can set the setting path 45 for automatically traveling the combine without leaving his or her hands from the lever 12 and the shift lever 15, and thus, the work load on the operator can be reduced.

In step S10, the operator turns the lever 12 into a left-right direction side inclined posture at the end portion of the reference path 43, turns the shift lever 15 into a front-rear direction side inclined posture, turns the combine manually from the end portion of the reference path 43 toward the start portion of the setting path 45A adjacent to the reference path 43, turns the lever 12 into a left-right direction neutral posture at the start portion of the setting path 45A, turns the front-rear direction side inclined posture, turns the shift lever 15 into a front-side inclined posture, turns the combine manually forward, and proceeds to step S11.

In step S11, the processing unit 31 determines input signals of the grain rod sensor 3A and the harvesting sensor 3B mounted on the harvesting apparatus 3. If it is determined that the input signal of the grain rod sensor 3A is at least one of the on signal and the input signal of the harvesting sensor 3B is the on signal, the flow proceeds to step S12, and if it is determined that the input signals of both the grain rod sensor 3A and the harvesting sensor 3B are the off signal, the step S11 is repeated. In addition, even when the preset setting time elapses, if the input signals of the grain rod sensor 3A and the harvesting sensor 3B are off signals, the first reciprocating harvesting mode M1 is stopped.

In step S12, the processing unit 31 drives the brake device 38L for braking the left crawler belt and the brake device 38R for braking the right crawler belt of the traveling device 2 according to the amount of displacement of the combine harvester from the set path 45A in the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 45A, moves the combine harvester from the start end portion to the end portion of the set path 45A, and proceeds to step S13. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load. The operator can operate the lever 12 to raise and lower the harvesting device 3 even during the automatic forward travel of the combine, and operate the shift lever 15 to accelerate and decelerate the travel speed of the travel device 2.

In step S13, after the operator sets the shift lever 15 to the neutral position for a predetermined time at the end portion of the setting path 45A, the operator sets the operation lever 12 to the other side inclined in the left-right direction and to the rear inclined position in the front-rear direction, and continues the shift lever 15 to the front inclined position, and the combine is manually turned from the end portion of the setting path 45A toward the start portion of the setting path 45B adjacent to the setting path 45A, and moves toward the start portion of the setting path 45B, and the process advances to step S14.

In step S14, the processing unit 31 determines input signals of the grain rod sensor 3A and the harvesting sensor 3B mounted on the harvesting apparatus 3. If it is determined that the input signal of the grain rod sensor 3A is at least one of the off signal and the input signal of the harvesting sensor 3B is the off signal, the routine proceeds to step 15, and if both the input signals of the grain rod sensor 3A and the harvesting sensor 3B are on signals, the routine repeats step S14.

In step S15, the processing unit 31 stops the automatic forward travel of the combine and proceeds to step S16. This can stop the automatic forward travel of the combine without leaving the operator from the lever 12 and the shift lever 15, and thus can reduce the work load on the operator.

In step S16, the operator sets the lever 12 to a neutral position in the left-right direction and to a front-side tilting position in the front-rear direction at the start end portion of the setting path 45B, and continues the shift lever 15 to a front-side tilting position, and the combine is manually advanced to travel, and the procedure returns to step S11.

Operation method of second reciprocating harvesting

As shown in fig. 10, in step S17, the processing unit 31 determines an input signal of the angle sensor 15A mounted on the base portion of the shift lever 15. If it is determined that the input signal of the shift lever 15 is the neutral signal, the flow proceeds to step S18, and if it is determined that the input signal of the angle sensor 15A is the front side inclination signal or the rear side inclination signal, step S17 is repeated. When the neutral signal is input to the angle sensor 15A, and when the input signal of the grain rod sensor 3A is at least one of the off signal and the input signal of the harvesting sensor 3B is the off signal, the processing unit 31 can set the second reference point 42. Accordingly, when the operator erroneously sets the shift lever 15 to the neutral position, the processing unit 31 can be restricted from setting the second reference point 42.

In step S18, the processing unit 31 receives the position information from the positioning satellite 21 and the base station 22 via the mobile GPS antenna 28 and the mobile data transmission antenna 29, sets the second reference point 42, and proceeds to step S19. Accordingly, the first reference point 41 can be set by the operator without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced.

In step S19, the processing unit 31 sets a linear reference path 43 connecting the first reference point 41 and the second reference point 42 based on the first reference point 41 and the second reference point 42, and the flow advances to step S20. This allows the operator to set the reference path 43 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

In step S20, the processing unit 31 sets a plurality of setting paths 45 parallel to the reference path 43 for automatically traveling the combine at positions spaced apart from one side of the reference path 43 by a predetermined interval based on the reference path 43, and the flow advances to step S21. Accordingly, the operator can set the setting path 45 for automatically traveling the combine without leaving his or her hands from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

In step S21, the operator continues the operation lever 12 to a neutral position in the left-right direction at the end portion of the reference path 43, and to a rearward tilting position in the front-rear direction, and the shift lever 15 to a rearward tilting position, and the combine is manually moved backward from the end portion toward the beginning portion of the reference path 43, and the combine is moved to the outside of the beginning portion of the reference path 43, and the process proceeds to step S22.

In step S22, the operator sets the operation lever 12 to the right-side tilting posture in the right-side direction outside the starting end portion of the reference path 43, then sets the operation lever to the left-side tilting posture, and continues to the back-side tilting posture in the front-back direction, sets the shift lever 15 to the back-side tilting posture, then sets the forward tilting posture, and moves the combine to the starting end portion of the setting path 45A adjacent to the reference path 43, and then proceeds to step S23.

In step S23, the operator sets the lever 12 to a neutral position in the left-right direction and to a front-side tilting position in the front-rear direction at the start end portion of the setting path 45A, and continues the shift lever 15 to a front-side tilting position, and the combine is manually advanced to travel, and the flow proceeds to step S24.

In step S24, the processing unit 31 determines input signals of the grain rod sensor 3A and the harvesting sensor 3B mounted on the harvesting apparatus 3. If it is determined that the input signal of the grain rod sensor 3A is at least one of the on signal and the input signal of the harvesting sensor 3B is the on signal, the flow advances to step S25, and if both the input signals of the grain rod sensor 3A and the harvesting sensor 3B are off signals, step S24 is repeated. In addition, even if the preset setting time elapses, the second reciprocating harvesting mode M2 is suspended when the input signals of the grain rod sensor 3A and the harvesting sensor 3B are both off signals.

In step S25, the processing unit 31 drives the brake device 38L for braking the left crawler belt and the brake device 38R for braking the right crawler belt of the traveling device 2 according to the amount of displacement of the combine harvester from the set path 45A in the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 45A, moves the combine harvester from the start end portion to the end portion of the set path 45A, and proceeds to step S26. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

In step S26, the operator sets the shift lever 15 to the neutral position for a predetermined time at the end portion of the setting path 45A, sets the operation lever 12 to the left-side tilting position in the left-right direction, then to the right-side tilting position, sets the shift lever 15 to the rear-side tilting position in the front-rear direction, sets the shift lever 15 to the rear-side tilting position after setting to the front-side tilting position, and manually turns the combine to travel from the end portion of the setting path 45A toward the end portion of the reference path 43, and moves the combine to the end portion of the reference path 43, and the process proceeds to step S27.

In step S27, the processing unit 31 determines input signals of the grain rod sensor 3A and the harvesting sensor 3B mounted on the harvesting apparatus 3. If it is determined that the input signal of the grain rod sensor 3A is at least one of the off signal and the input signal of the harvesting sensor 3B is the off signal, the routine proceeds to step 28, and if both the input signals of the grain rod sensor 3A and the harvesting sensor 3B are on signals, the routine proceeds to step S27.

In step S28, the processing unit 31 stops the automatic forward travel of the combine and proceeds to step S28. This can stop the automatic forward travel of the combine without leaving the operator from the lever 12 and the shift lever 15, and thus can reduce the work load on the operator.

In step S29, the operator sets the operation lever 12 to a neutral position in the left-right direction at the end portion of the reference path 43, and continues to a rear-side tilting position in the front-rear direction, and sets the shift lever 15 to a rear-side tilting position, and the combine is manually moved backward, and the flow advances to step S30.

In step S30, the processing unit 31 determines input signals of the angle sensor 12A attached to the base portion of the lever 12 and the angle sensor 15A attached to the base portion of the shift lever 15. If it is determined that the input signal of the angle sensor 12A is the neutral signal and the input signal of the angle sensor 15A is the backward tilting signal, the flow proceeds to step S31, and if it is determined that the input signal of the angle sensor 12A is the left tilting signal or the right tilting signal and the input signal of the angle sensor 15A is the forward tilting signal or the neutral signal, the step S30 is repeated.

In step S31, the processing unit 31 drives the brake device 38L for braking the left crawler belt and the brake device 38R for braking the right crawler belt of the traveling device 2 according to the amount of displacement of the combine harvester from the reference path 43 in the direction orthogonal to the traveling direction, automatically moves the combine harvester backward along the reference path 43, and moves the combine harvester from the rear end portion to the start end portion of the reference path 43, and the process advances to step S32.

In step S32, the operator sets the shift lever 15 to the neutral position outside the start end portion of the reference path 43 for a predetermined time, sets the operation lever 12 to the right-side tilting position in the right-left direction, then sets the operation lever to the left-side tilting position, and continues to the rear-side tilting position in the front-rear direction, sets the shift lever 15 to the forward tilting position after setting the rear-side tilting position, and moves the combine to the start end portion of the setting path 45B adjacent to the lower side of the setting path 45A, and the flow advances to step S33.

In step S33, the processing unit 31 determines input signals of the grain rod sensor 3A and the harvesting sensor 3B mounted on the harvesting apparatus 3. If it is determined that the input signal of the grain rod sensor 3A is at least one of the off signal and the input signal of the harvesting sensor 3B is the off signal, the flow proceeds to step 34, and if both the input signals of the grain rod sensor 3A and the harvesting sensor 3B are on signals, step S33 is repeated.

In step S34, the processing unit 31 stops the automatic backward travel of the combine and proceeds to step S35.

In step S35, the operator sets the lever 12 to a neutral position in the left-right direction and to a front-side tilting position in the front-rear direction at the start end portion of the setting path 45B, and continues the shift lever 15 to a front-side tilting position, and the combine is manually moved forward, and the routine returns to step S24.

Operation method of rotary harvesting

As shown in fig. 11, in step S36, the processing unit 31 determines an input signal of the angle sensor 15A mounted on the base portion of the shift lever 15. If it is determined that the input signal of the angle sensor 15A is the neutral signal, the flow proceeds to step S37, and if the input signal of the angle sensor 15A is the front inclination signal, step S36 is repeated.

In step S37, the processing unit 31 receives the position information from the positioning satellite 21 and the base station 22 via the mobile GPS antenna 28 and the mobile data transmission antenna 29, sets the second reference point 42, and proceeds to step S38. Accordingly, the first reference point 41 can be set by the operator without moving away from the lever 12 and the shift lever 15, and thus the work load of the operator can be reduced.

In step S38, the processing unit 31 sets a linear reference path 43 connecting the first reference point 41 and the second reference point 42 based on the first reference point 41 and the second reference point 42, and proceeds to step S39. This allows the operator to set the reference path 43 without moving away from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

In step S39, the processing unit 31 extends the reference path 43 from the second reference point 42 in the traveling direction, sets the set path 46A, and advances to step S40. Accordingly, the operator can set the setting path 45 for automatically traveling the combine without leaving his or her hands from the lever 12 and the shift lever 15, and thus the work load on the operator can be reduced.

In step S40, the operator continues the operation lever 12 to a left-right neutral posture in the left-right direction and to a front-side tilting posture in the front-rear direction at the end portion of the reference path 43, and the shift lever 15 is brought to a front-side tilting posture, and the combine is manually advanced to travel, and the flow advances to step S41.

In step S41, the processing unit 31 determines an input signal of the angle sensor 15A mounted on the base portion of the shift lever 15. If it is determined that the input signal of the angle sensor 15A is the front side inclination signal, the flow proceeds to step S42, and if the input signal of the angle sensor 15A is the neutral signal, step S41 is repeated. In addition, when the angle sensor 15A is the front inclination signal and when the grain rod sensor 3A is at least one of the on signal and the harvest sensor 3B is the on signal, the processing unit 31 can set the second reference point 42. Accordingly, when the operator erroneously turns the shift lever 15 into the forward tilting posture, the controller 30 can be restricted from starting the automatic forward travel of the combine. In addition, when the input signal of the angle sensor 15A is a neutral signal even when a preset set time elapses, the rotation harvesting mode M3 is stopped.

In step S42, the processing unit 31 drives the brake device 38L for braking the left crawler belt and the brake device 38R for braking the right crawler belt of the traveling device 2 according to the amount of displacement of the combine harvester from the set path 46A in the direction orthogonal to the traveling direction, automatically advances the combine harvester along the set path 46A, moves the combine harvester from the start end portion to the end portion of the set path 46A, and advances the process to step S43. This releases the operator from the task of adjusting the traveling direction of the combine by operating the lever 12, and can further reduce the work load.

In step S43, the operator turns the lever 12 into a left-side tilting posture or the like in the left-right direction at the end portion of the setting path 46A, and continues into a rear-side tilting posture in the front-rear direction, turns the shift lever 15 into a rear-side tilting posture after the shift lever has been turned into a front-side tilting posture, turns the combine manually, moves toward the start portion of the setting path 46B, and proceeds to step S44.

In step S44, the processing unit 31 determines input signals of the grain rod sensor 3A and the harvesting sensor 3B mounted on the harvesting apparatus 3. If it is determined that the input signal of the grain rod sensor 3A is at least one of the off signal and the input signal of the harvesting sensor 3B is the off signal, the routine proceeds to step 45, and if both the input signals of the grain rod sensor 3A and the harvesting sensor 3B are on signals, the routine repeats step S44.

In step S45, the processing unit 31 stops the automatic forward travel of the combine and proceeds to step S46.

In step S46, the operator sets the lever 12 to a neutral position in the left-right direction and a front-side tilting position in the front-rear direction at the start end portion of the setting path 46B, sets the shift lever 15 to a front-side tilting position, manually advances the combine along the cereal bar row, and returns to step S41.

Claims

1. A combine harvester is provided with a travelling device (2) travelling in a farmland at the lower side of a machine body frame (1), a harvesting device (3) for harvesting grain rods at the front side of the machine body frame (1), an operating part (5) for an operator to ride on at the rear of the harvesting device (3),

the combine is characterized in that,

an operating lever (12) for performing turning of the traveling device (2) and lifting operation of the harvesting device (3) is provided on the operating section (5),

a shift lever (15) for accelerating and decelerating the running speed of the running device (2) is provided in the control unit (5),

the operator operates the operating lever (12) and the gear lever (15) to manually drive the combine harvester along the grain bar row,

the controller (30) of the combine is provided with a first reference point (41) along the cereal bar row during manual travel of the combine, a second reference point (42) separated from the first reference point (41) by a predetermined first distance in the travel direction of the combine, and a linear reference path (43) connecting the first reference point (41) and the second reference point (42), and setting paths (45, 46) are provided based on the reference path (43),

The combine is automatically driven along the set paths (45, 46).

2. A combine harvester according to claim 1, characterized in that,

the first reference point (41) is provided at a predetermined second distance from the start end of the cereal bar row along the travelling direction of the combine.

3. A combine harvester according to claim 1, characterized in that,

the harvesting device (3) is provided with a first sensor (3A) for measuring the grain rod in the harvesting device (3) and a second sensor (3B) for measuring the working posture and the waiting posture of the harvesting device,

a third sensor (15A) is provided at the base of the gear lever (15), and the third sensor (15A) measures a front-side tilting posture of the gear lever (15) for advancing the combine, a neutral posture for not moving the combine, and a rear-side tilting posture for retracting the combine,

the controller (30) sets the first reference point (41) when at least one of the first sensor (3A) and the second sensor (3B) measures the operating posture of the harvesting device, and the controller (30) sets the second reference point (42) when the third sensor (15A) measures the neutral posture of the shift lever (15).

4. A combine harvester according to claim 3, characterized in that,

the controller (30) starts the automatic forward travel of the combine when at least one of the first sensor (3A) and the second sensor (3B) detects the cereal straw and the working posture of the harvesting device, and stops the automatic forward travel of the combine when at least one of the first sensor (3A) and the second sensor (3B) detects the waiting posture of the harvesting device.

5. A combine harvester according to any one of the claims 1 to 3, characterized in that,

the controller (30) automatically moves the combine harvester back from the rear end portion toward the front end portion in a set path (45) adjacent to one side of the set path (45) after automatically moving the combine harvester forward from the front end portion toward the rear end portion in the set path (45), and automatically moves the combine harvester forward from the front end portion toward the rear end portion in a set path (45) adjacent to the other side of the set path (45).

6. A combine harvester according to claim 5, characterized in that,

a fourth sensor (12A) for measuring the right-side tilting attitude, the neutral attitude and the left-side tilting attitude of the operating lever (12) is provided at the base of the operating lever (12),

when the third sensor (15A) measures the backward tilting posture of the gear lever (15), and when the fourth sensor (12A) measures the neutral posture of the operating lever (12), the controller (30) starts the automatic backward travel of the combine, and when at least one of the first sensor (3A) does not measure the grain lever and the second sensor (3B) measures the standby posture of the harvesting device, the controller (30) stops the automatic backward travel of the combine.

7. A combine harvester according to any one of the claims 1 to 3, characterized in that,

the controller (30) automatically advances the combine from the start end portion to the finish end portion on a set path (46) extending from the second reference point (42).

8. A combine harvester according to claim 7, characterized in that,

when the third sensor (15A) measures the front inclined posture of the gear lever (15), the controller (30) starts the automatic forward travel of the combine, and when the first sensor (3A) measures at least one of the cereal bar and the second sensor (3B) measures the standby posture of the harvesting device, the controller (30) stops the automatic forward travel of the combine.

9. A combine harvester according to claim 7, characterized in that,

when the front tilt position of the shift lever (15) is measured by the third sensor (15A), and when at least one of the cereal lever is measured by the first sensor (3A) and the work position of the harvesting device is measured by the second sensor (3B), the controller (30) starts the automatic forward travel of the combine, and when at least one of the cereal lever is not measured by the first sensor (3A) and the standby position of the harvesting device is measured by the second sensor (3B), the controller (30) stops the automatic forward travel of the combine.