JPH089759A - Combine harvester - Google Patents

Abstract

PURPOSE:To provide a combine harvester designed to avoid sorting disorders such as third loss increase or grain injuries by vehicle speed control under an upper limit speed condition so as not to develop an excessiveness of the amount of a harvest to be sorted along with more proper control under the prediction, in advance, of such excessiveness. CONSTITUTION:A control means H increasing the throughput capacity of a sorter as the amount of a harvest to be sorted dropping from a threshing chamber increases and operating a speed change gear 12 in order to maintain the engine load detected by relevant means S7, H within a target load range, performs a vehicle speed control in such a state as not to exceed an upper limit speed set as the maximum vehicle speed detected; when the amount of a harvest to be sorted exceeds an upper limit of the throughput capacity, the set upper limit vehicle speed is corrected to a set lower speed. At the same time, when the above correction is continuously carried out several or specified times or more in the preceding process and the amount of a harvest to be sorted exceeds a set value lower than the upper limit value of the throughput capacity by a specified value in the present process, the set upper limit vehicle speed is corrected to a set lower speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION According to the present invention, the processing capacity of a sorting apparatus increases as the amount of sorted products increases based on the information of the amount of sorted products that detects the amount of sorted products leaking from a handling room. As described above, the sorting control for adjusting the processing capacity changing means of the sorting device, and the vehicle speed for shifting the vehicle speed shifting transmission so that the engine load detected by the load detecting means is maintained within the target load range. The present invention relates to a combine provided with control means for executing control.

[0002]

2. Description of the Related Art In the above-mentioned combine, in the sorting control, for example, a layer thickness sensor for detecting the layer thickness of the sorted processed material layer leaked from the handling chamber onto the swing sorting plate of the sorting device is used as the processed material amount detecting means. The greater the detection layer thickness, that is, the amount of processed material, the larger the processing material leakage opening (for example, the opening of the chaff sheave) in the rocking sorting plate, and the larger the processing capacity of the sorting device. The control for adjusting the opening degree changing means (the motor for changing the opening degree of the chaff sheave, etc.) as the processing capacity changing means was performed, and at the same time, in the vehicle speed control, for example, it was obtained as the amount of decrease of the engine speed from the reference speed If the engine speed falls below the target speed so that the engine load is maintained within the target load range, that is, the engine speed is maintained at the target speed, a shift for vehicle speed shifting is performed. While decelerating operation the location results in performing control the engine speed to operate accelerated if higher than the target speed. Then, conventionally, the sorting control and the vehicle speed control are simply executed independently.

[0003]

However, in the prior art, when the vehicle speed becomes too fast due to the vehicle speed control and the amount (layer thickness) of the sorted material on the rocking sorting plate becomes too large, the processing capacity of the sorting device becomes the upper limit. Even if the value is adjusted to a large value (specifically, the above-mentioned chaff sheave opening is set to the upper limit opening), it may be insufficient, and in such a state, it is discharged outside the machine without leaking by the rocking sorting plate. This may increase the loss of No. 3 and damage of the grain due to the excessive amount of No. 2 reduction, and in the worst case, the sorting device may cause clogging of the processed material, making it impossible to perform the mowing work. is there. of course,
In such a situation, as a result of the increase in the threshing load causing the engine speed to fall below the target speed, the transmission is decelerated to reduce the amount of harvested culm and the sorting device is clogged with the processed material. It will be avoided as much as possible.

However, even if the amount of cut culms is reduced by the operation of decelerating the vehicle speed and the amount of the sorted products becomes proper, and the excessive state of the amount of the sorted products is once solved, the vehicle speed is again set under the same field condition. Is likely to become too fast and the amount of sorted products becomes excessive, in which case the same deceleration operation is repeated. Then, after the deceleration operation until the amount of the sorted product becomes a proper amount through the reduction of the amount of harvested culm, an excessive state of the amount of the sorted product does not continue to be properly sorted. Therefore, it is not preferable to frequently cause an excessively large amount of sorted products. Therefore, a simple deceleration operation for an excessively large amount of sorted products has not always been a sufficient countermeasure.

Conventionally, the upper limit vehicle speed is manually set to a predetermined value by means such as a volume, and the vehicle speed control is performed in a state where the upper limit vehicle speed is not exceeded. Regardless of the ability, it is set as the maximum vehicle speed value that the worker judges that it is possible to cut and drive due to unevenness of the ground or field conditions such as wetlands, which causes an extreme decrease in engine output or engine stall during running. In order to avoid the above and smoothly perform the vehicle speed control according to the load.

The present invention has been made in view of the above circumstances, and an object of the present invention is to set an upper limit vehicle speed condition that does not cause an excessive state of the amount of sorted products in order to solve the problems of the prior art. The vehicle speed control is performed below, and an excessive state of the amount of sorted products is predicted in advance so that more appropriate control can be performed.

[0007]

The combine of the present invention comprises:
Based on the information of the processed product amount detecting means for detecting the amount of the sorted product leaked from the handling room, the processing capacity changing means of the sorting device is arranged so that the processing capacity of the sorting device increases as the amount of the sorted product increases. The control means is provided for executing the sorting control for adjusting the vehicle speed and the vehicle speed control for shifting the transmission for vehicle speed shifting so that the engine load detected by the load detecting means is maintained within the target load range. In the first characteristic configuration, a maximum vehicle speed storage unit that stores the maximum value of the detected vehicle speed detected by the vehicle speed detection unit as a set upper limit vehicle speed is provided, and the control unit includes:
Based on the information of the maximum vehicle speed storage means, when the vehicle speed control is executed in a state in which the detected vehicle speed does not exceed the set upper limit vehicle speed, and the amount of sorted material exceeds the upper limit value of the processing capacity of the sorting device. The correction process for correcting the set upper limit vehicle speed to the vehicle speed value of the set amount lower speed is performed, and the selection is performed in the work process before the current work process among the plurality of work processes set in the reaping work site. When the correction processing when the processed material amount exceeds the upper limit value is continuously executed a plurality of times or more than a set number of times, in the current work process, the sorted processed material amount is set to be a predetermined amount smaller than the upper limit value. When the value exceeds the value, the teaching correction process is performed to correct the set upper limit vehicle speed to the vehicle speed value of the set amount lower speed.

In a second characteristic configuration, the processed material amount detecting means is composed of a layer thickness detecting means for detecting the layer thickness of the sorted processed material existing on the rocking sorting plate of the sorting device. The capacity changing means is composed of an opening changing means for changing the leakage opening in the swinging sorting plate of the sorting device, and the control means has the upper opening position of the opening changing range of the opening changing means. When the layer thickness detection means detects that the layer thickness of the sorted products exceeds the set layer thickness value for the discrimination of the sorting capacity for a set time or more, the sorting is performed. It is determined that the processed material amount exceeds the upper limit value, and the state where the layer thickness of the sorted processed material exceeds the auxiliary set layer thickness value set to the predetermined amount smaller side than the set layer thickness value continues for a set time or more. When the amount of the sorted product is higher than the upper limit value, In that it is configured to determine and exceeds the set value of the amount small side.

A third characteristic configuration is that the cutting style for the stems introduced into the stem introducing path of the cutting device is a row cutting type in which lines are formed so as to form a row in the machine advancing direction, or a method other than the row cutting type is used. A mowing type detecting means for detecting whether the mowing type is another one is provided, and the control means performs the mowing work on the mowing work site in the line mowing type based on the information of the mowing type detecting means. The teaching correction processing is performed only when the teaching correction processing is performed.

[0010]

According to the first characteristic configuration of the present invention, under the condition that the processing capacity of the sorting apparatus is adjusted so that the processing capacity of the sorting apparatus becomes larger as the amount of sorted processing material leaking from the handling chamber increases, If the amount of sorted material does not exceed the upper limit of the throughput of the sorting device, the maximum value of the detected vehicle speed up to that time is set as the set upper limit vehicle speed, while the amount of sorted product is the upper limit of the throughput of the sorting device. When it exceeds, the set upper limit vehicle speed is corrected to the low speed side by a predetermined amount. At the same time, in the work stroke prior to the current work stroke of the plurality of work strokes in the mowing work area, correction of the set upper limit vehicle speed to the predetermined amount lower speed side when the amount of the sorted material exceeds the upper limit value. When it is continuously executed a plurality of times or more than a set number of times, the set upper limit vehicle speed is lower by a predetermined amount when the amount of sorted products exceeds a set value which is a predetermined amount smaller than the upper limit value in the current work process. Corrected to the side. Then, in a state where the vehicle speed does not exceed the set upper limit vehicle speeds, vehicle speed control is performed to shift the vehicle speed shifting transmission so as to maintain the engine load within the target load range.

In addition, according to the second characteristic configuration, the swing sorting is performed under the opening adjustment condition in which the leakage opening in the swing sorting plate is increased as the layer thickness of the sorted products on the swing sorting plate is increased. When the leakage opening of the plate is operated to the upper limit opening of the opening change range and the state where the layer thickness of the sorted material exceeds the set layer thickness value for sorting capacity limit determination continues for a set time or more. ,
The set upper limit vehicle speed is corrected to the lower side by a predetermined amount when it is determined that the amount of sorted products exceeds the upper limit of the throughput of the sorting device. At the same time, in the work stroke prior to the current work stroke of the plurality of work strokes in the mowing work area, correction of the set upper limit vehicle speed to the predetermined amount lower speed side when the amount of the sorted material exceeds the upper limit value. When it is continuously executed a plurality of times or more than a set number of times, in the current work process, the auxiliary set layer thickness value on the side where the layer thickness of the sorted product is a predetermined amount smaller than the set layer thickness value for the sorting capacity limit determination If the state of exceeding the set time continues for a set time or longer, it is determined that the amount of sorted products exceeds a set value that is a predetermined amount smaller than the upper limit value of the processing capacity of the sorting apparatus, and the set upper limit vehicle speed is corrected to a predetermined lower amount side. . In cases other than the above, the maximum value of the detected vehicle speeds up to that point is set as the set upper limit vehicle speed. Then, the vehicle speed control based on the engine load is performed in a state where the vehicle speed does not exceed the set upper limit vehicle speed.

According to the third characteristic configuration, in the case where the cutting style for the stems introduced into the stem introducing path of the cutting device is a row cutting type in which lines are formed so as to form rows in the machine advancing direction. Only when the correction process for correcting the set upper limit vehicle speed to the predetermined amount lower speed side when the amount of sorted products exceeds the upper limit value in the work process before the current process is executed a plurality of times consecutively or more than the set number of times. In the current work process, when the amount of sorted products exceeds a set value that is a predetermined amount smaller than the upper limit value of the processing capacity of the sorting apparatus, the set upper limit vehicle speed is corrected to a predetermined lower amount side.

[0013]

According to the first characteristic configuration of the present invention, when the amount of sorted material exceeds the upper limit value of the throughput of the sorting apparatus, the upper limit vehicle speed in the vehicle speed control is changed to the low speed side, Since the vehicle speed control is performed under the limitation of the upper limit vehicle speed changed to the low speed side, the configuration in which the transmission is simply decelerated as in the conventional case may cause the vehicle speed to become too fast again and the excessive state of the sorted material amount may recur. However, the inconvenience is avoided.
Moreover, when the amount of sorted material exceeds the upper limit of the sorting capacity in the stroke before the current working stroke in the same mowing work site, the upper limit vehicle speed is changed to the low speed value more than once or more than the set number of times. If it is done, there is a high possibility that the amount of sorted products will exceed the upper limit of the sorting capacity even in the current work process. When it is predicted that the excessively large amount of sorted material is generated due to the excess (the vehicle speed is generally considered to be close to the upper limit vehicle speed in this state), the upper limit vehicle speed is immediately reduced to the low speed value. By making the change, it is possible to prevent the vehicle speed from being unnecessarily increased to the high-speed side, and to avoid the occurrence of the excessively large amount of the sorted material in advance. Therefore, it is possible to appropriately prevent the occurrence of a malfunction in the sorting work such as an increase in the No. 3 loss released to the outside of the machine without being leaked by the rocking sorting plate and an increase in the damaged grain due to an excessive increase in the No. 2 reduction amount. Came to.

According to the second characteristic configuration, the layer thickness of the sorted product layer on the rocking sorting plate is detected by the layer thickness detecting means including a relatively simple sensor such as a layer thickness sensor, It is possible to properly detect the amount of the sorted material, and it is possible to appropriately adjust the throughput of the sorting device by the opening changing means such as a motor that changes the leak opening in the swing sorting plate of the sorting device.
At the same time, based on the information of the leakage opening of the rocking sorting plate and the layer thickness detection value of the sorted product layer, the amount of the sorted product exceeds the upper limit value of the throughput of the sorting device, and the upper limit value. It is possible to appropriately determine that each of the values exceeds the set value on the small side by a predetermined amount, and therefore, it is possible to obtain a suitable means for implementing the first characteristic configuration.

Further, according to the third characteristic configuration, the upper limit vehicle speed becomes a low speed value due to the amount of the sorted material exceeding the upper limit value of the sorting capacity in the stroke before the current working stroke in the same mowing work site. However, if the mowing type is other than the line-cutting type, such as the horizontal-cutting type, the current work stroke and the previous stroke are different from those of the line-cutting type. Since there is a large difference in the cutting conditions between the two, by not performing the upper limit vehicle speed change operation in the current stroke based on the upper limit vehicle speed change information in the previous stroke,
The erroneous change of the upper limit vehicle speed can be appropriately avoided, and a suitable means for implementing the first or second characteristic configuration can be obtained.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIGS. 2 to 4, the combine includes a pair of left and right crawler traveling devices 1, a threshing device 2, a control unit 3, a harvesting device 4, and the like.

A plurality of weeding tools 5 are attached to the tip of the mowing device 4.
A, 5B, 5C, 5D are provided in a state of being supported by a support frame 39 at intervals in the lateral direction of the machine body, and for introducing a plurality of stem culms between the respective weeding tools 5A, 5B, 5C, 5D. The paths L1, L2, L3 are formed. Then, the raising device 6 for causing the stem culms introduced into each of the paths L1, L2, L3, the cutting blade 7 for cutting the root of the stems thus caused, and the cutting stems toward the upper rear side of the machine. The auxiliary conveying device 8 for stopping and conveying and delivering to the starting end portion of the feed chain 16 of the threshing device 2 and the vertical conveying device 9 behind the auxiliary conveying device 8 are the weeding tools 5A, 5B, 5C, 5 in that order.
It is provided in a state of being sequentially arranged on the rear side of D. It should be noted that, of the routes L1, L2, L3, the route L3 that is the most cut side
Is formed to be larger than the widths of the other routes L1 and L2 so that two rows of stem culms can be introduced at the same time, and the presence / absence of a cut culm is detected at the starting end of the vertical transport device 9. In order to do so, a stock origin sensor S4 including a switch that is turned on when there is a harvested culm and turned off when there is not is provided.

The reaping device 4 has each path L1, L2, L3.
A plurality of steering control sensors S8a, S8b, S8c for detecting the lateral distance from the end of the path of the stem to be introduced into the stem are introduced into the path L1 on the most uncut side and the path to be cut. A first sensor S8a for detecting the lateral distance from the side end, a second sensor S8b for detecting the lateral distance between the stem culm introduced into the middle path L2 and the path uncut side end, and the most-cut The third sensor S8c for detecting the lateral distance between the stem culm introduced into the side path L3 and the end portion of the cut path side is provided.

The plurality of steering control sensors S8a, S
8b and S8c will be described below. As shown in FIG. 5, the tips are pivotally supported at the rear positions of the weeding tools 5B and 5D and swing toward the rear side of the fuselage. The movable sensor bars 50 are urged to return to the stalks side by side in a row in the longitudinal direction of the machine body with a predetermined distance (distance H1 = 17 cm when cutting grass, distance H2 = 30 cm when cutting horizontally). The sensor bar 5 is installed in the
A potentiometer Rp is provided for detecting the angle at which 0 swings to the rear side of the fuselage due to contact with the culm. In other words, as the vehicle runs, the stem culm introduced between the weeding tools 5A, 5B, 5C, 5D contacts the sensor bar 50,
The sensor bar 50 rotates from the swinging fulcrum toward the rear side of the machine body at a swinging angle corresponding to the culm contact position, and the potentiometer Rp
Detects the swing angle of the sensor bar 50, and the voltage En becomes larger as the mounting position of each sensor on the stems arranged in the machine advancing direction, that is, the lateral distance from the end of the stem-culm introduction path becomes smaller. Then, n = 1, 2, 3 and indicating the voltages of the steering control sensors S8a, S8b, S8c) are output.

The threshing device 2 is, as shown in FIG.
5, a handling chamber A for storing 5, a feed chain 16 for feeding and transporting the grain culm supplied from the reaping device 4 to the handling chamber A, a cross-flow fan 17 for dust removal, and a sorting device for sorting processed products after threshing Equipped with B. The sorting device B includes a tomi 18, a swing sorting plate 19, a first product collecting section (hereinafter referred to as the first mouth) 20 and a second product collecting section (hereinafter referred to as the second mouth) for collecting processed products after sorting. 21).

As shown in FIG. 7, a mechanism is provided on the upper part of the feed chain 16 so as to press the conveyed grain culms downward and sandwich it with the feed chain 16. That is, the plurality of pressing members 16a and 16b connected in the transport direction by the pivot P are elastically biased by the coil spring 16c. Further, a potentiometer S1 for detecting the upward displacement of the pivot shaft P between the first pressing member 16a and the second pressing member 16b from the front is provided, and this potentiometer (hereinafter referred to as the culm thickness sensor) S1 is used. The thickness of the grain culm sandwiched between the feed chain 16 and the pressing members 16a and 16b is detected. Here, the conveyance speed of the feed chain 16 is kept substantially constant, and the detection value of the culm thickness sensor S1 is proportional to the amount of grain culm supplied to the handling room A.

The grain culms which are fed and conveyed to the handling chamber A by the feed chain 16 are threshed by the rotation of the handling barrel 15. In the lower part of the handling room A, a receiving net 22 is provided, and grains of the processed product after threshing that have been made into single grains leak from the receiving net 22 to the rocking sorting plate 19. The processed material that could not leak from the receiving net 22 is the receiving net 22.
It falls from the rear end portion to the swing selection plate 19.

The swing selection plate 19 is composed of a Glen pan 23 located above the tomi 18, a chaff sheave 24 located behind it, a Glen sheave 25 located below it, and the like. Select specific gravity while transferring. The first mouth 20 and the second mouth 21 are respectively provided with screw conveyors, and the grains leaked from the chaff sheave 24 and the Glen sieve 25 are collected from the first mouth 20 and stored in a tank or the like. The mixture of the grain and the straw waste that has fallen from the rear end of the chaff sheave 24 or the rear end of the Glen sieve 25 is recovered from the No. 21 opening and returned to the swing selection plate 19.

The chaff sheave 24, as shown in FIG.
A plurality of plate-shaped members 24a are arranged side by side in the front-rear direction at predetermined intervals. Each plate-shaped member 24a is pivotally attached to the left and right side plates so as to be rotatable about the left-right axis, and the lower end portion thereof is a link 24b.
It is pivotally connected at. Therefore, when the link 24b is operated to move in the front-rear direction, the plate-shaped members 24a simultaneously rotate, and the adjacent distance t between the plate-shaped members 24a changes. This interval t corresponds to a leakage opening (hereinafter referred to as a chaff opening) in the swing selection plate 19, and the chaff opening is changed by rotationally driving the sheave motor M1 in the forward and reverse directions. The rotation operation of the sheave motor M1 is converted into the forward / backward movement operation of the link 24b by the gear type linkage mechanism 26, the swing arm 27, and the wire 28, and the chaff opening degree is changed as described above. As described above, the sheave motor M1 constitutes an opening degree changing means for changing the leakage opening degree in the swing selection plate 19. A potentiometer-type chaff opening sensor S2 for detecting the chaff opening from the rotation angle of the swing arm 27 is provided.

The toumi 18 is for generating a sorting wind, and the wind force is generated by changing the opening of the toumi case cover 18a as shown in FIG. That is, the larger the opening degree, the smaller the wind force (hereinafter referred to as the Toumi wind force). The change of the Toumi wind power is performed by the Toumi motor M2 as shown in FIG. The toumi motor M2 includes a linkage mechanism 30, a swing arm 31, and a link 3.
The toumi case cover 18a is opened / closed via 2, 33. A potentiometer-type Tumi wind sensor S3 for detecting the Tumi wind from the rotation angle of the swing arm 31 is provided.

In the structure of the swing selection plate 19, as the sheave motor M1 is driven to increase the chaff opening,
The amount of grains leaking downward in the chaff sheave 24 increases, and the processing capacity of the sorting apparatus B increases. At this time, the toumi motor M2 is driven so as to increase the toumi wind force in accordance with an increase in the amount of the leaked kernels, in order to prevent the straw collected from the kernels collected at the first mouth 20. From the above, the processing capacity changing means of the sorting apparatus B is constituted by the sheave motor M1 and the toumi motor M2.

Further, as shown in FIGS. 6 and 10, a layer thickness sensor S5 for detecting the layer thickness of the sorting object (grain or the like) on the chaff sheave 24 is provided on the left and right side plates of the rocking sorting plate 19. It is attached to a rod 40 installed on the upper side. The layer thickness sensor S5 resists the plate-like members T1 and T2 that are swingably suspended around the horizontal axis, and the rotation angle I of the plate-like members T1 and T2 to the rear (the conveyance direction of the processed material). It consists of a potentiometer PM that converts into a value. When the layer thickness of the processed material is small, the plate-shaped member T1 contacts the processed material and rotates backward, and when the layer thickness increases, the plate-shaped member T2 contacts the processed material and rotates rearward. Is configured.

With the above structure, the larger the amount of the sorted products and the larger the layer thickness, the larger the rotation angle I of the sensor bars T1 and T2. Therefore, from the resistance value of the potentiometer PM, the layer thickness of the processed products, that is, the amount of the processed products. Can be detected. Therefore, the layer thickness detecting means for detecting the layer thickness of the sorted products present on the swing sorting plate 19 (actually the chaff sheave 24) is constituted by the layer thickness sensor S5 and leaks from the handling room A. The processed material amount detecting means for detecting the amount of the sorted processed material is constituted by the layer thickness detecting means (that is, the layer thickness sensor S5). Also, Im in FIG.
ax is a set layer thickness value (actually, a rotation angle at that layer thickness value) for determining the sorting capacity limit for determining whether or not the amount of sorted products exceeds the upper limit of the processing capacity of the sorting apparatus B. Show.

The power transmission system is constructed as shown in FIG. The power of the engine E is transmitted to the threshing device 2 via the threshing clutch 10, and at the same time, the traveling clutch 11 and the hydraulic continuously variable transmission 1 as a transmission device for shifting the vehicle speed.
2 is transmitted to the mission case 13 of the pair of left and right crawler traveling devices 1, and power is transmitted to the mowing device 4 from the mission case 13 through the mowing clutch 14. The mission case 13 includes a crawler traveling device 1
Steering clutches 34L and 34R for turning the transmission of the driving force to and from the left and right respectively, steering hydraulic cylinders 35L and 35R for turning the clutches on and off, and supply of hydraulic oil to the hydraulic cylinders 35L and 35R. Electromagnetically operated steering control valves 36L and 36R for controlling the engine are provided so as to turn around the crawler traveling device 1 on which the driving force is cut off. Further, a rotation speed sensor S6 for detecting the rotation speed of the drive shaft to the crawler traveling device 1 is provided, and the vehicle speed and the traveling distance are detected based on this rotation speed information. It functions as a mileage detecting means. The engine E is provided with an engine rotation speed sensor S7 for detecting the rotation speed thereof, and a threshing switch SW1 for detecting the on / off state of the threshing clutch 10 for detecting whether or not the threshing device 2 is in operation. Is provided.

The continuously variable transmission 12 is a hydrostatic transmission composed of a variable displacement hydraulic pump and a constant displacement hydraulic motor, and the discharge amount and direction can be changed by changing the angle of the variable swash plate in the hydraulic pump. The rotation speed and the rotation direction of the output shaft of the hydraulic motor are changed. An electric vehicle speed changing motor M3 (see FIG. 1) for changing the angle of the variable swash plate in the hydraulic pump is provided, and the vehicle speed changing motor M3 is driven forward and reverse to increase or decrease the vehicle speed. Be speeded up.

As shown in FIG. 1, a control means H composed of a microcomputer or the like is provided, and the control means H is provided.
Includes the threshing switch SW1, the culm thickness sensor S1, the chaff opening sensor S2, the toumi wind sensor S3, the stock sensor S4, the layer thickness sensor S5, the rotation speed sensor S6, the engine rotation speed sensor S7, and the steering. Control sensors S8a, S
Each detection information of 8b and S8c is input. On the other hand, from the control means H, the above-mentioned sheave motor M1, toumi motor M2, vehicle speed changing motor M3, and steering control valve 3 are provided.
Drive signals for 6L and 36R are output.

Further, on the control panel of the control section 3, the upper limit value of the vehicle speed (hereinafter referred to as the auxiliary vehicle speed upper limit value V2) determined according to the field conditions such as the unevenness of the field scene and the wetland condition is artificially set. Upper limit vehicle speed setting volume VR to be set to, a vehicle speed auto switch SW2 for setting whether or not to execute vehicle speed control, and a crop changeover switch for selecting and changing the type of harvested crop from rice, wheat and soybeans. SW3 and a manual automatic changeover switch SW4 for switching the operation between manual operation and automatic operation are provided, and each of these pieces of information is also input to the control means H. Then, the upper limit value V2 of the vehicle speed is set in the range of 0.3 m / s to 2.0 m / s by the upper limit vehicle speed setting volume VR. Further, the set layer thickness value Imax for discriminating the sorting ability in the layer thickness sensor S5 is changed so as to increase in the order of rice, wheat and soybeans in accordance with the type of crop switched by the crop switch SW3. Is set.

Utilizing the engine speed sensor S7 and the control means H, load detecting means S7, H for detecting the load L of the engine E (engine load) L is constructed. That is,
During the mowing and threshing work, the engine speed decreases as the load on the engine E increases, so the engine load is obtained from the amount of decrease in the engine speed. Specifically, the maximum value of the engine rotation speed when the vehicle speed is less than 0.1 m / s is stored as a reference rotation speed R, and the difference R− between the reference rotation speed R and the current engine rotation speed r is stored. r is calculated as the engine load L.

During automatic operation, the control means H controls the steering so that the steering position is in an appropriate state based on the detection information of the steering control sensors S8a, S8b, S8c. That is, at the time of cutting, based on the two sensor information of the first sensor S8a and the second sensor S8b, the stems and culms on both sides of the weeding tool 4B are placed at equal intervals from the weeding tool 4B. The state of contacting the server 50 is set to the proper steering state, while the third sensor S8 is set during horizontal cutting.
Based on the sensor information of c, it is controlled so that the state in which the stems are located at a predetermined interval from the weeding tool 4D on the most mown side is maintained as an appropriate steering state. Although not shown, the control section 3 is provided with a manual shift lever for shifting the vehicle speed during manual operation and a manual steering lever for manually turning on and off the steering clutches 34L, 34R. .

By the way, since the stem culms are planted in a state in which they are separated by a predetermined distance H1 and H2 in the longitudinal direction of the machine body, the stem culms are intermittently contacted with the sensor bar 50, and the potentiometer Rp is used. The signal level changes intermittently. Therefore, as shown in FIG. 11, the control means H sets the output signal of the potentiometer Rp to a distance sufficiently shorter than the predetermined distances H1 and H2 so that the output signal of the potentiometer Rp is sampled at an interval sufficiently shorter than the intermittent change cycle. Potentiometer Rp for each set predetermined traveling distance Δh
Is sampled. In the figure, (a) shows the signal waveforms in the case of strip cutting, and (b) shows the signal waveforms in the case of horizontal cutting.

Then, by using the control means H, the cutting style for the stems introduced into the stem introducing lines L1, L2, L3 of the harvesting device 4 forms a row in the machine advancing direction. The cutting type detection means 101 is configured to detect whether the line is a line cutting type or a line cutting type other than the line cutting type (horizontal cutting type). Specifically, the stem culm passage detection information based on the position of each sensor of the stem culm detected by the steering control sensors S8a, S8b, S8c, and the traveling distance detection information by the rotation speed sensor S6. Based on the above, the interval of the stalks in the machine advancing direction is detected, and then the interval of the stalks corresponds to the middle of the predetermined distances H1 and H2 in the set interval, for example, both the row cutting and the horizontal cutting both cutting modes ( (H1 + H2) /2=23.5c
If it is smaller than m), it is determined to be a line cutting type, and if it is larger than the set interval, it is determined to be a horizontal cutting type. Actually, in order to improve the detection accuracy, when the interval between the stems is close to the distance H1 at the time of cutting (when the value is between H1-α and H1 + α, α = 2 to 3 cm is set here). When it is close to the distance H2 for horizontal cutting (when the value is between H2-α and H2 + α), it is determined to be horizontal cutting.

Based on the information of the layer thickness sensor S5 that detects the amount of the sorted products leaking from the handling room A, the control means H has a larger processing capacity of the sorting device B as the amount of the sorted products increases. As described above, the sorting control for adjusting the processing capacity changing means (the sheave motor M1 and the toumi motor M2) of the sorting apparatus B and the engine load L detected by the load detecting means S7, H are maintained within the target load range. In other words, the vehicle speed control for shifting the continuously variable transmission 12 is executed so that the engine speed r is maintained at the target speed. In order to perform the above-mentioned sorting control, the control means H obtains the target values of the chaff opening degree and the Toumi wind force corresponding to the detection values of the layer thickness sensor S5 based on the stored relationship table, Control is performed so that the deviation between the detected value of the chaff opening sensor S2 or the toumi wind sensor S3 is zero.

Further, the control means H is used to configure a maximum vehicle speed storage means 100 for storing the maximum value of the vehicle speed detected by the rotation speed sensor S6 as a set upper limit vehicle speed. Specifically, it is held as a value in the memory for storage. Then, the control means H is in a state where the detected vehicle speed does not exceed the set upper limit vehicle speed V1 based on the information in the maximum vehicle speed storage means 100, and the detected vehicle speed is set by the upper limit vehicle speed setting volume VR. The vehicle speed control is executed in a state where the vehicle speed upper limit value V2 is not exceeded, and the set upper limit vehicle speed V1 is set to a vehicle speed value that is lower by the set amount when the amount of sorted material exceeds the upper limit value of the processing capacity of the sorting device B. It is configured to execute a correction process for correcting.

More specifically, the control means H, in a state where the sheave motor M1 is operated up to the upper limit opening position of the opening change range, detects the sorted products detected by the layer thickness sensor S5. When the state where the layer thickness exceeds the set layer thickness value Imax for sorting capacity limit determination continues for a set time (for example, 2 seconds) or more, it is determined that the amount of the sorted material exceeds the upper limit value of the throughput of the sorting apparatus B. Is configured to. On the other hand, when the sheave motor M1 is operated to an opening position smaller than the upper limit opening of the opening change range, the control means H determines that the layer thickness detection value of the layer thickness sensor S5 is the sorting capacity limit. When the layer thickness value is smaller than the set layer thickness value Imax for determination, the set upper limit vehicle speed V1 is corrected to a vehicle speed value of a set amount high speed.

Further, the control means H sets the above-mentioned setting in the case where the amount of sorted products exceeds the upper limit value in the work process before the current work process among the plurality of work processes set in the cutting work site. When the correction process for correcting the upper limit vehicle speed V1 to the vehicle speed value lower by the set amount is continuously executed a plurality of times (for example, twice), in the current work process, the sorting object amount is a predetermined amount smaller than the upper limit value. The teaching correction process is performed to correct the set upper limit vehicle speed V1 to a vehicle speed value that is lower by the set amount when the set upper limit vehicle speed V1 is exceeded. Specifically, the auxiliary set layer thickness value Imax2 (see FIG. 10) is set such that the layer thickness of the sorted products (layer thickness detection value of the layer thickness sensor S5) is set to be smaller than the set layer thickness value Imax by a predetermined amount. When the state of exceeding the above condition continues for a set time (for example, 2 seconds) or more, it is determined that the amount of sorted products exceeds a set value that is a predetermined amount smaller than the upper limit value. Then, the control means H
Based on the information of the mowing type detecting means 101, the teaching correction process is performed only when the mowing work is performed on the mowing work site in the line cutting form.

Specifically, as shown in FIG. 12, the control means H includes a plurality of work steps k1, k2, k3 juxtaposed in a rectangular cutting work site K on one end side (in the figure). From the left end side), when carrying out reciprocating traveling in the opposite direction with the traveling direction reversed, when performing mowing work in the strip cutting type along the longitudinal direction of each work stroke k1, k2, k3, it is 1 more than the current work stroke.
The teaching correction process is performed based on the execution information of the correction process in the preceding stroke (this information is stored in the control means H). In FIG. 12, the stroke k1 is the stroke before the stroke k2, and the stroke k2 is the stroke before the stroke k3.

Next, based on the flow charts shown in FIGS. 13 to 19, the flow of threshing and vehicle speed composite control by the control means H will be described. In the main flow (FIG. 13), first, after performing initialization processing for initializing various control parameters, when the stock origin sensor S4 changes from the off state to the on state and the start of the mowing operation is confirmed, the mowing operation is performed. It is checked whether or not the format has been detected, and if not, the cutting format detection processing (FIG. 14) is executed. On the other hand, if the mowing type has been detected, it is determined from the state of the manual automatic changeover switch SW4 whether the operation is manual operation or automatic operation. Usually, the initial stage of operation is on the manual operation side, and in the manual operation, the driver manually operates and shifts along the stalk line to ensure that the aircraft steering position is appropriate for the stalk line. Then, the manual automatic changeover switch SW4 is switched to the automatic operation side. When the switching to the automatic driving side is confirmed, it is further confirmed that the threshing switch SW1 is in the on state, and then each processing of data processing, threshing control, vehicle speed control, and steering control is performed.

In the cutting mode detection process (FIG. 14), each steering control sensor S8 is run every time the vehicle travels the predetermined travel distance Δh.
The voltage En (n = 1, 2, 3) from the potentiometer Rp of a, S8b, S8c and traveling distance data are sampled, and this sampling is repeated until traveling the distance H1. Then, when it is confirmed that the vehicle has traveled the distance H1, the maximum value of the plurality of data on the voltage En during this period is set to the steering control sensors S8a, S8b, S.
8c, and if these maximum values are equal to or greater than a certain value, dn (n = n = n)
1, 2, 3), and the dn value is not stored unless it is a certain value or more.

Next, the difference between the dn value obtained this time and the dn value obtained last time, that is, the value of the interval Δh of the traveling distance is H1-.
If the value is between α and H1 + α, set the pruning counter to +
1 is added, and when the value of the interval Δh is a value between H2-α and H2 + α, the horizontal cutting counter is incremented by +1. On the other hand, when the value of the interval Δh is other than the above value, the strip cutting counter and the horizontal cutting counter are decremented by -1. However, the counter value is not negative. The row cutting counter and the horizontal cutting counter are respectively provided with steering control sensors S8a, S8b and S8.
A total of 6 are prepared for each c. And
When at least one counter of the three row-cutting counters or at least one counter of the three horizontal-cutting counters reaches or exceeds a preset number N (for example, about 3 to 5) , The respective cutting type is discriminated as a line cutting type or a horizontal cutting type.

In the data processing (FIGS. 15 to 19), when the stock source sensor S4 is in the ON state (during the cutting operation), first, the chaff opening is checked and the chaff opening is fully opened (the sheave motor M1 changes the opening). If it is operated up to the upper limit opening position of the range), the layer thickness detection value I of the layer thickness sensor S5
Is greater than or equal to the set layer thickness value Imax for the discrimination of the sorting ability limit. When the layer thickness detection value I is equal to or greater than the set layer thickness value Imax, the deceleration flag is set only when the state continues for 2 seconds or more. On the other hand, when the chaff opening is not in the fully open state (the sheave motor M1 is operated to an opening position smaller than the upper limit opening of the opening change range), and,
Even if the chaff opening is in the fully open state, if the layer thickness detection value I is less than the set layer thickness value Imax, the auxiliary set layer thickness value Im
When it is smaller than ax2, the acceleration flag is set.

Next, the current vehicle speed value is compared with the value in the memory MAXSPD that stores the maximum value of the detected vehicle speeds up to that time, and the current vehicle speed is only when the current detected vehicle speed value is larger than that value. The value is updated and stored in the memory MAXSPD as the maximum value of the detected vehicle speed. It should be noted that the value of the memory MAXSPD for storing the maximum value of the detected vehicle speed is the maximum detected vehicle speed in the work stroke when the stock sensor S4 is turned off, that is, when the mowing operation in one work stroke is completed. It is stored as a value in another memory MAXSPD2 and then reset to zero.

Next, a predetermined timer time (for example, 15 seconds)
Only when the timer time of the deceleration timer set to 1 has elapsed, the set upper limit vehicle speed V1 in the vehicle speed control is set as follows. The deceleration timer is started when the deceleration operation of the continuously variable transmission 12 is performed based on the increase of the engine load in the vehicle speed control (this is confirmed from the set state of the vehicle speed control deceleration flag). As a result, the correction process for the set upper limit vehicle speed V1 is stopped for a predetermined time (for example, 15 seconds) after the deceleration operation based on the increase in the engine load.
Further, the deceleration timer changes and sets the set upper limit vehicle speed V1 based on the states of the teaching deceleration flag and the deceleration / acceleration flag, as will be described later, in order to indicate whether or not to perform the teaching deceleration in the next stroke. It is also started when is done.

When it is confirmed that the timer time of the deceleration timer has elapsed, the cutting type is the line cutting type, the teaching deceleration flag is set in the previous work step, and the layer thickness sensor S5 detects the layer thickness. When the value I is equal to or more than the auxiliary setting layer thickness value Imax2, the memory MA
Set a vehicle speed value 0.1 m / s lower than the maximum detected vehicle speed in the previous stroke stored in XSPD2.
The deceleration timer is started after the deceleration flag is set to 1, which indicates that the first set upper limit vehicle speed V1 has been corrected to the low speed side. On the other hand, when the cutting type is not the strip cutting type, the teaching deceleration flag is not set, and the layer thickness detection value I of the layer thickness sensor S5 is less than the auxiliary setting layer thickness value Imax2, the next increase is performed. The process proceeds to the setting process of the set upper limit vehicle speed V1 based on the set states of the speed and deceleration flags.

That is, if the deceleration flag is set, it is checked whether or not the mowing type is the line cutting type, and if it is the line cutting type, it is further checked whether or not the once deceleration flag is ON. Here, when the once deceleration flag is on,
Since the correction of the set upper limit vehicle speed V1 to the low speed side is executed twice in succession, when the deceleration flag is set twice, the deceleration flag is reset once, and the deceleration flag is not turned on once. After the deceleration flag is turned on once, the set upper limit vehicle speed V1 is set to a vehicle speed value that is 0.1 m / s slower than the maximum detected vehicle speed stored in the memory MAXSPD. Based on the set state of the above-mentioned two-time deceleration flag, when the stock origin sensor S4 is in the off state (that is, when the mowing work in one work stroke is completed), the teaching deceleration is performed for the next stroke. Set the flag. On the other hand, if it is not the strip cutting type, immediately set a vehicle speed value 0.1 m / s lower than the maximum vehicle speed value stored in the memory MAXSPD.
Then, the deceleration flag is reset. If the deceleration flag is in the reset state and the speed increase flag is in the set state, the vehicle speed value 0.1 m / s higher than the current set upper limit vehicle speed V1 is set as the set upper limit vehicle speed V1, and then the speed increase flag is reset. The deceleration timer is started after resetting the speed increase flag and the deceleration flag. If both the deceleration flag and the speed increase flag are in the reset state, the set upper limit vehicle speed V1 is not changed. As for the set upper limit vehicle speed V1, a large vehicle speed value is set in the initial stage of operation to set the upper limit vehicle speed V1.
The vehicle speed is not restricted by.

In the threshing control (FIG. 18), first, after confirming that the starting condition such as the stock source sensor S4 being in the ON state is satisfied, the layer thickness detection value of the layer thickness sensor S5 is obtained. . Then, the sheave motor M1 and the toumi motor M2 are automatically adjusted so that the chaff opening and the toumi wind force become the target values of the chaff opening and the toumi wind force corresponding to the layer thickness detection value.

In the vehicle speed control (FIG. 19), when the vehicle speed auto switch SW2 is turned on, the vehicle speed is 0.1 m / s or more, and the stock condition sensor S4 is turned on, it is confirmed that the starting condition is satisfied. The vehicle speed is compared with the set upper limit vehicle speed V1 and the auxiliary vehicle speed upper limit value V2. If the vehicle speed is higher than either of them, deceleration operation is performed until the speed becomes lower than both. Next, the engine load L, which is the difference between the current engine speed r and the reference speed R stored in advance, is determined, and it is checked whether or not the load L is within the target load range (target speed). When the load L is larger than the target load range, deceleration operation is performed by a predetermined amount, and when the load L is smaller than the target load range,
Only when the current vehicle speed is slower than either the set upper limit vehicle speed V1 or the auxiliary vehicle speed upper limit value V2, a predetermined amount of speed increase operation is performed, and when the load L is within the target load range, that is, the dead zone, the gear shift operation is performed. Absent.

[Other Embodiments] Other embodiments will be listed below.
In the above embodiment, the teaching correction processing is performed in the current work stroke based on the execution information of the correction processing in the work stroke immediately before the current work stroke. Is not limited to the preceding stroke, but can be appropriately set according to the situation of the traveling method with respect to the work site. For example, as shown in FIG. 20, a plurality of work strokes k1, k juxtaposed in a rectangular cutting work site K are arranged.
2, k3, k4 are arranged along the longitudinal direction of each of the work steps k1, k2, k3, k4 while alternately alternating the traveling directions of the work steps on both sides of the work site (the left and right ends in FIG. 20). When performing a mowing operation in a mowing format, the teaching correction processing may be performed based on the above information in the stroke two steps before the current stroke. FIG.
Then, the vehicle travels in the direction indicated by the arrow in the figure in the order of stroke k1, stroke k2, stroke k3, stroke k4. If stroke k3 or stroke k4 is the current work stroke, stroke k1 adjacent to stroke k3 Or stroke k2 adjacent to stroke k4
Will be two steps each. Also, as shown in FIG.
When cutting around each of the rectangular cutting work sites K by 90 degrees while turning around each work stroke k1, k2, k3, k4, k5, it is 4 more than the current work stroke k5.
The teaching correction process may be performed in the current work step k5 based on the above information in the immediately preceding step k1.

Further, in the above embodiment, as a condition for performing the teaching correction process, the set upper limit vehicle speed V1 is set lower than the set upper limit vehicle speed V1 when the amount of sorted products exceeds the upper limit of the throughput of the sorting device B in the previous stroke. The condition is that the correction process for correcting the vehicle speed value is performed twice consecutively.
The number of times is not limited to three, and can be appropriately set to three or more times. It is also possible to set the condition that the correction process is executed a set number of times (for example, two times) or more, but discontinuously, not continuously a plurality of times (two times or the like).

Further, in the above embodiment, in order to perform the control as best as possible, the teaching correction processing is performed only in the case of the line cutting type. It is also possible to perform teaching correction processing.

The reaping format detection means 101 is not limited to the one shown in the above embodiment, but various concrete configurations are possible.

The processed material quantity detecting means for detecting the quantity of the sorted processed material leaking from the handling room A is not limited to the layer thickness detecting means (layer thickness sensor S5) as in the above-mentioned embodiment. It is also possible to detect the amount of the processed material by picking up an image of the processed material leaking onto the swing selection plate 19 with an image pickup means such as a television camera and processing the image information. Also, the layer thickness detecting means may be various means such as a transmission type optical sensor or a non-contact type sensor such as an ultrasonic sensor in addition to the contact type layer thickness sensor S5 as in the above embodiment. Can be configured.

In the above embodiment, the processing capacity changing means M1 and M2 of the sorting apparatus B are constituted by the sheave motor M1 and the toumi motor M2. However, the present invention is not limited to this. For example, the toumi motor M2 is fixed at a predetermined rotation position. In this state, only the sheave motor M1 may be rotationally driven in the forward and reverse directions.

The means for causing the processed material to leak while changing the leak opening in the swing selection plate 19 is not limited to the chaff sheave as in the above-mentioned embodiment. For example, a mesh-shaped or slit-shaped opening is called a slide Glen pan. Shield with a shield plate
The sliding Glen pan may be slid to change the shielded area of the opening, that is, the opening. In this case, the opening changing unit slides the slide Glen pan instead of the sheave motor M1 of the above embodiment. It is composed of a motor etc.

The load detecting means S7, H is not limited to the one using the engine speed sensor S7 and the control means H as in the above embodiment.

The transmission for shifting the vehicle speed is not limited to the continuously variable transmission 12 using the hydrostatic transmission as in the above embodiment.

The vehicle speed detecting means is not limited to the rotation speed sensor S6 for detecting the rotation speed of the drive wheels of the crawler traveling device 1 as in the above embodiment, but may be, for example, the continuously variable transmission 12 to the transmission case 13. A sensor that detects the rotation speed of the input shaft may be used.

The present invention is not limited to the combine (self-removing combine) as in the above embodiment, but can be applied to other combine such as ordinary combine.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram of a control configuration of a combine according to an embodiment of the present invention.

FIG. 2 is a side view of the self-removing combine.

FIG. 3 is a schematic diagram of a power transmission mechanism

FIG. 4 is a front schematic plan view of the combine.

FIG. 5 is a schematic plan view of a steering control sensor.

FIG. 6 is a side perspective view of the threshing device.

FIG. 7 is a view showing a feed chain and a culm thickness sensor.

FIG. 8 is a diagram showing a chaff sheave and means for changing its opening.

FIG. 9 is a view showing Toumi and its wind force changing means.

FIG. 10 is a side view showing the structure of the layer thickness sensor.

FIG. 11 is an explanatory diagram of sampling and cutting format detection operation of a stem-culm position detection signal.

FIG. 12 is a plan view of a work site for explaining teaching correction processing.

FIG. 13 is a flowchart of control operation.

FIG. 14 is a flowchart of control operation.

FIG. 15 is a flowchart of control operation.

FIG. 16 is a flowchart of control operation.

FIG. 17 is a flowchart of control operation.

FIG. 18 is a flowchart of control operation.

FIG. 19 is a flowchart of control operation.

FIG. 20 is a plan view of a work site for explaining teaching correction processing according to another embodiment.

FIG. 21 is a plan view of a work site for explaining teaching correction processing according to another embodiment.

[Explanation of symbols]

 A Handling room S5 Treated material amount detecting means S5 Layer thickness detecting means B Sorting device M1, M2 Processing capacity changing means M1 Opening changing means S7, H Load detecting means 12 Transmission device H control means S6 Vehicle speed detecting means 100 Maximum vehicle speed storing means 19 Swing selection plate 4 Mowing device 101 Mowing type detecting means

Claims (3)

[Claims] 1. The processing capacity of the sorting device (B) is increased as the amount of sorted products increases based on the information of the amount of sorted products (S5) for detecting the amount of sorted products leaking from the handling room (A). So that the processing load changing means (M1, M2) of the selecting device (B) is adjusted so that the engine load becomes large, and the engine load detected by the load detecting means (S7, H) is maintained within the target load range. As described above, the combine is provided with the control means (H) for executing the vehicle speed control for shifting the speed change device (12) for vehicle speed change, and the detected vehicle speed detected by the vehicle speed detecting means (S6). A maximum vehicle speed storage means (100) for storing the maximum value of the maximum vehicle speed as a set upper limit vehicle speed, and the control means (H) stores the maximum vehicle speed storage means (10).
Based on the information of 0), the vehicle speed control is executed while the detected vehicle speed does not exceed the set upper limit vehicle speed, and
When the amount of the sorted material exceeds the upper limit value of the processing capacity of the sorting device (B), a correction process of correcting the set upper limit vehicle speed to a vehicle speed value of the set amount lower speed is executed, and the set upper limit vehicle speed is set in the cutting work site. In a work stroke prior to the current work stroke among the plurality of work strokes, when the correction processing in the case where the amount of the sorted material exceeds the upper limit value is continuously executed a plurality of times or a set number of times or more, In the work process of, the teaching correction process is performed to correct the set upper limit vehicle speed to the vehicle speed value of the lower set amount when the amount of the sorted product exceeds the set value which is a predetermined amount smaller than the upper limit. Combine harvester. 2. A layer thickness detecting means (S5) for detecting the layer thickness of the sorted processed material present on the swing sorting plate (19) of the sorting device (B) by the processed material amount detecting means (S5). ), The processing capacity changing means (M1, M2) is formed by opening degree changing means (M1) for changing the leakage opening degree in the swing sorting plate (19) of the sorting device (B). The control means (H) detects the sorting detected by the layer thickness detecting means (S5) in a state where the opening degree changing means (M1) is operated to an upper limit opening position of the opening degree changing range. When the state in which the layer thickness of the processed material exceeds the set layer thickness value for discrimination of the sorting capacity limit continues for a set time or more, it is determined that the amount of the sorted processing product exceeds the upper limit value, and the layer of the sorted processing product. The thickness exceeds the auxiliary set layer thickness value that is set to a predetermined amount smaller than the set layer thickness value. When the state continues set time or more, the sorting processing amount of claim 1, wherein is configured to determine and exceeds the set value of the predetermined amount small side of the upper limit combined. 3. A cutting method for cutting stalks introduced into a stalk cutting introduction path of a cutting device (4) is a line cutting method in which lines are formed so as to form a row in the machine advancing direction, or another cutting method other than the cutting method is used. Mowing format detection means (10) for detecting whether or not the format is
1) is provided, and the control means (H) is provided with the cutting type detection means (10
The combine according to claim 1 or 2, wherein the teaching correction process is configured to be performed only when the cutting work is performed in a cutting style based on the information in 1).