JP2020000005A - Harvester - Google Patents

Abstract

To provide a harvester capable of preventing a heavy load from being applied to an unloader.SOLUTION: A harvester includes: a posture detection unit for detecting a posture of an unloader that can change its posture between a discharge posture for discharging a harvest from a harvest tank to the outside of a machine body and a storage posture in which the unloader is stored and held in the machine body; a travelling operation device for outputting a behavior request to a travelling device; a travelling control mode managing unit for managing a first travelling control mode and a second travelling control mode whose inertial load applied to the unloader during travelling is smaller than an inertial load of the first travelling control mode, as travelling control modes for controlling the behavior of the travelling device; and a travelling control unit for controlling the travelling device on the basis of the behavior request by using the first travelling control mode when the posture detection unit detects the storage posture, and controlling the travelling device on the basis of the behavior request by using the second travelling control mode when the posture detection unit detects a posture other than the storage posture.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a harvester that includes a traveling device, a harvest tank that stores harvested harvest, and an unloader that discharges the harvest from the harvest tank to the outside of the machine body.

  Patent Literature 1 discloses a posture control unit that maintains a body in a predetermined posture in the left-right direction, an unloader that can discharge grains in a Glen tank, and a position detection that detects whether the unloader is in a storage position. There is disclosed a combine which links the position detecting means and the attitude control means so that the attitude control means can be operated only when the unloader is at the storage position.

  Patent Document 2 has a grain tank provided with a screw-type unloading conveyor at the bottom, and a grain discharging device (unloader) having a lower portion connected to and communicating with the unloading conveyor, and tilts the grain discharging device to an operation position. A general-purpose combiner is disclosed in which when the traveling speed reaches a predetermined speed when traveling in a state, the grain discharging device is automatically shifted to a storage position.

JP-A-9-289820 JP 2001-275469 A

The combine according to Patent Documents 1 and 2 described above can travel in a state where the unloader has shifted from a storage position where the unloader is stored inside the body to a discharge position where the unloader projects outside the body. In traveling in a state where the unloader is in the discharge position, the attitude change (rolling control) of the body in the left-right direction is prohibited in the combine according to Patent Document 1, and the vehicle speed is set to a predetermined value in the combine according to Patent Document 2. Upon reaching, the unloader is forcibly returned to the storage position. In any case, there is no regulation on traveling. However, if sudden acceleration or sudden turning is performed in a state where the unloader protrudes outside the body, there is a problem that a large load is applied to the main part of the unloader.
Therefore, there is a demand for a harvester that can avoid applying a large load to such an unloader.

  A harvesting machine according to the present invention is provided with a traveling device, a harvest tank for storing harvested crops, a discharge attitude for discharging the harvest from the harvest tank to the outside of the machine, and stored and held in the machine. An unloader that can change the posture between a storage posture, a posture detection unit that detects the posture of the unloader, a traveling operation tool that outputs a behavior request for the traveling device based on a driver's operation, A traveling control mode managing unit that manages a first traveling control mode and a second traveling control mode in which an inertial load applied to the unloader during traveling is smaller than the first traveling control mode as a traveling control mode for controlling behavior; When the posture detection unit detects the storage posture, the traveling device is controlled based on the behavior request using the first traveling control mode, and the posture detection unit detects If it is detected other than the retracted position, and a travel control section for controlling the traveling device based on the behavior request using the second travel control mode.

  In this configuration, the behavior of the traveling device that appears based on the operation of the traveling operation tool differs depending on whether the control mode used is the first traveling control mode or the second traveling control mode. When the second traveling control mode is used, traveling behavior in which the inertial load applied to the unloader is reduced as compared with the first traveling control mode appears. When the posture detection unit detects that the unloader is in a posture other than the storage posture, the use of the second traveling control mode prevents a large load from being applied to the unloader.

  In the discharge posture where the unloader projects outside the fuselage to discharge the crop outside the fuselage, when a large acceleration occurs in the fuselage, a moment acts on the main body of the unloader, and a large load is applied to the unloader . For this reason, in one preferred embodiment of the present invention, when a vehicle speed request is output as the behavior request, the travel control unit performs the second travel control mode in comparison with the first travel control mode. Drive the traveling device at low acceleration.

  The higher the driving speed of the traveling device, the higher the vehicle speed. In the harvester, a vehicle speed suitable for a normal harvesting operation is set as a normal harvesting operation speed. In such a normal harvesting operation, it is assumed that the unloader is in the storage position, so that if the unloader runs at a normal harvesting speed in a state other than the storage position, a large load may be applied to the unloader. . From this, as one of the preferred embodiments of the present invention, it is proposed that in the second traveling control mode, an upper limit value lower than a normal harvesting operation speed is set for the driving speed of the traveling device. Is done.

  In order to detect the actual vehicle speed as a result of the driving speed of the traveling device as accurately and simply as possible, it is preferable to detect the rotation speed of the axle of the traveling device. For this reason, in one of the preferred embodiments of the present invention, the upper limit is set with respect to the axle speed of the traveling device.

  Many harvesters use a hydraulic continuously variable transmission for shifting a traveling device that requires a shift. The hydraulic continuously variable transmission adjusts the rotation speed of the axle by changing the swash plate angle. That is, the swash plate angle and the axle rotation speed have a certain relationship. For this reason, as one of the preferred embodiments, a transmission for the traveling device incorporates a hydraulic continuously variable transmission, and the upper limit is determined by a swash plate angle of the hydraulic continuously variable transmission. It is proposed to be set.

  When the aircraft turns while the unloader is out of the stowed position and is not fixed, a moment acts on the core of the unloader due to inertial force. To suppress this moment, it is effective to increase the turning radius during turning. For this reason, in one preferred embodiment of the present invention, when a turning request is output as the behavior request, the traveling control unit sets the turning radius to the first traveling control in the second traveling control mode. The traveling device is driven so as to be equal to or larger than the turning radius in the mode.

  When the traveling device is a crawler type, the body turns due to a speed difference between the left and right crawlers. At this time, if the speed difference between the left and right crawlers is finely changed according to the operation amount of the steering operation tool (one of the traveling operation tools), the aircraft turns with various turning radii, so that the steering operation becomes difficult. . In order to avoid this, a plurality of turning modes having different turning radii (large turning mode, medium turning mode, small turning mode, etc.) are prepared so as to be selectable in advance, and are selected in advance by operating a steering operation tool. A configuration of turning in the turning mode is employed. In such a harvester, the traveling control unit has a plurality of turning modes having different turning radii. In the second traveling control mode, the turning mode having the largest turning radius among the plurality of turning modes is used. Advantageously, it is configured to be selected. Thus, even when the unloader is out of the storage position, the load on the unloader during the turning of the aircraft is suppressed.

It is a whole side view of a combine. It is an overall top view of a combine. FIG. 4 is a functional block diagram for traveling control based on the posture of the unloader. It is a flowchart which shows an example of the traveling control based on the attitude of an unloader.

Hereinafter, a case where the embodiment of the harvester according to the present invention is applied to a self-removing combine will be described with reference to the drawings.
In this embodiment, when defining the longitudinal direction of the fuselage, it is defined along the fuselage advancing direction in the working state, and when defining the lateral direction of the fuselage, the left and right are defined as viewed from the fuselage advancing direction. . That is, the direction indicated by the reference numeral (F) in FIGS. 1 and 2 is the front side of the aircraft, and the direction indicated by the reference numeral (B) in FIGS. 1 and 2 is the rear side of the aircraft. The direction indicated by reference numeral (L) in FIG. 2 is the left side of the aircraft, and the direction indicated by reference numeral (R) in FIG. 2 is the right side of the aircraft.

  As shown in FIGS. 1 and 2, this combine employs a pair of left and right crawler traveling devices as a traveling device 1, and cuts planted grain culms at a front portion of a body supported by the traveling device 1. The reaper 12 is arranged. An operation unit 14 whose periphery is covered by a cabin 13 is disposed on the front right side of the fuselage, and a threshing device 15 and a grain tank 16 as a harvest tank are arranged side by side in the rear of the fuselage. Are located in The threshing device 15 performs threshing on the culm cut by the cutting unit 12. The kernel tank 16 stores the kernel obtained by the threshing process. An engine 18 is arranged below the driver's seat 17 in the driver 14. Further, an unloader 3 is provided for discharging the grains stored in the grain tank 16 to the outside of the machine (outside the machine body).

  As shown in FIGS. 1 and 2, the unloader 3 includes a vertical feed screw conveyor 32 provided on the rear side of the body of the grain tank 16 and a horizontal feed screw conveyor 33 extending above the threshing device 15. ing. At the bottom of the grain tank 16, there is provided a bottom screw 19 that transfers the grains stored in the grain tank 16 to the vertical feed screw conveyor 32. The grains transferred from the bottom screw 19 are sent to a horizontal screw conveyor 33 via a vertical screw conveyor 32, and are discharged to the outside from a discharge port 34 provided at the tip of the horizontal screw conveyor 33. The bottom screw 19, the vertical feed screw conveyor 32, and the horizontal feed screw conveyor 33 are configured to mechanically rotate synchronously. The discharge clutch 7 is interposed in a power transmission path from the engine 18 to the bottom screw 19 (see FIG. 3). When the discharge clutch 7 is in the engaged position, engine power is transmitted to the bottom screw 19, the vertical screw conveyor 32, and the horizontal screw conveyor 33, and when the discharge clutch 7 is in the disengaged position, the power transmission is shut off. .

  The horizontal feed screw conveyor 33 is configured to be able to swing up and down around a horizontal axis P1 at the base end by a hydraulic cylinder 36. Further, the vertical feed screw conveyor 32, together with the horizontal feed screw conveyor 33, is configured to be rotatable about a vertical axis P2 by a drive unit 37 composed of an electric motor or a hydraulic cylinder. Thus, the discharge port 34 of the lateral screw conveyor 33 can be positioned at a position where the grains can be discharged to a transport truck or the like outside the machine. That is, the attitude of the horizontal feed screw conveyor 33 of the unloader 3 can be changed between a discharge attitude for discharging the grains from the grain tank 16 to the outside of the machine and a storage attitude for storing the grains inside the machine.

  The horizontal feed screw conveyor 33 is substantially horizontal, and the posture in which the entire horizontal feed screw conveyor 33 fits within the outer shape of the harvester in plan view is the home position of the horizontal feed screw conveyor 33 (the storage posture of the unloader 3). In the home position, the lateral feed screw conveyor 33 is firmly held from below by the holding device 38. The holding device 38 forms an arch-shaped receiving surface that opens upward, and receives and fixes the lower surface of the horizontal screw conveyor 33 at the home position where the horizontal screw conveyor 33 is in a substantially horizontal posture. In this embodiment, the holding device 38 is provided with a posture detection switch 39 for detecting the home position of the lateral feed screw conveyor 33, that is, the storage posture of the unloader 3.

  FIG. 3 schematically shows a power transmission path for transmitting power from the engine 18 to the crawler traveling device 1 and the unloader 3. The first branch power from the engine 18 is transmitted to the transmission 10 that drives the crawler traveling device 1. The transmission 10 includes a hydraulic continuously variable transmission (hereinafter abbreviated as HST) 11 as a continuously variable transmission. The swash plate angle of the HST 11 is adjusted using, for example, the electric motor 11a, so that the drive speed of the crawler traveling device 1, that is, the vehicle speed is changed. A swash plate angle sensor 44 is provided to detect the swash plate angle. The vehicle speed can be calculated from the axle rotation speed of the crawler traveling device 1, and an axle rotation speed sensor 43 is provided to detect the axle rotation speed. The vehicle speed can also be calculated from the swash plate angle of the HST 11 detected by the swash plate angle sensor 44.

  FIG. 3 shows functional blocks for traveling control based on the attitude of the unloader 3. Various signals are input to the control unit 5 via the input signal processing unit 61. The control unit 5 controls the operation device by sending various control signals via the device control unit 62. The input signal processing unit 61 receives signals from the posture detection switch 39, the traveling operation tool 41, and the work operation tool 42. Further, detection signals from the axle rotation speed sensor 43 and the swash plate angle sensor 44 are also input to the input signal processing unit 61.

  The traveling operation tool 41 is a generic name of devices used by the driver to operate the traveling device 1, and includes a shift lever, a steering lever, an accelerator lever, and the like. The traveling operation tool 41 outputs a behavior request for the traveling device 1 based on the operation of the driver. The behavior of the traveling device 1 is realized by adjusting the driving speeds of the left and right crawlers constituting the traveling device 1. The traveling operation tool 41 may be a multi-function lever having multiple functions, one or more single-function levers, or a combination thereof. The work operation tool 42 is a general term for devices operated by a driver to operate working devices such as the reaper 12, the threshing device 15, the unloader 3, and the like, and includes a reaping clutch lever, a threshing clutch lever, a discharge clutch lever, and an unloader. A posture change switch and the like are included. The work operation tool 42 may also be a multi-function lever having multiple functions, one or more single-function levers, or a combination thereof.

  The engine control unit 63 adjusts the amount of fuel supplied to the engine 18 based on a command from the control unit 5 and drives the engine 18 at a predetermined engine speed or a predetermined torque.

  The control unit 5 includes a travel control unit 51, a travel control mode management unit 52, a work control unit 53, a posture detection unit 54, and an engine speed instruction unit 55. The traveling control unit 51 outputs a control signal for adjusting the swash plate angle of the HST 11 via the device control unit 62 in order to control the driving of the traveling device 1. With this control signal, adjustment of the vehicle speed and steering in the left and right direction (turning in the left and right direction) are performed.

  The traveling control mode management unit 52 manages a traveling control mode used when the traveling control unit 51 controls the behavior (acceleration, deceleration, left turn, right turn, etc.) of the traveling device 1. The travel control mode includes a first travel control mode and a second travel control mode. In the first traveling control mode, acceleration and deceleration appropriate for normal traveling are performed. In order to select the first traveling control mode, it is necessary that various devices constituting the combine are in a normal state, in particular, the unloader 3 is in the retracted position, and the lateral feed screw conveyor 33 is held by the holding device 38. Is a prerequisite. In the case where the unloader 3 is out of the storage position and the horizontal feed screw conveyor 33 is protruding in the horizontal direction, if the vehicle body accelerates, a large moment is applied to the vertical feed screw conveyor 32 and the lower part of the vertical feed screw conveyor 32 (unloader 3). Large load (inertial load) occurs on the backbone of the vehicle. Therefore, when a vehicle speed request for changing the vehicle speed based on the operation of the traveling operation tool 41 occurs in a state where the unloader 3 is out of the storage position, the second inertia load applied to the unloader 3 is smaller than that in the first traveling control mode. A travel control mode is used. Also, in order to reduce the inertial load applied to the unloader 3 deviating from the storage posture, the lower the vehicle speed, the better. Further, in order to reduce the inertial load applied to the unloader 3 deviating from the storage posture, the turning radius is preferably large.

  From this, in this embodiment, in the second travel control mode, (1) the control signal obtained using the low acceleration mode table that has a lower acceleration than that of the first travel control mode is expressed by (2) the first travel control mode. There is also a condition in which the upper limit value (for example, 3 km / h) having a lower value than the traveling control mode, that is, the vehicle speed used in the normal harvesting operation (the normal harvesting operation speed, for example, 5 km / h). The driving device is driven by utilizing the above. Of course, a configuration in which only (1) or only (2) is applied in the second traveling control mode may be adopted. Regarding the setting of the upper limit, the swash plate angle when the vehicle speed becomes 3 km / h may be stored, and the swash plate angle may be used as the upper limit.

  One specific example of the low-acceleration mode table for limiting the acceleration in the case of using the HST11 is to use a table in which the responsiveness of the HST swash plate control is reduced. By lowering the responsiveness, even if sudden acceleration is commanded, sudden acceleration is avoided as a result because of the response delay. At this time, if a response delay occurs in response to the deceleration command, a disadvantage that the braking distance is extended occurs. Therefore, the responsiveness is set to be reduced only for acceleration.

  In this combine mode, as a turning mode, a small turning mode with a small turning radius, a large turning mode with a large turning radius, and a medium turning mode that creates a turning radius between the turning radius of the small turning mode and the turning radius of the large turning mode. And are prepared. By utilizing this, when a turning request is output as a behavior request using the traveling operation tool 41 in a state where the unloader 3 is out of the storage position, the large turning mode is selected. That is, the large turning mode is set as the turning mode in the second traveling control mode. Specifically, when the unloader 3 deviates from the storage position, the turning mode is set to the large turning mode. In the setting of the large turning mode, when the unloader 3 is returned to the storage position, the large turning mode is released. When the small turning mode is set as the turning mode in the first traveling control mode, the large turning mode or the middle turning mode may be selected as the turning mode in the second traveling control mode. Further, when the middle turning mode is set as the turning mode in the first running control mode, the large turning mode or the middle turning mode may be selected as the turning mode in the second running control mode. Of course, when the large turning mode is set as the turning mode in the first traveling control mode, the large turning mode is selected as the turning mode in the second traveling control mode.

  When the second travel control mode is selected, the travel is limited to a travel that is different from the normal travel. Therefore, it is convenient to notify the user using a notification device such as a buzzer or a lamp. In addition, traveling while the unloader 3 is out of the stowed position is required to be avoided as much as possible or to travel with caution. In this case, it is preferable to issue a warning to stop traveling by using a notification device. When the main shift lever (a type of the traveling operation tool 41) becomes neutral, the vehicle body decelerates and stops. Therefore, the limitation on speed and acceleration, the limitation on small turning in traveling control, and the accompanying warning may be temporarily released.

  The work control unit 53 generates a control command for a work device such as the reaper 12, the threshing device 15, the unloader 3, etc., based on a command from the work operation tool 42, and sends the control command to the work device via the device control unit 62. Output. The posture detection unit 54 determines whether the unloader 3 is in the storage position, that is, whether the unloader 3 is in the storage position, based on a signal from the position detection switch 39, in particular, whether the unloader 3 is in the storage position. To detect. The posture detection unit 54 can also detect whether or not the unloader 3 is out of the storage posture and whether the unloader 3 is in the discharge posture in which the kernel can be discharged. The detection result by the posture detection unit 54 is used by the work control unit 53 and the traveling control mode management unit 52.

  The acceleration and the vehicle speed in the control unit 5 can be calculated based on the rotation speed of the axle in the traveling device 1 and the swash plate angle of the HST 11. The rotation speed of the axle is calculated based on the detection signal of the axle rotation speed sensor 43, and the swash plate angle of the HST 11 is calculated based on the detection signal of the swash plate angle sensor 44. When the second traveling control mode is set and the upper limit value of the driving speed of the traveling device 1 is set, the traveling control unit 51 does not exceed the calculated rotation speed of the axle or the swash plate angle of the HST 11. The traveling device 1 is controlled as described above.

  The engine speed command unit 55 gives an engine speed command to the engine control unit 63 based on a set value by an engine speed setting device such as an accelerator lever, an engine speed required value generated by the traveling control unit 51, and the like. Generate

  Next, with reference to FIG. 4, a basic concept of traveling control that is regulated according to the posture of the unloader will be described. The flowchart shown in FIG. 4 is for explaining the basic concept, and in actual control, various control flows can be adopted as long as the basic concept is satisfied. In the control of the traveling device 1 (traveling device control routine), traveling control is performed according to two traveling control modes set by the traveling control mode routine.

  In the traveling control mode setting routine, the posture detection unit 54 checks whether the unloader 3 is in the storage posture or in the non-storage posture out of the storage posture (# 01). If the attitude of the unloader 3 is the storage attitude, the first travel control mode, which is the normal travel control, is set as the travel control mode (# 02). If the posture of the unloader 3 is the non-storage posture, the second traveling control mode in which the inertial load on the unloader 3 is smaller than the first traveling control mode is set as the traveling control mode (# 03).

  In the traveling control routine, first, it is checked whether the traveling operation tool 41 has been operated (# 11). It waits until the operation is performed (# 11 No branch), and when the operation is performed (# 11 Yes branch), the operation amount is acquired (# 12). The traveling behavior of the traveling device 1 requested by the operation of the traveling operation tool 41 is calculated from the acquired operation amount (# 13). Next, it is checked whether the calculated traveling behavior is “deceleration”, “acceleration”, or “turn” (# 14).

  If the calculated running behavior is "deceleration" (# 20), the shift control amount in the normal shift mode (first running control mode) is calculated (# 21).

  If the calculated running behavior is "acceleration" (# 30), it is checked what the running control mode set in the running control mode setting routine is (# 31). If the set travel control mode is the first travel control mode, the shift control amount is calculated using a table prepared for the normal shift mode (# 32). If the set traveling control mode is the second traveling control mode, the shift control amount is calculated using a table prepared for the low acceleration mode (# 33).

  If the calculated running behavior is "turning" (including left turning and right turning) (# 40), here too, it is checked what the running control mode set in the running control mode setting routine is. (# 41). If the set traveling control mode is the first traveling control mode, the shift control amount is calculated using a table prepared for the small turning mode (# 42). If the set traveling control mode is the second traveling control mode, the shift control amount is calculated using a table prepared for the large turning mode (# 43). When the large turning mode is selected in advance as the turning mode, the table for the large turning mode is used even in the first traveling control mode.

  As shown in FIG. 4, regardless of whether the requested traveling behavior is acceleration or turning, when the second traveling control mode is set, the calculated control amount (shift control) is set. When the travel device 1 is driven by the amount (turning control amount), it is determined whether or not the speed exceeds the upper limit vehicle speed (# 51). If the vehicle speed exceeds the upper limit vehicle speed (Yes in # 51), the calculated control amount is corrected to a control amount that does not exceed the upper limit vehicle speed (# 52).

  The calculated control amount or the corrected control amount is provided to the device control unit 62 (# 61), and the traveling device 1 is driven based on the control amount (# 62).

  If the method of calculating the vehicle speed from the swash plate angle is adopted for the determination of exceeding the upper limit vehicle speed, it is possible to make a determination before actually executing the traveling control with the calculated control amount. However, if the method of calculating the vehicle speed from the axle rotation speed is adopted, while the driving device 1 is actually driven by the calculated control amount, the axle rotation speed is controlled by the feedback control so that the axle rotation speed corresponds to the upper limit vehicle speed. The running control is performed so as not to exceed the number.

[Another embodiment]
(1) In the above embodiment, the crawler traveling device is used as the traveling device 1, but a wheel-type traveling device may be adopted.

(2) In the above-described embodiment, the unloader 3 includes the vertical feed screw conveyor 32 and the horizontal feed screw conveyor 33. Instead of this, the horizontal feed screw conveyor 33 may be omitted, and the unloader 3 provided with the discharge port 34 at the tip of the tilting vertical feed screw conveyor 32 may be employed.

(3) In the above-described embodiment, two-choice control is used in which different traveling control modes are used when the unloader 3 is in the storage position and when the unloader 3 is in other positions. A plurality of traveling control modes may be set according to the degree of overhang. At this time, as the degree of overhang is increased, the limiting values of the acceleration and the vehicle speed are increased, so that the inertial load on the trunk of the unloader 3 can be suppressed to a predetermined value or less.

(4) In the above embodiment, the storage position of the unloader 3 is detected by detecting the storage of the lateral feed screw conveyor 33 in the holding device 38 by the position detection switch 39. Instead, the horizontal feed screw conveyor 33 holds the horizontal feed screw conveyor 33 based on a signal from an angle sensor that detects a swing angle about the horizontal axis P1 and a rotation angle about the vertical axis P2. The storage in the device 38 (the storage posture of the unloader 3) may be detected.

(5) In the traveling device control shown in FIG. 4, in the second traveling control mode, the acceleration limitation, the speed limitation, and the turning radius limitation are performed. However, it is not necessary to perform all of these controls. You may just do one.

  INDUSTRIAL APPLICABILITY The present invention can be applied not only to a self-removable combine, but also to a normal combine, and further to a harvester such as a corn harvester (grainer).

1: Traveling device (crawler traveling device)
3: Unloader 5: Control unit 10: Transmission 16: Grain tank 19: Bottom screw 32: Vertical feed screw conveyor 33: Horizontal feed screw conveyor 34: Discharge port 36: Hydraulic cylinder 37: Drive unit 38: Holding device 39: Posture Detection switch 41: Travel operating tool 43: Axle rotation speed sensor 44: Swash plate angle sensor 51: Travel control unit 52: Travel control mode management unit 54: Attitude detection unit

Claims (7)

A traveling device,
A crop tank for storing the harvested crop,
An unloader that can change the posture between a discharge posture for discharging the crop from the crop tank to the outside of the body and a storage posture that is stored and held in the body,
A posture detector for detecting the posture of the unloader,
A traveling operation tool that outputs a behavior request for the traveling device based on a driver's operation,
A traveling control mode that manages a first traveling control mode and a second traveling control mode in which an inertial load applied to the unloader during traveling is smaller than the first traveling control mode as traveling control modes for controlling behavior of the traveling device. Management department,
When the posture detecting unit detects the storage posture, the traveling device is controlled based on the behavior request using the first traveling control mode, and the posture detection unit detects a state other than the storage posture. A traveling control unit that controls the traveling device based on the behavior request using the second traveling control mode,
Harvester equipped with.   2. The vehicle according to claim 1, wherein when a vehicle speed request is output as the behavior request, the traveling control unit drives the traveling device at a lower acceleration in the second traveling control mode than in the first traveling control mode. 3. Harvester.   3. The harvester according to claim 1, wherein in the second travel control mode, an upper limit lower than a normal harvest operation speed is set for a drive speed of the travel device. 4.   The harvester according to claim 3, wherein the upper limit value is set with respect to an axle rotation speed of the traveling device.   The harvester according to claim 3, wherein a hydraulic stepless transmission is incorporated in the transmission for the traveling device, and the upper limit is set with respect to a swash plate angle of the hydraulic stepless transmission.   When a turning request is output as the behavior request, the traveling control unit drives the traveling device such that the turning radius is equal to or larger than the turning radius in the first traveling control mode in the second traveling control mode. Item 6. The harvester according to any one of Items 1 to 5. The traveling control unit has a plurality of turning modes having different turning radii,
The harvester according to claim 6, wherein in the second traveling control mode, a turning mode having a largest turning radius is selected from the plurality of turning modes.

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