KR20210067923A - Combine and harvester - Google Patents

Abstract

The present invention provides a combine with improved threshing efficiency by preventing a reaping unit from picking up rice straw crumbs and the like in a pre-reaped region. The combine of the present invention comprises: the reaping unit (H) provided on the front of a body and reaping crops of a field; a reaping inclination changing mechanism capable of rolling the reaping unit (H) to change the inclination of the reaping unit (H) to the left and the right; a crop region determining unit for determining which region of the reaping unit (H) crops enter in the left-right direction; and an inclination control unit capable of performing inclination control on the reaping inclination changing mechanism to change the inclination of the reaping unit (H) to the left and the right so that the position of a part on one of the left and right sides of the reaping unit (H) where no crops are entering is higher than the position of a part on the other of the left and right sides of the reaping unit (H) when the crop region determining unit determines a biased state where the entry of crops to the reaping unit (H) is biased to one of the left and right sides.

Description

Combine and Harvester {COMBINE AND HARVESTER}

The present invention relates to a combine.

The invention also relates to a harvester.

For example, in the combine disclosed by patent document 1, a combine mows a crop while reciprocating the inner area|region ("work object area|region" in a document) in the inner side rather than an outer peripheral area|region.

Moreover, patent document 2 describes the self-harvesting-type combine provided with the harvesting|reaping part. The harvesting|reaping part is equipped with the some raising apparatus which raise|generates the grain stem of a pavement, the barrican-type cutting device which cut|disconnects the raised grain stem, and the grain stem conveyance apparatus which conveys a harvesting grain stem rearward.

Moreover, patent document 3 describes the combine provided with the dusting lever. The time-dividing lever is configured such that the posture can be changed to a split-second work posture and a stowed posture by manual operation through a lever provided in the driving unit. When it exists in a dusting and dusting working posture, a dusting and grassing lever protrudes from the side part of a preprocessing part, dusts a non-harvesting grain stem, and suppresses contact with the base|substrate of a non-harvesting grain stem.

Japanese Patent Laid-Open No. 2019-110762 Japanese Patent Laid-Open No. 2019-10015 Japanese Patent Laid-Open No. 2011-16691

By the way, the rice straw shavings etc. which were discharged|emitted from the combine after a threshing process are scattered in the harvesting area after a combine mows a crop. For this reason, when a crop is mowed by a mowing part in the state which a harvesting part protruded to a mowing area, the case where the rice straw shavings etc. scattered in a mowing area are lifted by a mowing part are conceivable. In this case, this rice straw shavings etc. are conveyed to a threshing apparatus by a conveying apparatus together with a harvesting grain stem, and there exists a possibility that rice straw shavings etc. mix with the grain to be threshed, or the load of a threshing process may increase unnecessarily.

It is an object of the present invention to provide a combine with improved threshing efficiency, without lifting the rice straw crumbs, etc. of the harvesting area as much as possible for the harvesting unit.

Moreover, in recent years, the technology of automatically driving a combine and harvesting a field crop is beginning to spread. The automatic driving is performed by calculating the host vehicle position based on a signal from a GPS satellite, and controlling the traveling device so that the aircraft travels along a set traveling route.

If GPS signal reception failure occurs, or if the state of the pavement is bad and the aircraft slides in the lateral direction, etc., there is a possibility that the traveling body will deviate from the traveling route and travel. In that case, since the grain stems, which are originally to be mowed by the harvesting unit, are not harvested and remain in the field, it is necessary to stop and reverse the combine to perform course correction.

The harvesting unit is driven at a speed linked to the vehicle speed, and when the combine stops, the operation is stopped. When the combine traveling while harvesting a crop stops, the grain stem just before being cut by a cutting device may be in the state hold|maintained by the upper part raising device or grain stem conveying device. If the combine is moved backward in this state, the uncut grain stem held by the upper part may be pulled out from the ground, torn inside the mowing part, or the grain may fall off, resulting in crop loss.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a means capable of suppressing crop loss during path fertilization in a harvester capable of running automatically.

Moreover, in the combine of patent document 3, since the posture change of the dusting lever is performed by manual operation, when an operator forgets operation, there is a possibility that a harvest run may be performed with the dusting and planting lever turned into a retracted posture. In addition, in recent years, the technology of harvesting crops in the field by automatically driving the combine is starting to spread. In such an automatic operation, it is preferable to save life by not requiring manual operation of an operator.

It is an object of the present invention to provide a means for realizing life-saving in automatic running of a harvester while preventing the posture of the dusting lever from becoming inappropriate due to forgotten operation.

In the combine according to the present invention, it is provided in the front part of the body, and a mowing unit for mowing crops of the field, and a mowing inclination change mechanism capable of changing the left and right inclination of the mowing unit by rolling the mowing unit, and in the left and right direction A crop area determination unit for judging which region of the mowing unit a crop enters, and a crop area determination unit determines whether the crop is biased toward the left or right side with respect to the mowing unit. When the crop is determined by the crop area determination unit, the crop in the mowing unit is The inclination control which changes the inclination of the left and right of the said harvesting part to the said harvesting inclination changing mechanism so that the height position of the part of the other right and left side which does not enter is made higher than the height position of the part on the said left and right one side among the said harvesting parts. It is characterized in that a possible inclination control unit is provided.

ADVANTAGE OF THE INVENTION According to this invention, the height position of the part on one side of right and left among harvesting parts, and the height position of the part on the other side of right and left among the harvesting|reaping parts are comprised so that a change is possible, respectively separately. In a biased state in which crops enter the left and right sides with respect to the mowing part, it is considered that the harvesting operation of the combine is highly likely to be performed while the harvesting part protrudes into the mowing area, and the rice straw shavings, etc. scattered in the mowing area are the mowing part. There is a risk of being picked up by From this point, when this biasing state is judged by the crop area determination part, the inclination control part will control so that the part of the harvesting part on the side where crops are not entering becomes higher than the part where a crop is biased into one side on either side. For this reason, the part on the side where crops do not enter in the mowing part is spaced apart from the ground of the field, and the rice straw shavings etc. scattered below the part on the side where crops do not enter in the mowing part are picked up by the mowing part. quality concerns are reduced. Thereby, rice straw waste etc. do not mix with the grain to be threshed-processed, and the precision of a threshing process improves. Moreover, the load of a threshing apparatus does not increase unnecessarily by the rice straw shavings etc. of an air harvesting area|region, but threshing efficiency improves. That is, as much as possible, rice straw shavings, etc. in the harvesting area are not lifted by the harvesting part, and the combine in which the threshing efficiency improved is implement|achieved.

In this invention, the raising/lowering apparatus which can change the height position of the base body with respect to each of the traveling device on either side and the said right and left traveling devices, and which can roll the said base body is provided, and the said harvesting inclination changing mechanism is the said It is comprised by the raising/lowering device, and if the said harvesting part is supported by the said base body so that it may roll integrally with the rolling operation|movement of the said base body by the said raising/lowering device, it is suitable.

The raising/lowering apparatus which can change the height position of the body body with respect to each of the traveling devices on either side, and can roll a body body is conventionally used for a combine. If it is this structure, it becomes unnecessary to mount the new rolling apparatus with respect to a harvesting|reaping part to a combine by utilizing the existing raising/lowering apparatus as a harvesting inclination change mechanism. Thereby, the harvesting|reaping inclination change mechanism which rolls a harvesting|reaping part and can change the inclination of the right and left of a harvesting part is implement|achieved at low cost.

In this invention, the said biasing state WHEREIN: It is suitable if the said inclination control part performs the said inclination control so that the said right-and-left other part among the said harvesting|reaping parts may become higher than the pre-set mowing height of the said harvesting part.

According to this structure, inclination control is performed so that the part by the side which a crop does not enter among a harvesting|reaping part may become higher than the pre-set mowing height of a harvesting|reaping part. For this reason, the part of the mowing unit where crops do not enter is necessarily spaced apart from the ground of the field by a mowing height or more set in advance, and the risk of being picked up by the mowing unit is further reduced. do. Thereby, the precision of a threshing process improves further.

In the present invention, a position detection unit capable of detecting the position information of the aircraft based on the positioning signal of the navigation satellite, and based on the position information, detecting an already harvested area and an unworked uncut area in the pavement. It is suitable if a work condition detection unit is provided, and the crop area determination unit determines the biased state when it is detected by the work condition detection unit that the advanced harvesting area and the non-harvesting area exist in the forward direction.

If it is this structure, for example, even if it does not provide the apparatus which detects a crop in a harvesting part, the identification of the area|region which overlaps with the machine harvesting|reaping area among the harvesting parts becomes possible. Thereby, the inclination control by the inclination control part is attained, without a component cost increasing.

In this invention, when the said inclination control part makes the height position of the said other right and left side part in the said harvesting part high, it is suitable, so that the range in which a crop does not enter in the said harvesting part is wide.

Since a lot of rice straw shavings, etc. are discharged from the left and right central parts of the combine after threshing treatment, there are few rice straw shavings, etc. are deposited According to this structure, the part of the side into which a crop does not enter among a harvesting part rises highly, so that the range into which a crop does not enter in a harvesting part is wide. For this reason, even when the mowing part protrudes greatly from the cropping area side, the part of the mowing part on the side where no crops are coming in is spaced apart from the ground of the field, and the rice straw shavings, etc. scattered in the harvesting area are removed by the mowing part. The risk of being picked up is further reduced.

In the present invention, the harvesting unit is configured to be capable of mowing by group, and the crop area determination unit is in a range in which crops do not enter in the mowing unit based on the number of crops present in front of the mowing unit. It is appropriate to judge the width.

With this configuration, the tide of the crop is grasped by the crop area determination unit, and since the mowing unit is appropriately aligned in the left and right direction with respect to the crop in front, the mowing precision by the mowing unit is improved and the precision of the threshing treatment is improved. is improved

In this invention, it is suitable if the vehicle speed detection part which can detect a vehicle speed is provided, and the said inclination control part is comprised so that the operation start timing of the said harvesting inclination changing mechanism may be changed according to the said vehicle speed.

According to this configuration, since the change timing of the height position of the body body by the elevating device is appropriately adjusted according to the vehicle speed, even when the vehicle speed is high, an operation delay of the elevating device does not occur and suitable inclination control is performed.

In the present invention, a mowing height setting unit for setting the mowing height of the mowing unit is provided, and the inclination control unit is based on the mowing height set in the mowing height setting unit. It is suitable if the said inclination control is performed so that a height position may change.

The suitable mowing height of a mowing part differs with the difference between wet field and dryness, the kind of crop, etc., for example. If it is this structure, since inclination control is performed based on the mowing height set by the mowing height setting part, inclination control suitable for the type of crop, the situation of a field, etc. becomes possible.

In this invention, the change amount setting part which sets the operation amount of the said harvesting inclination change mechanism at the time of performing the said inclination control is provided, The said inclination control part is the said left-right other side of the said harvesting parts based on the said operation amount based on the said operation amount It is suitable if the said inclination control is performed so that the height position of a part may change.

If it is this structure, since an operator can freely set the operation amount of the harvesting inclination change mechanism in inclination control, inclination control suitable for conditions, such as the rice straw shavings scattered in a pre-removing area, is attained.

In addition, the characteristic configuration of the harvester for achieving the above object is a harvester capable of running automatically along a set travel route, and a harvester for harvesting crops in the field, and a controller for controlling the operations of the harvester and the traveling body, , the control unit executes a retry process in response to the traveling body traveling while deviating from the travel path in the automatic harvesting travel for automatically traveling while harvesting the crops in the field, and in the retry processing, The control unit stops the traveling body, continuously operates the harvesting unit, and continues to move the traveling body backward.

According to the above characteristic configuration, since the traveling body is moved backward after the traveling body is stopped and the harvesting unit is operated, even if there is a crop held in the harvesting unit in an uncut state, the harvesting unit is properly harvested by the operation. do. Therefore, it is possible to suppress the loss of crops during path fertilization.

The characteristic configuration of the harvester for achieving the above object is a harvester capable of running automatically along a set travel route, and a harvesting unit configured to be operable at a speed according to the vehicle speed and harvesting crops in the field, the harvester and the traveling body and a control unit for controlling the operation of the control unit, wherein in the automatic harvesting driving of automatically traveling while harvesting the crops in the field, the traveling body executes a retry process as the traveling body deviates from the traveling path and travels, , in the retry process, the control unit operates the harvesting unit at a speed greater than the speed corresponding to the vehicle speed while decelerating the traveling body, continuously stopping the traveling body, and continuously moving the traveling body backward is in

When the operating speed of the harvesting unit is linked to the vehicle speed, the operating speed of the harvesting unit is also linked to decrease when the traveling aircraft is decelerated and stopped, so that the crop is more likely to be held by the harvesting unit in an uncut state. According to the above characteristic configuration, since the harvesting unit is operated at a speed greater than the speed corresponding to the vehicle speed while decelerating the traveling body, and then stopping and reversing is performed, the possibility of being held in the harvesting unit in an uncut state can be reduced. can Therefore, it is possible to suppress the loss of crops during path fertilization.

In this invention, the said harvesting part is comprised so that raising/lowering with respect to the said traveling body is possible, WHEREIN: In the said retry process, it is suitable if the said control part raises the said harvesting part before moving the said traveling body backward.

According to the above characteristic configuration, since the harvesting part rises before the traveling body moves backward in the retry process, contact with the ground of the harvesting part can be suppressed and the retry process can be smoothly executed.

In the present invention, a detection unit for detecting the driving rotation speed or driving torque of the harvesting unit is provided, and in the retry process, the control unit is suitable if the operation of the harvesting unit is stopped based on the detection result by the detection unit Do.

According to the above characteristic configuration, since the operation of the harvesting unit is stopped based on the detection result of the detection unit in the retry process, the operation time of the harvesting unit can be made to the minimum required length. Therefore, the retry process can be performed quickly, and work efficiency can be improved.

In addition, the characteristic configuration of the harvester for achieving the above object is a harvester capable of automatic travel, and is provided on the lateral side of the aircraft, and the working posture protruding outward in the lateral direction of the aircraft and storage located inside the lateral direction of the aircraft rather than the working posture A split and second lever configured to be capable of changing the posture to a posture, and a split and second lever control unit for automatically controlling the change of posture of the split and second lever during automatic driving, wherein the split and second lever control unit automatically travels on a travel route while harvesting the planted grain stem It is in the point of making the said dividing and cutting lever into the said working posture at the time of the start of the automatic harvesting run.

According to the above-described characteristic configuration, since the division and division lever control unit sets the division and division lever to the working posture at the start of the automatic harvesting driving, it is possible to perform the automatic harvesting driving by setting the division and division lever to the working position which is an appropriate attitude. In addition, since the change of the posture of the dusting lever lever is automatically performed by the dusting and planting lever control unit, manual operation of the operator is not required, and it is possible to realize life-saving in the automatic running of the harvesting machine.

In the present invention, it is preferable that the division and division lever control unit put the division and division lever into the stowed posture at the end of the automatic harvesting run.

According to the above characteristic configuration, since the division lever control unit puts the division lever into the stowed position at the end of the self-harvesting running, the state in which the division lever is in the stowed position and the external dimension of the vehicle body is reduced for the driving performed after the automatic harvesting driving. can be done in Thereby, contact with an obstacle etc. of a pavement (for example, structures of a catcher, etc.) can be suppressed. And the change of the attitude|position of this minute and second lever can be implement|achieved without requiring the manual operation of an operator, and automatic running of a harvester can be made life-saving.

In the present invention, it is preferable that the division and division lever control unit place the division and division lever in the stowed posture at the start of the turn travel performed between the automatic harvesting travel and the automatic harvesting travel.

According to the above-described characteristic configuration, since the cut-and-second lever control unit puts the cut-and-second lever in the stowed position at the start of the turn running, the turn running can be performed with the split-second lever in the stowed position and the external dimensions of the vehicle body are reduced. Contact with the back can be suppressed. And the change of the attitude|position of this minute and second lever can be implement|achieved without requiring the manual operation of an operator, and automatic running of a harvester can be made life-saving.

In the present invention, it is preferable that the time-dividing lever control unit sets the time-dividing lever to the working posture at the end of the turn travel.

According to the above characteristic configuration, since the time division lever control unit puts the division lever in the working posture at the end of the turn travel, it is possible to perform the automatic harvesting run performed after the turn travel by setting the division lever to the working posture which is an appropriate posture. And the change of the attitude|position of this minute and second lever can be implement|achieved without requiring the manual operation of an operator, and automatic running of a harvester can be made life-saving.

In this invention, when the said dusting lever control part sets the said dusting lever control part to the said storage attitude|position at the time of the start of the discharge|emission running which automatically travels to the discharge|emission stop position at the time of discharging a grain, it is suitable.

According to the above characteristic configuration, since the cut-and-second lever control unit puts the cut-and-second lever into the stowed position at the start of the discharge travel, the discharge travel can be performed with the cut-and-second lever in the stowed position and the external dimensions of the vehicle body are reduced, thereby preventing obstacles in the pavement. Contact with the back can be suppressed. And the change of the attitude|position of this minute and second lever can be implement|achieved without requiring the manual operation of an operator, and automatic running of a harvester can be made life-saving.

In this invention, when the said dusting and cutting lever control part makes the said dividing and cutting lever into the said working posture at the end of the return traveling which automatically travels from the said discharge|emission stop position to the harvesting restart position which resumes harvesting of a planted grain stem, it is suitable.

According to the said characteristic structure, since the division and division lever control part makes the division and division lever into the working posture at the end of the return travel, it is possible to resume harvesting of the planted grain stem by setting the division and division lever to the working position which is an appropriate attitude|position. And the change of the attitude|position of this minute and second lever can be implement|achieved without requiring the manual operation of an operator, and automatic running of a harvester can be made life-saving.

1 is a left side view of a combine.
Fig. 2 is a block diagram showing the configuration of the control unit.
It is a figure which shows the mowing run of the combine in the outer periphery area|region of a pavement.
It is a figure which shows the mowing run of the combine in the outer periphery area|region of a pavement.
It is a figure which shows the mowing run of the combine in the outer periphery area|region of a pavement.
It is a figure which shows the mowing run of the combine in the inner side area|region of a pavement.
7 is a flowchart showing the flow of the inclination control process.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
It is a figure which shows the state which a harvesting|reaping part inclines by inclination control.
Fig. 17 is a block diagram showing the configuration of another embodiment of the control unit.
18 is a left side view of the combine.
It is a figure which shows the initial round running in a pavement.
Fig. 20 is a diagram showing automatic running according to the α-turn circling running pattern.
Fig. 21 is a diagram showing automatic driving according to a U-turn circling driving pattern.
22 is a block diagram showing the configuration of the control unit.
Fig. 23 is a diagram showing an outline of a retry process.
Fig. 24 is a diagram showing an outline of a retry process according to another embodiment.
25 is a left side view of the combine.
26 is a plan view of the combine.
It is a figure which shows the initial round running in a pavement.
Fig. 28 is a diagram showing automatic running according to the α-turn circling running pattern.
29 is a diagram showing automatic driving according to a U-turn circling driving pattern.
Fig. 30 is a view showing an exhaust run and a return run.
Fig. 31 is a block diagram showing the configuration of the control unit.

EMBODIMENT OF THE INVENTION The form for implementing this invention is demonstrated based on drawing. In addition, in the following description, unless otherwise specified, the direction of arrow F shown in FIG. 1 is called "front", and the direction of arrow B is called "back".

[Overall composition of combine]

As shown in FIG. 1 , the self-extracting combine 1, which is one form of a combine to which the automatic driving control system of the present invention can be applied, is a crawler-type traveling device 11 and 11 composed of a pair of left and right, and a driving unit 12 ), the threshing apparatus 13, the grain tank 14, the harvesting|reaping part H, the grain discharge apparatus 18, and the satellite positioning module 80 are provided.

The traveling device 11 is provided in the lower part in the combine 1 . In addition, the traveling device 11 is driven by power from an engine (not shown). And, the combine (1) is often possible by the traveling device (11).

Left and right elevation devices 29 and 29 are provided in each of the left and right traveling devices 11 and 11 . The raising/lowering device 29 is also called a generic name "Monroe", and is comprised so that the height position of the body body with respect to each of the traveling devices 11 and 11 on either side can be changed separately, respectively. From this point, the raising/lowering devices 29 and 29 are comprised so that it is possible to roll the body body by changing the height position of the body body with respect to each of the traveling devices 11 and 11 on either side. In this embodiment, "the harvesting inclination change mechanism" of this invention is comprised by the raising/lowering device 29. As shown in FIG.

The driving part 12, the threshing apparatus 13, and the grain tank 14 are provided above the traveling apparatus 11. An operator who monitors the operation of the combine 1 can be boarded in the driving unit 12 . In addition, the operator may monitor the operation|work of the combine 1 from the outside of the ship of the combine 1.

The grain discharging device 18 is connected to the grain tank 14 . In addition, the satellite positioning module 80 is installed on the roof portion of the cabin that covers the driving unit 12 .

The mowing part H is provided in the base|substrate front part in the combine 1, and mowers the crop of a field, specifically, a planting grain stem. The harvesting|reaping part H has the clipper-type cutting device 15 and the conveyance apparatus 16. As shown in FIG. Moreover, in this embodiment, the harvesting|reaping part H of 6 sets of mowing is provided.

The cutting device 15 cuts the root of the crop in the field. And the conveyance apparatus 16 conveys the grain stem cut|disconnected by the cutting apparatus 15 to the rear side. By this structure, the harvesting|reaping part H mows a field crop. The harvesting run which the combine 1 runs with the traveling apparatus 11 is possible, mowing the crops of the field with the mowing part H.

The grain stem conveyed by the conveying apparatus 16 is threshed in the threshing apparatus 13. The grain obtained by the threshing process is stored in the grain tank 14. The grain stored in the grain tank 14 is discharged|emitted to the outside with the grain discharge apparatus 18 as needed.

Moreover, the communication terminal 4 (refer FIG. 2) is arrange|positioned in the driving|operation part 12. As shown in FIG. The communication terminal 4 is comprised so that various information can be displayed. In the present embodiment, the communication terminal 4 is fixed to the driving unit 12 . However, this invention is not limited to this, The communication terminal 4 may be comprised so that attachment or detachment is possible with respect to the driving|operation part 12, and the communication terminal 4 may be located outside the aircraft of the combine 1. As shown in FIG.

Here, the combine 1, as shown in FIGS. 3 to 6, performs a circling run while harvesting grains in the outer periphery area SA in the field, and then mowing run in the inner area CA. Constructed to harvest grain in the field.

Moreover, the driving|operation part 12 is provided with the main gear lever 19 (refer FIG. 2). The main gear lever 19 is artificially operable. When the combine 1 is traveling manually and the operator operates the main gear lever 19, the vehicle speed of the combine 1 changes. That is, when the combine 1 is operating manually, an operator can change the vehicle speed of the combine 1 by operating the main gear lever 19. As shown in FIG.

In addition, the operator can change the rotation speed of the engine by operating the communication terminal 4 .

Depending on the condition of the crop, the appropriate working speed is different. When an operator operates the communication terminal 4 and sets the rotation speed of the engine to an appropriate rotation speed, it becomes possible to work at a working speed suitable for the state of a crop.

[Configuration of control unit]

After harvesting crops while traveling around the outer peripheral area SA (refer FIG. 3 etc.) of the field, the combine 1 is inner area CA in the inner side from outer circumference area SA (refer FIG. 6 etc.) mow crops while driving back and forth. A control block relating to an automatic travel control system for this combine 1 is shown in FIG. 2 .

The control system of the combine 1 in the present embodiment is constituted by a wiring network such as a plurality of electronic control units called ECUs, various operating devices, a sensor group or a switch group, and an in-vehicle LAN for data transmission therebetween. has been The combine 1 is equipped with the control unit 20, and the control unit 20 is comprised as a part of the said control system. The control unit 20 includes a vehicle position calculation unit 21 , a pavement data acquisition unit 22 , a travel route setting unit 23 , an automatic travel control unit 24 , an inclination control unit 25 , and a crop area determination unit 27 . , a vehicle speed setting unit 31 , a mowing height setting unit 32 , and the like are provided.

The satellite positioning module 80 receives positioning signals from navigation satellites used in GPS (Global Positioning System). And the satellite positioning module 80 sends positioning data indicating the own vehicle position of the combine 1 to the own vehicle position calculation unit 21 based on the received positioning signal.

The host vehicle position calculating unit 21 calculates the positional coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80 . The host vehicle position calculation unit 21 corresponds to the "position detection unit" of the present invention. In addition, the position coordinate of the combine 1 has shown the position of the base|substrate of the combine 1. The calculated temporal positional coordinates of the combine 1 are sent to the travel route setting unit 23 , the automatic travel control unit 24 , and the work condition detection unit 26 .

Based on the temporal positional coordinates of the combine 1, 21 A of traveling locus calculation part calculates the traveling trajectory of the combine 1 in the circumferential run in the outer periphery side of a pavement. The calculated travel trajectory is sent to the travel route setting unit 23 , the automatic travel control unit 24 , and the work condition detection unit 26 .

The vehicle speed detection unit 21B calculates a change amount of the position coordinates per unit time based on the temporal position coordinates of the combine 1 , and detects the vehicle speed of the combine 1 from the change amount. The vehicle speed detected by the vehicle speed detection unit 21B is sent to the automatic travel control unit 24 and the inclination control unit 25 .

The field data acquisition unit 22 acquires field shape data, crop planting information, and the like from the management computer 5 through the communication unit 30 . These field|field shape data, crop planting information, etc. are sent from the field data acquisition part 22 to the travel route setting part 23. As shown in FIG.

The packaging data acquisition part 22 is equipped with 22 A of group information acquisition parts. The group information acquisition part 22A acquires group information (for example, a group direction, a group position, a group interval, etc.) about the group of a crop based on the field|field shape data, crop planting information, etc.. The group information is sent from the group information acquisition unit 22A to the crop area determination unit 27 . The crop area determination unit 27 will be described later.

For example, as shown in FIGS. 3-5, the combine 1 performs a harvesting|reaping run, performing a whirlpool-like circling run in outer periphery area|region SA first. Then, as shown in FIG. 6, the combine 1 is inside area|region CA inside rather than outer-periphery area|region SA. WHEREIN: The mowing run performed while advancing along the parallel travel path|route LS, and outer periphery The direction change by the U-turn in the area SA is repeated. Thereby, the combine 1 mows a crop so that the whole of outer peripheral area|region SA and inner area|region CA may be covered. In this embodiment, the driving|running|working which repeats the harvesting|reaping running while advancing and a direction change is called "reciprocating running".

3 to 5, the travel route of the combine 1 for the circumferential travel in the outer peripheral side of the pavement is indicated by an arrow. In the example shown in FIGS. 3-5, the combine 1 performs the circling run of 3 weeks. And when the mowing run along this travel route is completed, the pavement will be in the state shown in FIG. 6 .

The work condition detection unit 26 is configured to operate on the basis of the position information of the combine 1 calculated by the host vehicle position calculation unit 21 and the traveling trajectory of the combine 1 calculated by the traveling trajectory calculation unit 21A, The pre-harvesting area which is the completion of work running in a pavement and the non-harvesting area which is not work are detected.

Specifically, as shown in Figs. 3 to 5 , the work condition detection unit 26 sets the area on the outer periphery of the field in which the combine 1 travels around while mowing the crop as the harvesting areas SA1, SA2, and SA3. ) is detected as Moreover, the work condition detection part 26 detects the area|region inside a pavement rather than detected pre-harvesting area|region SA1, SA2, SA3 as a non-harvesting area|region. And as shown in FIG. 2, the detection result by the work condition detection part 26 is sent to the crop area determination part 27. As shown in FIG.

The vehicle speed setting unit 31 sets the speed at which the traveling device 11 drives, ie, the vehicle speed, based on the amount of operation of the main speed lever 19 . The set vehicle speed is sent from the vehicle speed setting unit 31 to the automatic travel control unit 24 .

The travel route setting unit 23 receives the pavement shape and set information from the pavement data acquisition unit 22 , and sets the travel route for automatic travel. The travel route setting unit 23 divides the outer circumferential area SA and the inner area CA based on the pavement shape data, and a circumferential travel route for mowing crops while traveling around the outer circumferential area SA, and the inner area Set the parallel travel path (LS) for mowing crops while reciprocating (CA). In addition, when the circling travel path and the parallel travel path LS are generically referred to as a "travel path", they are simply referred to as "travel path".

The travel route setting unit 23 is provided with a circumferential travel route setting unit 23A and a parallel travel path setting unit 23B. The circumferential travel route setting unit 23A is configured so as to be able to set a circumferential travel route for automatic travel in the outer circumferential area SA. The parallel travel path setting unit 23B is configured to set a plurality of parallel travel paths LS parallel to each other in the inner region CA. The some parallel travel path|route LS is the path|route for automatic traveling which reciprocates in the inner area|region CA.

In this regard, the travel route setting unit 23 is configured to be capable of receiving travel trajectory data of the combine 1 calculated by the travel trajectory calculation unit 21A, and based on the travel trajectory data, a circling travel route and The parallel running path LS can be changed.

The automatic travel control unit 24 is configured to be able to control the travel device 11 . Then, the automatic travel control unit 24 receives the position coordinates of the combine 1 received from the host vehicle position calculation unit 21 , the travel path received from the travel path setting unit 23 , and the vehicle speed setting unit 31 . Based on the received set vehicle speed, the combine 1 is made to automatically travel along the circling travel route and the plurality of parallel travel routes LS. More specifically, as shown in FIGS. 4-6, the automatic travel control part 24 controls travel of the combine 1 so that mowing travel may be performed by automatic travel along a travel route. That is, the combine 1 is capable of running automatically.

If there is a non-removing area on either side of the left and right side in the forward direction of travel of the combine (1), and there is a cropping area on the left and right sides of the other side in front of the traveling direction of the combine (1), the crop is left and right with respect to the mowing part (H) It leans on one side and comes in. The crop area determination part 27 determines which area of the harvesting|reaping part H in the left-right direction based on the detection result of the work condition detection part 26 into which area|region a crop enters. From this point, the crop area determination unit 27 can determine the state in which the crops are biased toward the left and right one side with respect to the harvesting unit H. In this embodiment, the state in which a crop deviate|incidentally enters with respect to the harvesting part H with respect to the left and right one side is called a "biased state". That is, when it is detected by the work situation detection part 26 that an advanced harvesting area|region and a non-harvesting area|region exist before the advancing direction, the crop area determination part 27 will determine with a bias state. The determination result of the crop area determination unit 27 is sent to the inclination control unit 25 .

The inclination control part 25 controls the raising/lowering apparatus 29 on the basis of the harvesting height set by the harvesting height setting part 32 as a reference. The harvesting height of the harvesting|reaping part H is set by the harvesting height setting part 32 based on the artificial operation of the setting operation tool 33. As shown in FIG. Although the detail will be mentioned later, the inclination control part 25 is comprised so that the height position of the base body can be changed by the raising/lowering device 29 based on the determination result of the crop area determination part 27. As shown in FIG.

[About the round trip route]

A pavement formed in a trapezoidal shape is shown in FIGS. 3 to 6 , and circumferential travel paths L1 to L8 are illustrated as an example of a revolving travel path for automatic travel that revolves around the outer circumferential area SA. The outer peripheral area SA is set outside the rectangular outer peripheral shape S0, ie, in the outer peripheral part of the pavement. Moreover, the inner area|region CA is set inside the outer peripheral shape S0, ie, inside the outer peripheral area SA. In the field shown in FIGS. 3 to 6 , the row direction of the crops in the inner region CA is along the vertical direction on the ground. In other words, the left and right vertical sides in the outer periphery shape S0 follow the row direction of the crop. The group direction is included in the group information acquired by the group information acquisition part 22A.

As shown in FIG. 3, the combine 1 performs a mowing run which mowings a crop of a field while traveling around along the head of a field. The harvesting running at this time is performed by manual running. When the harvesting run of the combine 1 is completed for one week, the harvesting area SA1 is formed as a harvesting trajectory of the round running of the combine 1 among the outer peripheral areas SA, and rather than the harvesting area SA1, the inside of the pavement. The outer periphery shape S1 of a non-removing area|region is formed in this.

In addition, in order to ensure the width|variety of the outer peripheral area|region SA wide to some extent, an operator may operate the combine 1 manually over two or three weeks. In this case, the width of blade harvesting area SA1 becomes the width of about 2 to 3 times the working width of a combine.

The broken line inside the outer circumferential shape S1 is the outer circumferential shape S0 of the inner area CA, and the outer circumferential area SA and the inner area CA are previously defined by the travel route setting unit 23 (see FIG. 2 ). is compartmentalized.

Of the outer peripheral shape S1 of the uncultivated area, two sides extending in the vertical direction on the paper are inclined so as to be located on the left and right center sides of the paper as they are higher on the paper surface, and the two sides extending in the horizontal direction of the paper are parallel to each other. That is, the outer periphery shape S1 of the non-removing area is formed in a trapezoidal shape.

The circumferential travel path setting unit 23A configures the circumferential travel path setting unit 23A so that the sides located on the left and right outer side one side with respect to the parallel travel path LS among the sides constituting the outer peripheral shape S0 of the inner region CA follow the direction of the jaw. to set The side located on the left and right outer one side with respect to the parallel travel path LS is at least any one of the left and right vertical sides extended in the up-down direction on the paper surface in FIGS. As shown in FIG. 3, the left and right vertical sides of the outer periphery shape S1 of an uncultivated area do not follow the nail direction, but the left and right extending in the vertical direction of the paper surface of the outer periphery shape S0 of the inner area CA. is not parallel to the longitudinal side of For this reason, in the circumferential travel route setting unit 23A, when the combine 1 travels around, the ratio of crops entering the left and right one side with respect to the harvesting unit H is proportional to the advance of the combine 1 . It is configured such that the circling travel paths L1 to L8 can be set to increase or decrease.

In FIG. 4 , the crop inside the harvesting area SA1 is mowed by circling running. The circling travel at this time is performed by automatic running, and the circling travel paths L1 to L4 for automatic driving are set by the circling travel path setting unit 23A.

The circling travel route L1 is an automatic travel route for carrying out a harvesting run along the right vertical side part of the paper surface among the outer peripheral shapes S1 of the pre-harvesting area SA1. In addition, the circling travel path|route L3 is an automatic travel path|route for reaping the left vertical side part of the paper surface among the outer periphery shapes S1 of pre-removing area SA1. Each of circling travel path|route L2, L4 is an automatic travel path|route for reaping the part of two upper and lower sides among the outer peripheral shape S1 of pre-harvesting area|region SA1. In addition, in the corner portion between the respective paths of the revolving travel paths L1 to L4, the combine 1 performs a switchback type swiveling run involving forward and reverse called an "α turn", even if another turning method is used. do.

The combine 1 mows crops while traveling around automatically along the circling travel paths L1 to L4. The advancing direction at the time of the combine 1 advancing along the circling travel path L1 is azimuth shifted toward the advancing direction right rather than the direction along a paper right vertical side among the outer periphery shapes S1. For this reason, when the combine 1 carries out a harvesting run along the circling travel path L1, the part which overlaps with early harvesting area SA1 among the harvesting parts H of the combine 1 is advancing of the combine 1 increases concomitantly At this time, the ratio of the crop which is biased toward the left and right one side with respect to the harvesting part H decreases with advancing of the combine 1 .

Moreover, the advancing direction at the time of the combine 1 advancing along the circling travel path|route L3 is azimuth shifted toward the advancing direction left rather than the direction along the left vertical side of the paper surface among the outer periphery shapes S1. For this reason, when the combine 1 carries out mowing along the circling travel path L3, the part which overlaps with early harvesting area SA1 among the reaping parts H of the combine 1 to advance of the combine 1 decreases concomitantly. At this time, with respect to the harvesting part (H), the ratio of the crop which is biased toward the left and right one side increases with advancing of the combine (1).

If the harvesting running of the combine 1 by automatic running control is performed along circling travel route L1-L4, the harvesting run of the combine 1 in the inner side than early harvesting|reaping area SA1 among outer periphery area SA. As a harvesting trajectory of the trapezoidal shape harvesting area SA2 is formed. Moreover, the outer periphery shape S2 of a non-removing area|region is formed inside pavement rather than pre-harvesting area|region SA2.

The outer periphery shape S2 of a non-removing area|region becomes a shape close|similar to a rectangular shape rather than the outer periphery shape S1 formed in trapezoidal shape. However, as shown in FIG. 4, the right and left vertical sides of the outer periphery shape S2 of a non-removing area|region do not follow the nail direction, but are parallel to the left and right vertical sides of the outer periphery shape S0 of the inner side area CA. this is not In this case, as shown in FIG. 5 , in the circling travel path setting unit 23A, when the combine 1 runs circling, the crop is biased toward the left and right one side with respect to the harvesting unit H. The ratio of the combine is The circling travel paths L5 to L8 are set so as to increase or decrease with the advance of (1).

In FIG. 5, the crop inside rather than cutting-off area SA2 is mowed by a circling run. The circling travel at this time is performed by automatic running, and the circling travel paths L5 to L8 for automatic driving are set by the circling travel path setting unit 23A. The circling driving path L5 is an automatic driving path for shaving the right vertical side part of the ground among the outer periphery shape S2 of the rigging area SA2, and the circling driving path L7 is the outer periphery of the rigging area SA2. It is an automatic travel route for mowing running along the left vertical side part of the shape (S2). The advancing direction when the combine 1 advances along each of circling travel path|route L5, L7 is following the up-down direction on the ground. In addition, also at the corner between the respective paths of the circumferential travel paths L5 to L8, as in the case of each corner of the revolving travel paths L1 to L4, the combine 1 performs an α turn.

The combine 1 mows crops while traveling around automatically along the circling travel paths L5 to L8. The advancing direction at the time of the combine 1 advancing along circling travel path|route L5, L7 is following the up-down direction on the ground. For this reason, when the combine 1 carries out a harvesting run along the said right vertical side of outer periphery shape S2, the part which overlaps with early harvesting area SA2 among the harvesting parts H of the combine 1 is a combine 1 ) increases with the advancement of At this time, the ratio of the crop which is biased toward the left and right one side with respect to the harvesting part H decreases with advancing of the combine 1 .

Moreover, when the combine 1 carries out mowing along the said left vertical side of outer periphery shape S2, the part which overlaps with cutting-off area SA2 among the reaping parts H of the combine 1 is a combine 1 decreases with the advancement of At this time, with respect to the harvesting part (H), the ratio of the crop which is biased toward the left and right one side increases with advancing of the combine (1).

When the harvesting travel of the combine 1 by automatic travel control along the circling travel routes L5 to L8 is completed for one week, the combine 1 in the inner side of the harvesting area SA2 among the outer peripheral areas SA Early harvesting area SA3 is formed as a reaping trajectory of a harvesting run, and outer periphery shape S3 of a non-removing area is formed in a rectangular shape inside pavement rather than early harvesting|reaping area SA3. The outer circumferential shape S3 is the same shape as the outer circumferential shape S0 of the inner region CA, and the circumferential travel path setting unit 23A is configured such that the actual outer circumferential shape of the inner area CA becomes a rectangle. (L1 to L8) are set. When the circling running shown in FIG. 5 is completed, mowing of the crop in the outer peripheral area SA is completed.

In this way, the circumferential travel path setting unit 23A is configured so that the outer circumferential shape of the non-mowing area after mowing the crop approaches the rectangular outer circumferential shape S0 of the inner area CA each time the circumferential travel is repeated. A plurality of circling travel paths are set in the area SA. In other words, in the case where, among the sides constituting the pavement shape, at least one of the left and right outer sides with respect to the parallel travel path LS (refer to FIG. 6 ) is not parallel to the parallel travel path LS, the circumferential travel path setting unit 23A, the side which is located on the said left and right outer side one side with respect to the parallel travel path|route LS among the sides which comprise the outer peripheral shape S0 of the inner area|region CA, the combine 1 mowing a circling travel path|route By traveling while traveling, the circumferential travel path is set so as to be parallel to the parallel travel path LS.

The automatic travel control unit 24 transmits a control signal to mowing while advancing the combine 1 in the outer circumferential area SA in a whirlpool shape along the circumferential travel route set by the circumferential travel route setting unit 23A. print out The left and right vertical sides of the outer periphery shape S3 follow the row direction of the crop in the inner region CA.

When mowing is performed along the circling running paths L1 and L5 shown in FIGS. 4 and 5 , the mowing unit H mows 6 trillions of crops at the beginning of the circling running paths L1 and L5, and At the end of the travel paths L1 and L5, the mowing unit H mows the crop by one set of the left end, but is not limited thereto. At the beginning of the circling running paths (L1, L5), the mowing unit (H) may mow the crops in less than 5 trillion minutes on the left, and at the ends of the circling running paths (L1, L5), the mowing unit (H) moves the crops to the left. You may mowing in 2 trillion minutes or more.

When mowing is performed along the circling running paths L3 and L7 shown in FIGS. 4 and 5 , at the start end of the circling running paths L3 and L7, the mowing unit H cuts the crop by 1 trillion of the left end. Although mowing is carried out and the mowing part H mows a crop for 6 trillions at the terminal of circling travel path|route L3, L7, it is not limited to this. At the beginning of the circling running paths (L3, L7), the mowing unit (H) may mowing the crops in more than 2 trillions on the left, and at the end of the circling running paths (L3, L7), the mowing unit (H) cuts the crops on the left. You may mowing in less than 5 trillion minutes.

In this way, among the outer periphery shapes of the non-removing area in the outer circumferential area SA, when the shifting jaw direction located on the left and right outer sides with respect to the parallel travel path LS is not followed, the circumferential travel path setting unit 23A is , When the combine (1) travels around the circle, the rate of crops coming in biased toward the left and right sides with respect to the harvesting part (H) increases or decreases with the advancement of the combine (1) so that the circumferential travel path (L1 to L8) ) is configurable.

While harvesting running is performed by the combine 1 in a circling travel route, as mentioned above, the harvesting grain stem mowed by the cutting device 15 is conveyed by the conveying apparatus 16 to the threshing apparatus 13. do. And the harvesting grain stem is threshed by the threshing apparatus 13. In addition, the circumferential travel of the combine 1 is repeated on the circumferential travel route, thereby securing a space in which a direction change (for example, a U-turn turning route) is possible in the outer circumferential area SA when the reciprocating travel is performed.

[About parallel travel routes]

As shown in FIG. 6 , the parallel travel path setting unit 23B sets a plurality of parallel travel paths LS for automatic travel that reciprocate in the inner region CA in the direction in which the left and right vertical sides extend, that is, Set to follow the jaw direction. That is, the automatic running control part 24 controls the running|running|working of the combine 1 so that it may transfer to reciprocating running after the mowing run which goes around a pavement in a whirlpool shape. In reciprocating travel, the combine 1 repeats the mowing run performed while advancing along parallel travel path|route LS in inner area|region CA, and the direction change in outer peripheral area|region SA alternately.

Among the pair of left and right traveling devices 11 and 11 in the combine 1 , the left traveling device 11 is biased toward the body lateral inner side rather than the right traveling device 11 in many cases. For this reason, when mowing run is performed in the state that there is a non-removing area on the left side rather than a body left part, and there exists an air harvesting area on the right side rather than a body right side part, it is difficult to step on the crop of an unforeseen area by the traveling device 11 lose

In this embodiment, the parallel travel route setting part 23B sets the parallel travel route LS so that a body right part may be adjacent to an air harvesting area|region as much as possible. That is, in the reciprocating travel, the combine 1 runs a pair of side portions extending along the nail direction among the outer periphery shapes of the non-removing area in turn, and the combine 1 is counterclockwise in FIG. 6 . drive

In FIG. 6 , the inner area CA is divided into partial work areas CA1 , CA2 , and CA3 . The combine 1 carries out mowing in sequence toward the parallel travel path LS of the left and right inner sides of the paper from the parallel travel path LS of the right and left both ends of the paper surface of each partial work area|region CA1, CA2, CA3. For this reason, when the distance when the combine 1 moves from the 1st parallel travel path|route LS to the 2nd parallel travel path|route LS becomes long, the running distance of the combine 1 will become long, and work efficiency will worsen. . Moreover, the grain tank 14 is full while the combine 1 is mowing running in partial work areas CA1, CA2, CA3, and the combine 1 leaves parallel travel path LS for discharge|emission of a grain on the way. Doing so will reduce work efficiency. For this reason, the parallel travel path setting part 23B opposes the separation distance of a pair of sides extending along the jaw direction among the outer peripheral shape S0 of the inner area|region CA, the capacity|capacitance of the grain tank 14, etc. Taking this into consideration, the area of each of the partial work areas CA1, CA2, and CA3 and the number of work target assistants are calculated.

In this embodiment, the harvesting|reaping part H of 6 sets of mowing is provided. It is convenient if each work target assistant of partial work area CA1, CA2, CA3 is a multiple of 6, but when the work target tide is not a multiple of 6, as shown in FIG. 13, the right side of the harvesting part H The mowing run is performed in a state overlapping with the harvesting area for one set of steps. The harvesting run overlapped with the existing harvesting area only for this one set is performed once or several times according to the remainder which divided the work target assistant by the specification harvesting assistant of the harvesting part H.

In order to avoid as much as possible the problem that the harvesting part H picks up the rice straw shavings of an early harvesting area, in this embodiment, in the parallel travel path LS, the right and left where the harvesting part H overlaps with the harvesting area. The range of is limited to an area equal to one trillion left and right. In the last parallel travel path LS in each of partial work area|regions CA1, CA2, CA3, it is inconvenient when the area|region more than any two sets of right and left among the harvesting|reaping parts H overlaps with an early harvesting|reaping area. For this reason, the parallel travel route setting unit 23B is the harvesting unit H in the parallel travel route LS before the last parallel travel route LS in each of the partial work areas CA1, CA2, CA3. Set the parallel running path LS to adjust the tide. In other words, the parallel travel path|route setting part 23B sets the some parallel travel path|route LS so that it may respond|correspond to the harvesting tide of the combine 1 based on the jaw position and the jaw space|interval. Thereby, in the last parallel travel path LS in each of partial work areas CA1, CA2, CA3, the number of harvesting tides decreases too much, and the area|region for which two or more sets of right and left of the harvesting|reaping part H is already harvesting area and The risk of overlapping is avoided.

While harvesting running is performed with the combine 1 in parallel travel path LS, as mentioned above, the harvesting grain culm mowed by the cutting device 15 is the threshing apparatus 13 by the conveying apparatus 16. ) is returned to And the harvesting grain stem is threshed by the threshing apparatus 13.

[About inclination control in mowing run]

For example, when mowing is performed along the circling travel paths L1, L3, L5, and L7 shown in FIGS. 4 and 5, the harvesting area SA1 of the mowing part H of the combine 1 is performed. Or the portion protruding to the giyechwi area (SA2) increases with the advancement of the combine (1). For this reason, when crop harvesting by the harvesting part H is performed in the state which left and right either edge part of the harvesting|reaping part H protruded in pre-removing area|region SA1, SA2, with respect to the mowing part H, a crop It is biased toward one side of the left and right, and crops do not enter the part of the other left and right side of the mowing part (H).

On the other hand, in the mowing part (H), the front of the part on the left and the other side where no crops are coming in is the pre-harvesting area (SA1, SA2), and the rice straw shavings after mowing are scattered in the mowing area (SA1, SA2). have. For this reason, the case where these scattered rice straw shavings etc. are lifted by the mowing part H is conceivable. When it becomes this way, this rice straw shavings etc. are conveyed to the threshing apparatus 13 (refer FIG. 1) by the conveying apparatus 16 (refer FIG. 1) together with a mowing grain stem, and the rice straw remaining in the grain stored in the grain tank 14. There exists a possibility that debris etc. may mix, or the threshing load of the threshing apparatus 13 may increase unnecessarily. In order to avoid such a problem, in this embodiment, the inclination control part 25 (refer FIG. 2, the same hereinafter) capable of inclination control is provided.

When a bias state is determined by the crop area determination part 27 (refer FIG. 2, the same hereinafter) as for the inclination control, the height position of the part on the side where a crop is not entering among the cropping parts H is set to a mowing part. It is control which changes the inclination of the right and left of the harvesting|reaping part H to the raising/lowering apparatus 29 as a harvesting inclination change mechanism so that it may make it higher than the height position of the part on the side where a crop comes in (H).

As mentioned above based on FIG. 2, the raising/lowering device 29 is comprised so that it is possible to roll the body body by changing the height position of the body body with respect to each of the traveling devices 11 and 11 on either side. The harvesting part H is supported by the base body so that it may roll integrally with the rolling operation|movement of the base body by the raising/lowering device 29. From this point, the raising/lowering apparatus 29 as a harvesting inclination change mechanism rolls the harvesting|reaping part H, and it is comprised so that the inclination of the right and left of the harvesting|reaping part H can be changed.

In addition, as described above, the crop area determination unit 27 can determine the bias state based on the detection result of the work condition detection unit 26 . In addition, the crop area determination unit 27 is configured to be able to acquire field information from the field information acquisition unit 22A, and the field information also includes information regarding the fields of crops. From this point, the crop area determination unit 27 determines the width of the crop range in the harvesting unit H based on the tide of the crop existing in front of the harvesting unit H, and the crop area determining unit H. Determines the area of the range where crops are not entering.

The flow of the inclination control by the inclination control part 25 is demonstrated based on FIG. When the combine 1 starts forward running while mowing the crops in the field along the circling travel paths L1 to L8 or the parallel travel paths LS, the inclination control unit 25 is the first in the front of the mowing unit H. Acquire the tide of crops in (step #01). And the crop area determination part 27 determines a bias state by determining whether the tide of the acquired crop is less than the maximum tide which can be harvested of the harvesting part H (step #02). For example, if the harvesting|reaping part H is 6 sets of mowing specifications, and the number of birds of the acquired crop is 5 sets or less, determination of step #02 becomes "YES".

If the number of crop tides obtained from the crop area determination unit 27 is equal to the maximum harvestable tides of the harvesting unit H, the crop area determination unit 27 does not determine that it is in a biased state, and the determination in step #02 is " No", and the process shifts to step #06, which will be described later. When the crop area determination unit 27 determines that it is in a biased state, the determination of step #02 becomes "YES", and the inclination control unit 25 sets the crop area in front of the harvesting unit H according to the tide of the crop. The operation amount of the lifting device 29 on the side is calculated (step #03).

The amount of operation of the raising/lowering device 29 on the side of the harvesting area is sufficient so that the height position of the part on the side where no crops are coming in of the harvesting unit H does not pick up rice straw shavings, etc. of the harvesting area, and It is calculated to such an extent that the height position of the part on the side where crops enter among the harvesting units H does not become unnecessarily high. In addition, if there exists a part in which a crop does not enter in the both ends of the harvesting|reaping part H, the inclination control part 25 will calculate the operation amount of the raising/lowering devices 29 and 29 of both right and left.

When calculation of the operation amount of the raising/lowering apparatus 29 is completed, the inclination control part 25 will acquire the current harvesting height of the harvesting|reaping part H set by the harvesting height setting part 32 (step #04). And the inclination control part 25 raises the raising/lowering device 29 by the side of an early harvesting area so that the height position of the side where a crop is not entering among the harvesting parts H based on this harvesting height may change (step # 05). In addition, when the left-right both sides of the body are air harvesting areas, the inclination control part 25 raises both the raising/lowering devices 29 and 29 of both right and left.

The processing of steps #01 to #05 is executed when the combine 1 starts a forward travel while mowing a field crop along one travel path. Here, "at the time of starting" may be before starting, or the moment of starting may be sufficient as it. Processes after step #06 are executed while the combine 1 is performing forward travel while mowing crops on the field along one travel path.

During the harvesting travel of the combine 1, the inclination control part 25 determines whether the combine 1 has reached the terminal of one travel route (step #06). When the combine 1 has reached the end of one travel path (step #06: "Yes"), the inclination control by the inclination control unit 25 ends.

If the combine 1 has not reached the end of one travel path (step #06: "No"), the inclination control unit 25 acquires the tide of crops in front of the mowing unit H ( Step #07). The tide of a crop is determined by the crop area determination part 27, and the inclination control part 25 acquires the tide of the crop in the range of 10 meters in front of the mowing part H, for example. And the inclination control part 25 determines whether the tide of the crop in front of the harvesting part H changes on the way (step #08).

If the tides of crops in the range are obtained and the tides of crops are the same over the entire range (step #08: No), the flow advances to step #06, and the inclination control by the inclination control unit 25 performs step # It repeats from 06. When the crop tide changes on the way (step #08: "Yes"), as exemplified by the circling travel paths L1, L3, L5, L7 of FIGS. 4 and 5, up to the end of the traveling path, Yes The case where the range in which crops do not enter in the installation H is expanding or shrinking|reducing so that the forward of the combine 1 is considered is conceivable. And the inclination control part 25 performs the following inclination control corresponding to the expansion or reduction of the range in which crops do not enter in the harvesting part H.

Before operating the lifting device 29, the inclination control unit 25 acquires the current position coordinates and vehicle speed of the combine 1 (step #09). The current position coordinates of the combine 1 are calculated by the host vehicle position calculating unit 21 , and the current vehicle speed of the combine 1 is calculated by the vehicle speed detecting unit 21B.

Subsequently, the inclination control unit 25 determines, based on the current position coordinates and the vehicle speed of the combine 1 , the starting coordinates at which the lifting device 29 should start operation so that the operation timing of the lifting device 29 is not delayed. It is calculated (step #10). As the vehicle speed increases, the starting coordinates are set to be spaced apart from the changing point of the crop tide toward the starting end side of the driving path, and as the vehicle speed decreases, the starting coordinates are set to be closer to the changing point of the crop tide. That is, the inclination control part 25 is comprised so that the operation start timing of the raising/lowering apparatus 29 as a harvesting inclination changing mechanism may be changed according to a vehicle speed. And the inclination control part 25 determines whether the combine 1 has reached|attained the start coordinate (step #11).

If the combine 1 has not reached the starting coordinates (step #11: "No"), the processing of steps #09 and #10 is repeated. Even when the vehicle speed of the combine 1 changes by this structure, the inclination control part 25 can change the start coordinate in real time corresponding to the change of the vehicle speed of the combine 1 .

When the combine 1 reaches the start coordinates (step #11: "Yes"), the inclination control part 25 acquires the current harvesting height of the harvesting part H set by the harvesting height setting part 32 ( Step #12). And the inclination control part 25 performs inclination control so that the height position of the part by the side of a harvesting|reaping area|region among the harvesting|reaping parts H may change on the basis of the harvesting height set by the harvesting height setting part 32 as a reference. That is, the inclination control part 25 raises or lowers the raising/lowering device 29 so that the height position of the body body with respect to the traveling device 11 on the side of an air harvesting|reaping area may be changed, and the body body is rolled (step #13). . In addition, when the harvesting area is adjacent to the left and right sides of the body, the inclination control unit 25 raises or lowers the lifting device 29 on the side where the tide of the crop changes among the lifting devices 29 and 29 on the left and right, When the crop is a tide on the left and right sides of the aircraft, the lifting devices 29 and 29 on the left and right are raised or lowered.

The processing of steps #06 to #13 is repeated until the end point of the travel route. Thereby, even when the change point of the tide of a crop exists in several places, the inclination control by the inclination control part 25 is performed until the combine 1 passes the last change point in the said travel route. .

Although not shown, when the inclination control part 25 raises the raising/lowering apparatus 29 by the side of an early harvesting|reaping area in step #05 and step #13, the inclination control part 25 is the predetermined|prescribed upper limit increase amount set by the operator. Gradient control is performed based on ?vmax. The upper limit increase amount Δvmax can be displayed on the screen of the communication terminal 4 , and the operator can change the upper limit increase amount Δvmax by operating the touch panel of the communication terminal 4 . Note that, on the screen of the communication terminal 4, the upper limit increase amount Δvmax does not need to be displayed as a numerical value, and may be displayed in multiple stages such as, for example, “large”, “medium”, “small”, and “none”. In addition, when the operator selects "None" on the screen of the communication terminal 4, the inclination control by the inclination control part 25 is not performed.

[Details of inclination control pattern]

8 to 10 schematically show a case where mowing travel is performed along the circling travel paths L1 and L5 shown in FIGS. 4 and 5 . When the mowing run shown in FIGS. 8-10 is performed, the process of steps #01 - #05 shown in FIG. 7 is completed, and the process after step #06 is performed. Moreover, in this embodiment, the harvesting|reaping part H of 6 sets of mowing is provided. The harvesting height of the harvesting|reaping part H is set to the 1st harvesting height V1 by the harvesting height setting part 32.

The "left and right one side" in the present invention is the side where the non-removing area is located in FIGS. 8 to 13, and the "the other side" in the present invention is the side where the harvesting area is located in FIGS. 8 to 13. side that does For this reason, in this invention, the part on one side of right and left among the harvesting|reaping parts H is a part by the side of a non-removing area|region among the harvesting|reaping parts H shown in FIGS. 8-13, and right and left among the harvesting parts H The part on the other side is a part by the side of an early harvesting|reaping area among the harvesting|reaping parts H shown in FIGS. 8-13. That is, the crop is biased toward the side where the non-removing area is located with respect to the harvesting unit (H).

In FIG. 8, the crop for 6 trillions is mowed by the mowing part H, and the range in which a crop does not enter in the mowing part H is expanded so that it is spaced forward from the mowing part H. When the combine 1 travels forward from the state shown in FIG. 8, as shown in FIG. 9, the right part in the advancing direction of the harvesting part H protrudes into the harvesting area for 1 trillion minutes, and the harvesting part H ) of the left 5 trillion crops are mowed. Rice straw shavings, etc. after mowing are scattered in the cutting area of the right side in the advancing direction of the combine 1 .

In FIG. 8, since the combine 1 has not reached the terminal of a travel route, the determination of step #06 in FIG. 7 becomes "NO", and the process of step #07 is executed. In FIG. 8, since the tide number of the crop in front of the harvesting part H changes from 6 sets to 5 sets on the way, determination of step #08 in FIG. 7 becomes "YES". And the inclination control part 25 performs inclination control based on the process of steps #09 - #13 in FIG.

And as a result of the inclination control by the inclination control part 25, as shown in FIG. 9, the height position with respect to the traveling apparatus 11 of the part on the side where the early harvesting|reaping area is located among the harvesting|reaping parts H goes up and down It rises higher by Δv1 than the 1st cutting height V1 by the apparatus 29. The inclination control part 25 inclination-controls so that the part by the side in which an early harvesting|reaping area is located among the harvesting|reaping parts H may become higher than the preset 1st harvesting height V1 of the harvesting|reaping part H.

(DELTA)v1 is computed based on upper limit rise amount (DELTA)vmax set by an operator, and the harvesting tide of the harvesting|reaping part H. When the inclination control part 25 raises the raising/lowering device 29 by the side of the harvesting area|region side specifically, if Δv is the amount of rise,

『∆v=N×∆vmax/(Hmax-1)』

Δv is calculated by the formula "N" in this numerical formula means the tide in the range where crops do not enter in the harvesting part H. In addition, "Hmax" in this formula means the specification value of the harvesting tide of the harvesting|reaping part H. In this embodiment, the number of harvesting tides of the harvesting|reaping part H is 6 sets specifications. In addition, since the range in which crops do not enter in the harvesting part H is 1 trillion, the value of N becomes 1. For this reason, Δv1 is the value obtained by dividing the upper limit increase amount Δvmax by 5, that is, the calculated value of Δv.

In this way, when the crop area is determined by the crop area determination unit 27 as a state in which the crop is biased toward the side where the non-cutting area is located with respect to the harvesting unit H, the inclination control unit 25 is configured to include the mowing unit ( Elevating device so that the height position of the part on the side where the crop harvesting area is not located in H) is higher than the height position of the part on the side where the crop harvesting area is located among the harvesting units (H). The inclination control which changes the inclination of the right and left of the harvesting|reaping part H is performed to (29).

When the combine 1 travels further forward from the state shown in FIG. 9, as shown in FIG. 10, the right part in the advancing direction of the harvesting unit (H) protrudes into the harvesting area for 2 trillion minutes, and the harvesting unit ( In H), the left 4 trillions of crops are mowed. The rice straw shavings scattered in the mowing area are discharged from the left and right central areas of the rear part of the body of the combine 1 when mowing run is performed in this area, so near the left and right center of the traveling trajectory of the combine 1 easy to focus From this point, there is a tendency for the rice straw shavings, etc. to be scattered in the pre-harvesting area to be deposited more highly on the side separated from the uncultivated area. For this reason, there exists a possibility that rice straw shavings etc. may be lifted from the part of the side where a harvesting|reaping area is located among the harvesting parts H with the inclined attitude|position of the combine 1 shown in FIG. For this reason, the inclination control part 25 performs inclination control further, corresponding to the part on the side in which an early harvesting|reaping area is located among the harvesting|reaping part H protruding into an early harvesting|reaping area further.

As a result of the inclination control by the inclination control part 25, as shown in FIG. 10, the height position with respect to the traveling apparatus 11 of the part on the side where the early harvesting area is located among the harvesting|reaping parts H is the raising/lowering device ( 29), it rises higher by Δv2 than the first cutting height V1. Since the range where crops do not enter in the harvesting part H is 2 trillions, the value of N mentioned above is set to 2. For this reason, Δv2 is a value obtained by multiplying the value obtained by dividing the upper limit increase amount Δvmax by 5, that is, the calculated value of Δv described above. That is, ?v2 is set to be twice that of ?v1.

11 and 12 schematically show a case where mowing travel is performed along the circling travel paths L3 and L7 shown in FIGS. 4 and 5 . Since the number of crops in front of the harvesting unit H is less than 6 sets at the start of travel of the circling travel paths L3 and L7, step #02 in FIG. 7 is a determination of "Yes", , the inclination control unit 25 executes inclination control based on the processing of steps #03 to #05 in FIG. 7 . When the mowing run shown in FIGS. 11 and 12 is performed, the processing of steps #01 to #05 shown in FIG. 7 is completed, and the processing after step #06 is performed.

In FIG. 11, the crop for 4 sets is mowed by the mowing part H, and the advancing direction right part of the mowing part H is protruding in the harvesting area for 2 sets. The harvesting height of the harvesting|reaping part H is set to the 1st harvesting height V1 by the harvesting height setting part 32. Moreover, corresponding to the protrusion degree to the early harvesting area of the part on the side where the early harvesting area is located among the harvesting units (H), the traveling device ( The height position with respect to 11) is rising higher only (DELTA)v3 than 1st harvesting height V1 with the raising/lowering device 29. Since the range where crops do not enter in the harvesting part H is 2 trillions, the value of N mentioned above is set to 2. For this reason, Δv3 is a value obtained by multiplying the value obtained by dividing the upper limit increase amount Δvmax by 5, that is, the calculated value of Δv described above. That is, the value of ?v3 and the value of ?v2 shown in FIG. 10 are the same.

In FIG. 11, the range in which a crop enters in the harvesting|reaping part H is enlarged, so that it is spaced forward from the harvesting|reaping part H. When the combine 1 travels forward from the state shown in FIG. 11, as shown in FIG. 12, it protrudes to the early harvesting area in the part on the side where the early harvesting area is located among the harvesting parts H. The degree is reduced from 2 trillions to 1st, and the left 5 trillions of crops in the mowing section (H) are mowed.

In FIG. 11, since the combine 1 has not reached the terminal of a travel route, the determination of step #06 in FIG. 7 becomes "NO", and the process of step #07 is executed. In FIG. 11, since the tide number of the crop in front of the harvesting part H changes from 4 sets to 5 sets on the way, determination of step #08 in FIG. 7 becomes "YES". And the inclination control part 25 performs inclination control based on the process of steps #09 - #13 in FIG.

As a result of the inclination control by the inclination control part 25, as shown in FIG. 12, the height position with respect to the traveling apparatus 11 of the part by the side in which an early harvesting area is located among the harvesting parts H is 1st harvesting. From the state as high as Δv3 than the height V1, it descends in the state higher than the 1st cutting height V1 by Δv4. This lowering operation is performed by the lifting device 29 . Since the range in which crops do not enter in the harvesting part H is for 1 trillion, the value of N is set to 1. For this reason, Δv4 is a value obtained by dividing the upper limit increase amount Δvmax by 5, that is, the calculated value of Δv described above. That is, ?v4 is set to a half value of ?v3, and the value of ?v4 and the value of ?v1 shown in FIG. 9 are the same.

Thus, the inclination control part 25 raises the height position of the part on the side where the crop harvesting area in the harvesting part H is located, so that the range in which a crop does not enter in the harvesting part H is wide. do.

Fig. 13 schematically shows a case where mowing travel is performed along one of the plurality of parallel travel paths LS shown in Fig. 6 . In the example shown in FIG. 13, at the time of travel start of the parallel travel path|route LS, the number of the crops in front of the harvesting part H is 5 sets. For this reason, step #02 in FIG. 7 becomes a determination of "YES", and the inclination control part 25 performs inclination control based on the process of steps #03 - #05 in FIG. And the height position with respect to the traveling apparatus 11 of the part by the side in which an early harvesting|reaping area is located among the harvesting|reaping parts H rises higher than 1st harvesting height V1 by Δv1 by the raising/lowering device 29.

When the mowing run shown in FIG. 13 is being performed, the processing of steps #01 to #05 shown in FIG. 7 is completed, and the processing after step #06 is performed. In the case of the parallel travel path LS shown in Fig. 6, since the crop tide does not change on the way, during the mowing run shown in Fig. 13 is continued, the determination of step #08 in Fig. 7 is always becomes "no". Then, at the end of the parallel travel path LS as it is, the determination of step #06 in FIG. 7 is “YES”, and the inclination control by the inclination control unit 25 ends.

In Fig. 14, a case in which mowing is performed along the last parallel travel path LS in any of the partial work areas CA1, CA2, CA3 among the plurality of parallel travel paths LS shown in Fig. 6 is schematically shown. In the example shown in FIG. 14, at the time of travel start of the parallel travel path|route LS, the number of crops in front of the harvesting part H is 4 sets, and each of the left and right sides of the harvesting part H is a part for one set. There are areas where no crops are coming in. For this reason, step #02 becomes a determination of "YES", and the inclination control part 25 performs inclination control based on the process of steps #03 - #05 in FIG. And the height position with respect to the all traveling apparatuses 11 of the harvesting|reaping part H rises higher than 1st harvesting height V1 by (DELTA)v1 by the raising/lowering devices 29 and 29 of both right and left.

When the mowing run shown in FIG. 14 is being performed, the processing of steps #01 to #05 shown in FIG. 7 is completed, and the processing after step #06 is performed. As mentioned above based on FIG. 13, while the mowing run shown in FIG. 14 continues, if it is normal, the determination of step #08 in FIG. 7 will always be "NO". Then, as it is, at the end of the parallel travel path LS, the determination in step #06 is YES, and the inclination control by the inclination control unit 25 is finished.

15 and 16 schematically show a case where mowing travel is performed along the circling travel paths L1 and L5 shown in FIGS. 4 and 5 . Also in FIGS. 8 and 9, the case where mowing travel is performed along the circling travel routes L1 and L5 is shown, and as a difference from FIGS. 8 and 9 in FIGS. 15 and 16, the pavement is wet. It is traveling while the traveling device 11 is filled in below the pavement surface by a thing or the like. For this reason, the harvesting height of the harvesting|reaping part H is set to the 2nd harvesting height V2 higher than the 1st harvesting height V1 by the harvesting height setting part 32.

When the mowing run shown in FIGS. 15-16 is being performed, the process of steps #01 - #05 shown in FIG. 7 is completed, and the process after step #06 is performed. In FIG. 15, crops for 6 trillion are mowed by the mowing unit H, and the range in which crops do not enter in the mowing unit H is enlarged as it is spaced forward from the mowing unit H. As mentioned above based on FIGS. 8 and 9, as for the inclination control part 25, the 2nd cropping height V2 which the part by the side in which an early harvesting area is located among the harvesting parts H is preset of the harvesting part H. Inclination control is performed so that it becomes higher by ?v1.

As a result of the inclination control by the inclination control part 25, as shown in FIG. 16, the height position with respect to the traveling apparatus 11 of the part on the side where an early harvesting area is located among the harvesting|reaping parts H is the raising/lowering device ( 29), it rises higher by Δv1 than the second harvesting height V2. The value of ?v1 is the same as the value of ?v1 shown in FIG.

In FIG. 9, the part on the side in which an air harvesting area is located among the harvesting parts H rises only Δv1 from the first harvesting height V1, and in FIG. 16, the part on the side where the air harvesting region is located among the harvesting parts H. Only (DELTA)v1 is rising from this 2nd mowing height V2. The difference between FIG. 9 and FIG. 16 is only the difference of whether the harvesting height of the harvesting part H is set to the 1st harvesting height V1, or the harvesting height of the harvesting|reaping part H is set to the 2nd harvesting height V2, Also in any of FIG. 9 and FIG. 16, the rising amount of the part by the side in which an early harvesting|reaping area is located among the harvesting parts H is common by (DELTA)v1.

That is, the inclination control part 25 performs inclination control so that the height position of the part on the side in which a harvesting|reaping area is located among the harvesting|reaping parts H on the basis of the harvesting height set by the harvesting height setting part 32 may change. Thereby, the inclination control suitable for the kind of crop, the situation of a field, etc. becomes possible.

[Other embodiment]

The present invention is not limited to the configuration exemplified in the above-described embodiment, and other representative embodiments of the present invention are exemplified below.

(1) In the above-described embodiment, the inclination control unit 25 acquires the determination result of the crop area determination unit 27 and performs the inclination control based on the determination result, but it is not limited to this embodiment. does not For example, as shown in FIG. 17 , the determination result of the crop area determination unit 27 is sent to the automatic travel control unit 24, and the automatic travel control unit 24 sends the inclination control unit ( 25) may be configured to output a command for inclination control. In this case, the automatic running control part 24 may be comprised so that inclination control may be instruct|indicated to the inclination control part 25 according to the change of the tide of the crop which exists in front of the harvesting part H. Further, the automatic travel control unit 24 may be configured to instruct the inclination control unit 25 to control the inclination in consideration of the vehicle speed.

(2) In embodiment mentioned above, although the harvesting inclination change mechanism is comprised by the raising/lowering device 29, it is not limited to this embodiment. The mowing inclination change mechanism is provided in the harvesting|reaping part H as an exclusive mechanism, and the structure which the said exclusive mechanism rolls with respect to a base body may be sufficient.

(3) In the above-mentioned embodiment, although the harvesting|reaping part H of 6 sets of mowing specifications is provided, 5 sets of mowing specifications may be sufficient as the harvesting|reaping part H, and 4 sets of mowing specifications may be sufficient as it.

(4) In the above-described embodiment, the work condition detection unit 26 is configured to be capable of detecting an unforeseen area and an existing harvesting area based on the position information of the aircraft detected based on the positioning signal of the navigation satellite. It is not limited to embodiment. For example, the harvesting part H is equipped with the grain stem sensor which can detect the grain stem which enters the harvesting part H for every set, and the work condition detection part 26 is based on the detection result of the said grain stem sensor, and the non-mowing area and You may be comprised so that an air harvesting|reaping area can be detected.

(5) In the above-mentioned embodiment, as shown in FIG. 9, when the right part in the advancing direction of the harvesting part H protrudes into the pre-harvesting area for 1 set, the inclination control part 25 will perform inclination control. And, as shown in FIG. 10, when the right part of the advancing direction of the harvesting part H protrudes into the pre-harvesting area by 2 trillion minutes, the inclination control part 25 performs inclination control further. The present invention is not limited to the embodiment shown in Figs. 9 and 10 . For example, in the case where the part in which crops do not enter among the harvesting units H is only for one set on the side where the harvesting area is located, the inclination control unit 25 may be configured not to perform inclination control. In this case, the inclination control part 25 may be a structure which performs inclination control if the part in which crops are not entering among the harvesting|reaping part H is 2 trillion or more of the side in which an early harvesting|reaping area is located.

(6) In the above-described embodiment, as shown in steps #09 to #11 of FIG. 7 , the inclination control unit 25 changes the operation start timing of the lifting device 29 as a mowing inclination changing mechanism according to the vehicle speed. Although it is comprised so that it may do so, it is not limited to this embodiment. For example, the elevating device 29 may be configured to be capable of changing a stroke speed at the time of raising/lowering, and the inclination control unit 25 may be configured to change the stroke speed of the elevating device 29 according to the vehicle speed. In addition, it is not limited to the structure in which the start coordinate of the raising/lowering device 29 is calculated as shown in steps #10 and #11, For example, a timer for starting the operation of the raising/lowering device 29 is provided, and an inclination The control unit 25 may be configured to change the length of the timer according to the vehicle speed.

(7) In the above-mentioned embodiment, the inclination control part 25 is the height position of the part on the side in which an early harvesting area is located among the harvesting parts H on the basis of the harvesting height set by the harvesting height setting part 32. Inclination control is performed so that The harvesting height setting part 32 may be comprised so that the rise amount of the harvesting|reaping part H displayed by (DELTA)v1 in FIG. 9 can be changed, for example. That is, the change amount setting part which sets the operation amount of the lifting device 29 at the time of inclination control is the harvesting height setting part 32, and based on the artificial operation of the setting operation tool 33, the raising and lowering device 29 of The amount of operation may be configured to be changeable. In addition, based on the artificial operation of an operation tool different from the setting operation tool 33, a change amount setting unit different from the harvesting height setting unit 32 sets the operation amount of the lifting device 29 when the inclination control is performed. do. And the inclination control part 25 may be the structure which performs inclination control so that the height position of the part by the side in which a non-harvesting area|region is located among the harvesting|reaping part H may change based on the said operation amount.

(8) In the above-described embodiment, ?v2 is set to be twice that of ?v1. However, if the value of ?v2 is higher than the value of ?v1, the value of ?v2 can be appropriately changed. In addition, ?v4 is set to a value of half of ?v3, but if the value of ?v4 is lower than the value of ?v3, the value of ?v4 can be appropriately changed.

(9) In the above-described embodiment, the amount of rise when the inclination control unit 25 raises the lifting device 29 on the side of the harvesting area is Δv,

『∆v=N×∆vmax/(Hmax-1)』

Although the configuration in which Δv is calculated by the formula ?v has been described above, it is not limited to this embodiment. For example, the upper limit rise amount Δvmax may be defined as the unit rise amount for one trillion in which no crops are planted in the mowing part H. That is, if the area where no crops are planted in the harvesting section H changes for every set,

『∆v=N×∆vmax』

A configuration in which Δv is calculated by the formula In this case, the above-described Δv1 and Δv4 are the same as the upper limit increase amount Δvmax (unit increase amount), and Δv2 and Δv3 are the values obtained by multiplying the upper limit increase amount Δvmax (unit increase amount) by 2.

In addition, the structure disclosed by the above-mentioned embodiment (including another embodiment, it is the same hereafter) can be applied in combination with the structure disclosed by the other embodiment, unless a contradiction arises. In addition, embodiment disclosed in this specification is an illustration, and embodiment of this invention is not limited to this, It is possible to change suitably within the range which does not deviate from the objective of this invention.

In addition, embodiment of this invention is described based on drawing. In the following description, the direction of the arrow F is referred to as "the aircraft front side", the direction of the arrow B is referred to as "the aircraft rear side", the direction of the arrow U is referred to as "upward", and the direction of the arrow D is referred to as "downward". When showing left and right, the right side in the state which turned to the body forward side is called "right", and the left is called "left".

[Overall composition of combine]

In FIG. 18 , an example of a harvesting machine is a self-harvesting combine. This combine 1001 is equipped with a base body 1010 (an example of a "traveling base body") and a crawler-type traveling device 1011 . In the front part of the base body 1010, the harvesting part 1012 which mows and harvests the planting grain stem of a field is provided.

In the lower part of the harvesting part 1012, the blade 1012a which cut|disconnects the lower part of the planting grain stem of a pavement is provided. A drive mechanism 1012b (see FIG. 22 ) is provided for shifting the driving force from the engine and transmitting it to the harvesting unit 1012 and driving the harvesting unit 1012 . The drive mechanism 1012b drives the harvesting unit 1012 in a vehicle speed interlocking state that drives the harvesting unit 1012 at a speed interlocked with the vehicle speed of the combine 1001 and the harvesting unit 1012 in a state not interlocking with the vehicle speed of the combine 1001 . It is configured so that the state can be switched to a non-interlocked state. Normally, the drive mechanism 1012b is set to the vehicle speed interlocking state. The harvesting unit 1012 is configured to be able to move up and down with respect to the base body 1010 by a lifting mechanism 1012c (refer to FIG. 22 ). A detection unit 1012d (see FIG. 22 ) for detecting the driving torque of the harvesting unit 1012 is provided. The harvesting part 1012 is equipped with the some raising apparatus (not shown) which raise|generates the grain stem of a field, and the grain stem conveying apparatus (not shown) which conveys a harvesting grain stem backward.

In the body 1010 , a driving unit 1013 is provided behind the harvesting unit 1012 . The driving unit 1013 is located on the right side of the front portion of the body 1010 . On the left side of the driving unit 1013 , a conveying unit 1014 for conveying the harvest harvested by the harvesting unit 1012 is provided.

The threshing apparatus 1015 which threshes the harvest conveyed by the conveyance part 1014 behind the conveyance part 1014 is provided. In the rear part of the threshing apparatus 1015, the waste straw processing apparatus 1016 which cuts the waste straw is provided.

The grain tank 1017 (an example of a "grain storage part") which stores the grain obtained by the threshing apparatus 1015 behind the driving part 1013 and right side of the threshing apparatus 1015 is provided. The storage amount sensor 1017a (refer FIG. 22) which detects the quantity of the grain stored in the grain tank 1017 is provided in the grain tank 1017.

The discharge apparatus 1018 which discharges the grain stored in the grain tank 1017 to the outside is provided in the back of the grain tank 1017. The discharge device 1018 is capable of turning around a pivotal axis extending in the vertical direction.

A satellite positioning module 1019 is provided on the left side of the front part of the driving unit 1013 . The satellite positioning module 1019 receives a signal from a GPS (Global Positioning System) satellite, and generates positioning data indicating the location of the own vehicle of the combine 1001 based on the signal.

A management terminal 1022 (refer to FIG. 22 ) is disposed in the operation unit 1013 . The management terminal 1022 is configured to display a variety of information. The management terminal 1022 may be comprised so that input operation of the various settings (setting of a traveling pattern to give priority, etc.) regarding the automatic running of the combine 1001 can be accepted.

A communication unit 1023 (refer to Fig. 22) connectable to an external communication network is provided. The communication unit 1023 is configured to be able to communicate with an external server or the like via the communication network.

The combine 1001 is configured so as to be able to be used frequently by the traveling device 1011, and the harvesting traveling driven by the traveling device 1011 while mowing the planting grain stem of the pavement by the harvesting unit 1012 is possible. .

[Harvest operation by combine]

The harvesting operation in the field by the scraping-type combine 1001 is demonstrated, referring FIGS. 19-21. In this embodiment, as shown in FIG. 19, the example in which the outer shape of a package is rectangular is demonstrated.

First, as shown in FIG. 19 , a harvest run is performed so as to go around along the boundary line of the pavement in the area on the outer periphery side of the pavement (initial circling run). The area used as the pre-worked paper by this initial round trip is set as the outer circumferential area SA (refer to FIG. 20), and the unworked area inside the outer circumferential area SA is set as the work target area CA (refer to FIG. 20). do.

When the outer periphery area SA harvests the planting grain stem of the work target area|region CA by automatic travel, it is used as a space for the combine 1001 to change direction (turn travel mentioned later). In addition, the outer peripheral area SA is also used as a space for moving to an exhaust stop position PP adjacent to the transport vehicle CV or moving to a fuel replenishment place.

In order to ensure the width|variety of the outer peripheral area|region SA wide to some extent, the initial round running is performed for about 2 to 4 weeks. The initial round trip may be performed by manual running or may be performed by automatic running. Initial round trip is performed so that one side (preferably two opposing sides) of work target area|region CA may become parallel to the jaw direction. In this embodiment, work target area|region CA is a rectangle, and the case where two opposing short sides of work target area|region CA are parallel to the jaw direction is demonstrated.

Following the initial round trip, the planted grain stem of the work target area CA is harvested by automatic running. In this automatic running, an automatic harvesting run for harvesting a planted grain stem while automatically traveling on a harvest run route LI (an example of a running route) set in the work target area CA, one automatic harvest run, and the next automatic run The turn running performed between harvesting runs is repeatedly performed. The turn travel is automatic travel on the turn travel path TN that connects between the two harvest travel paths LI.

The above-described automatic harvesting travel and turn travel are performed according to a predetermined travel pattern. As the traveling pattern, the α-turn circumferential travel pattern shown in FIG. 20 and the U-turn circumferential travel pattern shown in FIG. 21 are exemplified.

The α-turn circling travel pattern ( FIG. 20 ) is a traveling pattern in which the harvest travel path LI parallel to the four sides of the rectangular work area CA is sequentially driven, and the turn travel is performed as the α-turn travel.

The α-turn travel is performed by forward travel along the direction in which the previous harvest travel path LI extends, backward travel including turning travel, and forward along the direction in which the next harvest travel path LI extends. . The automatic running according to the α-turn circling running pattern is a swirling running as shown in FIG. 20 .

In the U-turn circling travel pattern (FIG. 21), the harvest travel path LI parallel to two opposing sides of the rectangular work area CA is alternately driven from the outside in order, and the turn travel is a U-turn travel. It's a driving pattern. The U-turn travel is executed only by the forward travel including the turning travel. As shown in Fig. 21 , the automatic travel according to the U-turn circumferential travel pattern is a swirl-like travel similar to the α-turn round travel pattern. In this embodiment, let the harvest travel path LI which travels in a U-turn circling travel pattern be a path|route parallel to two sides parallel to the jaw direction of work target area|region CA.

Automatic travel by the α-turn circumferential travel pattern is performed prior to the U-turn circumferential travel pattern when the width of the outer circumferential area SA is narrow and automatic travel by the U-turn circumferential travel pattern is difficult to be executed. When the width of the outer circumferential area SA is sufficiently large and automatic travel by the U-turn circumferential travel pattern is possible, automatic travel by the α-turn round travel pattern does not need to be executed.

[Configuration related to control]

22, the control unit 1080 of the combine 1001 includes the own vehicle position calculation unit 1081, the area calculation unit 1082, the route calculation unit 1083, the driving control unit 1084 and the retry control unit ( 1085) is provided.

The host vehicle position calculating unit 1081 calculates the positional coordinates of the combine 1001 over time based on the positioning data generated by the satellite positioning module 1019 .

The area calculation unit 1082 calculates the outer peripheral area SA and the work target area CA based on the temporal coordinates of the combine 1001 calculated by the host vehicle position calculation unit 1081 . Specifically, the area calculation unit 1082 is configured to, based on the temporal positional coordinates of the combine 1001 calculated by the host vehicle position calculation unit 1081, in the circumferential run (initial round run) on the outer periphery of the pavement. Calculate the running trajectory of the combine 1001 of. And the area|region calculation part 1082 calculates the area|region on the outer periphery of the pavement which the combine 1001 traveled while harvesting the planting grain culm as outer periphery area SA based on the calculated traveling trajectory of the combine 1001. . Moreover, the area|region calculation part 1082 calculates the area|region inside pavement rather than the calculated outer peripheral area|region SA as work target area|region CA.

For example, in FIG. 20, the path|route on which the combine 1001 traveled in the circling run (initial circling run) in the outer peripheral side of a pavement is displayed by the arrow. In the example of illustration, the combine 1001 is performing the circling run of 3 weeks. And when this initial round trip is completed, the pavement will be in the state shown in FIG.

As shown in FIG. 20, the area|region calculation part 1082 calculates the area|region on the outer periphery of the pavement in which the combine 1001 traveled while harvesting a planted grain culm as outer periphery area SA, and calculated outer periphery area SA ), the area inside the pavement is calculated as the work target area CA.

The path calculation unit 1083 calculates the harvest travel path LI for the automatic harvest travel inside the work target area CA based on the calculation result of the area calculation unit 1082 . In the present embodiment, the harvest travel path LI is a plurality of mesh lines extending parallel to the four sides of the work target area CA. In addition, the route calculation unit 1083 calculates a turn travel path TN between the two harvest travel paths LI for turn travel (α-turn travel, U-turn travel).

The traveling control unit 1084 is configured to control the traveling device 1011 and the harvesting unit 1012 . The travel control unit 1084 sets the travel path to be driven next among the travel paths (the harvest travel path LI, the turn travel path TN, etc.) calculated by the path calculation unit 1083 . The travel control unit 1084 sets the travel route based on the above-described travel patterns (α-turn round travel pattern, U-turn round travel pattern) and the like. Then, the travel control unit 1084 controls the automatic travel of the combine 1001 based on the position coordinates of the combine 1001 calculated by the host vehicle position calculation unit 1081 and the set travel route. Specifically, the traveling control unit 1084 controls the traveling device 1011 of the combine 1001 so that the combine 1001 travels along the set traveling route. And the traveling control unit 1084 operates the harvesting unit 1012 when the combine 1001 travels along the harvest traveling path LI.

The retry control unit 1085 (an example of the “control unit”) is configured to, in the automatic harvesting travel in which the field crops are harvested while automatically traveling, as the aircraft 1010 is traveling while deviating from the harvest travel path LI, Try processing. Specifically, the retry control unit 1085 includes the position coordinates of the combine 1001 calculated by the own vehicle position calculation unit 1081 and the harvest run calculated by the path calculation unit 1083 and set by the travel control unit 1084 . Based on the path LI, the amount of deviation from the harvest travel path LI of the body 1010 is calculated. When the calculated shift amount exceeds a predetermined threshold, the retry control unit 1085 controls the traveling device 1011 , the drive mechanism 1012b , and the elevating mechanism 1012c to execute a retry process. Details of the retry process will be described later.

[Flow of harvest work by combine]

Below, the combine 1001 demonstrates the flow of the harvesting operation performed in the field shown in FIG.

First, the operator operates the combine 1001 manually, and, as shown in FIG. 19, in the outer peripheral part in a field, a harvest run is performed so that it may go around along the boundary line of a field (initial circumference traveling). In the example of illustration, the combine 1001 performs a round run of 3 weeks. When this initial round trip is completed, the pavement will be in the state shown in FIG.

The area calculation unit 1082 calculates the traveling trajectory of the combine 1001 during the initial circling travel in FIG. 19 , based on the temporal position coordinates of the combine 1001 calculated by the host vehicle position calculation unit 1081 . And the area calculation part 1082, as shown in FIG. 20, based on the calculated traveling trajectory of the combine 1001, the area on the outer periphery of the pavement in which the combine 1001 travels around while harvesting the planted grain stem. It is calculated as outer peripheral area SA. Moreover, the area|region calculation part 1082 calculates the area|region inside the pavement rather than the calculated outer peripheral area|region SA as work target area|region CA.

Next, the path calculation unit 1083 calculates the harvest travel path LI in the work target area CA, as shown in FIG. 20 , based on the calculation result of the area calculation unit 1082 . . In the illustrated example, a plurality of harvest travel paths LI parallel to the short side of the work target area CA and a plurality of harvest travel paths LI parallel to the long side of the work target area CA are calculated. The harvesting travel path LI parallel to the short side of the working area CA is parallel to the jaw direction.

Then, when the operator presses an automatic travel start button (not shown), automatic travel along the harvest travel path LI is started. In this example, first, automatic travel ( FIG. 20 ) according to the α-turn circumferential travel pattern is performed. The travel control unit 1084 sets the harvest travel paths LI1, LI2, LI3, and LI4 as travel paths. The route calculation unit 1083 calculates the turn travel routes TN1, TN2, and TN3 for α-turn travel. The travel control unit 1084 controls the travel device 1011 to control the harvest travel path LI1, the turn travel path TN1, the harvest travel path LI2, the turn travel path TN2, and the harvest travel path LI3. , the combine 1001 is automatically driven in the order of the turn travel path TN3 and the harvest travel path LI4.

When the existing work area on the outer periphery of the pavement is enlarged by the automatic running of the combine 1001 on the round trip, and automatic running ( FIG. 21 ) by the U-turn round running pattern becomes possible, the running control unit 1084 sets the running pattern Switch to the U-turn round driving pattern. The travel control unit 1084 sets the harvest travel paths LI5, LI6, LI7, and LI8 as travel paths. The route calculation unit 1083 calculates turn travel routes TN4, TN5, and TN6 for U-turn travel. The travel control unit 1084 controls the travel device 1011 to control the harvest travel path LI5, the turn travel path TN4, the harvest travel path LI6, the turn travel path TN5, and the harvest travel path LI7. , the combine 1001 is automatically driven in the order of the turn travel path TN6 and the harvest travel path LI8.

[Retry processing]

With reference to FIG. 23, the retry process of this embodiment is demonstrated.

As described above, the retry control unit 1085 calculates and monitors the deviation amount from the harvest travel path LI of the base unit 1010, and starts the retry process when the deviation amount exceeds a predetermined threshold. In the illustrated example, the base 1010 reaches the point P1, and the retry process is started when the shift amount DL exceeds 60% of the intertidal distance of the pavement.

First, the retry control unit 1085 controls the traveling device 1011 to decelerate the combine 1001 (#1), and makes it stop at the point P2 (#2). The drive mechanism 1012b is set to a vehicle speed interlocking state, the operating speed of the harvesting unit 1012 decreases with deceleration of the combine 1001 , and the harvesting unit 1012 with the stop of the combine 1001 is stop

When the combine 1001 stops, the retry control unit 1085 controls the drive mechanism 1012b to set it to a non-interlocking state, and operates the harvest unit 1012 (#3). Then, the retry control unit 1085 receives the detection result of the driving torque of the harvesting unit 1012 from the detection unit 1012d, and when the driving torque of the harvesting unit 1012 is lower than a predetermined threshold, the harvesting unit 1012 to stop

When the harvesting unit 1012 stops, the retry control unit 1085 controls the lifting mechanism 1012c to raise the harvesting unit 1012 (#4). When the harvesting unit 1012 rises, the retry control unit 1085 controls the traveling device 1011 to move the combine 1001 backward (#5) and stop at the point P3 (#6). For example, the point P3 is a point beyond the point P1 at which the retry process is started, and is a point located on the harvest travel path LI.

Then, the retry control unit 1085 controls the lifting mechanism 1012c to lower the harvesting unit 1012 (#7), and controls the drive mechanism 1012b to switch to the vehicle speed interlocking state. The retry control unit 1085 controls the traveling device 1011 to advance the combine 1001 (#8), and ends the retry process. Thereafter, the traveling control unit 1084 controls the traveling device 1011 and the harvesting unit 1012 to automatically harvest the combine 1001 along the harvest travel path LI.

[Other embodiment]

(1) Referring to Fig. 24, a retry process according to another embodiment will be described.

The retry control unit 1085 calculates and monitors the amount of deviation from the harvest travel path LI of the base unit 1010 , and starts the retry process when the amount of deviation exceeds a predetermined threshold. In the illustrated example, the base 1010 reaches the point P1, and the retry process is started when the shift amount DL exceeds 60% of the intertidal distance of the pavement.

First, the retry control unit 1085 controls the traveling device 1011 to decelerate the combine 1001 (#1). Then, the retry control unit 1085 controls the driving mechanism 1012b to switch to the non-interlocking state, and operates the harvesting unit 1012 at a speed greater than the speed corresponding to the vehicle speed (#2).

The retry control unit 1085 stops the combine 1001 at the point P2 (#3). Then, the retry control unit 1085 receives the detection result of the driving torque of the harvesting unit 1012 from the detection unit 1012d, and when the driving torque of the harvesting unit 1012 is lower than a predetermined threshold, the harvesting unit 1012 to stop (#4).

When the harvesting unit 1012 stops, the retry control unit 1085 controls the lifting mechanism 1012c to raise the harvesting unit 1012 (#5). When the harvesting unit 1012 rises, the retry control unit 1085 controls the traveling device 1011 to move the combine 1001 backward (#6), and stops at the point P3 (#7). For example, the point P3 is a point beyond the point P1 at which the retry process is started, and is a point located on the harvest travel path LI.

Then, the retry control unit 1085 controls the lifting mechanism 1012c to lower the harvesting unit 1012 (#8), and controls the drive mechanism 1012b to switch to the vehicle speed interlocking state. The retry control unit 1085 controls the traveling device 1011 to advance the combine 1001 (#9), and ends the retry process. Thereafter, the traveling control unit 1084 controls the traveling device 1011 and the harvesting unit 1012 to automatically harvest the combine 1001 along the harvest travel path LI.

(2) In the above embodiment, the retry control unit 1085 causes the aircraft 1010 to shift the harvest travel path LI as the amount of deviation from the harvest travel path LI of the aircraft 1010 exceeds a predetermined threshold. ), it is judged that the vehicle is traveling, and a retry process is executed. By a method different from this, it may be determined that "the aircraft 1010 is traveling while deviating from the harvest travel path LI".

For example, the sensor which detects the tide of the planting grain stem introduced into the harvesting part 1012 is provided, and as the output of the said sensor fluctuates, the retry control part 1085 may perform a retry process. It is because the tide of the planting grain stem introduce|transduced into the harvesting part 1012 may change when the base|substrate 1010 of the combine 1001 shifts|deviates from the harvest travel path|route LI and travels. For example, when it shifts|deviates to the existing work ground side and runs, the tide of a planting grain stem will decrease.

For example, based on an image (video) captured by a camera provided in the aircraft 1010 or a drone (wireless flying object), “the aircraft 1010 is traveling while deviating from the harvest travel path LI” is It is determined, and the retry control unit 1085 may execute a retry process according to the determination.

For example, the operator monitors the deviation from the harvest travel path LI of the aircraft 1010, inputs an operation instructing the start of the retry process to the management terminal 1022 when the deviation becomes large, and inputs the operation Upon receipt of , the retry control unit 1085 may execute a retry process.

(3) The conditions for stopping the harvesting unit 1012 in the retry process are not limited to the examples shown in the above embodiment. For example, the retry control unit 1085 may stop the harvesting unit 1012 when the decrease amount of the driving torque of the harvesting unit 1012 exceeds a predetermined value. The retry control unit 1085 may stop the harvest unit 1012 as a predetermined time elapses. The detection unit 1012d is configured to detect the driving rotation speed of the harvesting unit 1012, and the retry control unit 1085, the driving rotation speed of the harvesting unit 1012 detected by the detection unit 1012d is less than a predetermined threshold The harvesting unit 1012 may be stopped depending on (or the amount of decrease in the driving rotation speed exceeds a predetermined threshold).

(4) In the above embodiment, an example in which the outer shape of the pavement and the work target area CA are rectangular has been described. The outer shape of the pavement is not limited to a rectangle, and may be a polygon such as a triangle or a pentagon, and a part or all of the outer peripheral shape thereof may be curved. Although a rectangle is preferable from the point of work efficiency, the work target area|region CA may be polygonal, such as a triangle and a pentagon, and a curved part or all of the outer peripheral shape may be sufficient as it.

(5) Although the example in which the harvest travel path LI is a straight line has been described in the above embodiment, a part or all of the harvest travel path LI may be curved.

In addition, embodiment of this invention is described based on drawing. In the following description, the direction of arrow F is referred to as "aircraft front side", the direction of arrow B is referred to as "aircraft rear side", the direction of arrow L is referred to as "aircraft left side", and the direction of arrow R is referred to as "aircraft right side". . Let the direction of arrow U be "up" and the direction of arrow D be "down".

[Overall composition of combine]

25 and 26, an example of a harvester, a self-talenting type combine, is shown. This combine 2001 is equipped with the base|substrate 2010 and the crawler type traveling apparatus 2011. As shown in FIG. The front part of the base body 2010 is provided with the harvesting part 2012 which mows and harvests the planting grain stem of a field.

In the base body 2010 , a driving unit 2013 is provided behind the harvesting unit 2012 . The driving unit 2013 is located on the right side of the front part of the body 2010 . On the left side of the driving unit 2013 , a conveying unit 2014 for conveying the harvest harvested by the harvesting unit 2012 is provided.

The threshing apparatus 2015 which threshes the harvest conveyed by the conveyance part 2014 behind the conveyance part 2014 is provided. In the rear part of the threshing apparatus 2015, the discharge straw processing apparatus 2016 which cuts the discharge straw is provided.

The grain tank 2017 which stores the grain obtained by the threshing apparatus 2015 behind the threshing apparatus 2015 rear of the driving part 2013 and the right side of the threshing apparatus 2015 is provided. In the grain tank 2017, the storage amount sensor 2017a (refer FIG. 31) which detects the quantity of the grain stored in the grain tank 2017 is provided.

The discharge apparatus 2018 which discharges the grain stored in the grain tank 2017 to the outside is provided in the back of the grain tank 2017. The discharge device 2018 is capable of turning around a pivot axis extending in the vertical direction.

A satellite positioning module 2019 is provided on the left side of the front part of the driving unit 2013 . The satellite positioning module 2019 receives a signal from a GPS (Global Positioning System) satellite, and generates positioning data indicating the location of the own vehicle of the combine 2001 based on the signal.

A split second lever 2020 is provided on the lateral side of the base body 2010 . The minute and second lever 2020 has a working posture (dotted lines in Figs. 25 and 26) that protrude outward in the lateral direction of the aircraft (left side of the aircraft in this embodiment), and a lateral inner side of the aircraft (right side of the aircraft in this embodiment) from the working posture. It is configured such that the posture can be changed to a storage posture (solid lines in Figs. 25 and 26) positioned at . In this embodiment, the dusting lever 2020 is supported by the left part of the harvesting part 2012. As shown in FIG. The harvesting unit 2012 is provided with a split-second lever motor 2020a (refer to FIG. 31 ) for changing the posture of the split-second lever 2020.

The combine 2001 is provided with the notification mechanism 2021 (refer FIG. 31) which notifies surrounding workers and an operator of the effect that discharge|emission running (described later) is performed. The notification mechanism 2021 is, for example, a work light, a siren, or a speaker provided in the driving unit 2013, and the notification is performed by blinking of the work light, operation of the siren, voice guidance from the speaker, or the like. In addition, the management terminal 2022 (described later) may also serve as the notification mechanism 2021.

A management terminal 2022 (refer to FIG. 31 ) is disposed in the driving unit 2013 . The management terminal 2022 is comprised so that various information can be displayed. The management terminal 2022 may be comprised so that input operation of various settings (setting of the exhaust stop position PP mentioned later, setting of a preferential driving pattern, etc.) regarding the automatic running of the combine 2001 can be accepted.

The combine 2001 is configured to be possible by the travel device 2011, and the harvesting unit 2012 is configured to enable a harvest run driven by the travel device 2011 while mowing the planting grain stem of the pavement. .

[Harvest operation by combine]

About the harvesting operation in the field by the scraping type combine 2001, it demonstrates, referring FIGS. 27-30. In this embodiment, as shown in FIG. 27, the example in which the outer shape of a package is rectangular is demonstrated. On the outside of the pavement, a transport vehicle (CV) for transporting grains discharged from the combine 2001 is parked, and a discharge stop position PP (see FIGS. 28 to 30 ) is located in the vicinity of the transport vehicle (CV) in the pavement. ) is set.

First, as shown in FIG. 27, a harvest run is performed so that it may go around along the boundary line of a pavement in the area|region on the outer peripheral side in a pavement (initial circling run). The area used as the pre-work site by this initial round trip is set as the outer circumferential area SA (refer to FIG. 27), and the unworked area inside the outer circumferential area SA is set as the work target area CA (refer to FIG. 27). do.

When the outer periphery area SA harvests the planting grain stem of the work target area|region CA by automatic travel, it is used as a space for the combine 2001 to change direction (the turn travel mentioned later). In addition, the outer peripheral area SA is also used as a space for moving to the exhaust stop position PP and moving to a fuel replenishment place.

In order to ensure the width|variety of the outer peripheral area|region SA wide to some extent, the initial round running is performed for about 2 to 4 weeks. The initial round trip may be performed by manual running or may be performed by automatic running. Initial round trip is performed so that one side (preferably two opposing sides) of work target area|region CA may become parallel to the jaw direction. In this embodiment, work target area|region CA is a rectangle, and the case where two opposing short sides of work target area|region CA are parallel to the jaw direction is demonstrated.

Following the initial round trip, the planted grain stem of the work target area CA is harvested by automatic running. In this automatic running, an automatic harvesting run for harvesting a planted grain stem while automatically traveling on a harvest run route LI (an example of a running route) set in the work target area CA, one automatic harvest run, and the next automatic run The turn running performed between harvesting runs is repeatedly performed. The turn travel is automatic travel on the turn travel path TN that connects between the two harvest travel paths LI.

The above-described automatic harvesting travel and turn travel are performed according to a predetermined travel pattern. As the travel patterns, the α-turn circumferential travel pattern shown in FIG. 28 and the U-turn circumferential travel pattern shown in FIG. 29 are exemplified.

The α-turn circling travel pattern ( FIG. 28 ) is a traveling pattern in which the harvest travel path LI parallel to the four sides of the rectangular work area CA is sequentially driven, and the turn travel is performed as the α-turn travel. The α-turn travel is performed by forward travel along the direction in which the previous harvest travel path LI extends, backward travel including turning travel, and forward along the direction in which the next harvest travel path LI extends. . The automatic running according to the α-turn circling running pattern is a swirling running as shown in FIG. 28 .

In the U-turn circling travel pattern (FIG. 29), the harvest travel path LI parallel to two opposing sides of the rectangular work area CA is alternately driven from the outside in order, and the turn travel is a U-turn travel. It's a driving pattern. The U-turn travel is executed only by the forward travel including the turning travel. As shown in Fig. 29 , the automatic travel according to the U-turn circumferential travel pattern is a swirl-like travel similar to the α-turn round travel pattern. In the present embodiment, the harvest travel path LI traveling in the U-turn circling travel pattern is defined as a path parallel to two sides parallel to the nail direction of the work target area CA.

The automatic travel by the α-turn circumferential travel pattern is performed prior to the U-turn circumferential travel pattern when the width of the outer circumferential area SA is narrow and it is difficult to perform automatic travel by the U-turn circumferential travel pattern. When the width of the outer circumferential area SA is sufficiently large to enable automatic travel by the U-turn circumferential travel pattern, automatic travel by the α-turn circumferential travel pattern does not need to be executed.

When the storage amount of the grains in the grain tank 2017 becomes large, the discharge travel which automatically travels from the harvest interruption position IP (FIG. 30) to the discharge stop position PP at the time of discharging grain is performed, and the discharge stop position PP ), the discharge of the grain is performed by the discharge device 2018. Return travel that automatically travels from the discharge stop position PP to the harvest resume position RP (FIG. 30) where harvesting of the planting grain stem is resumed from the discharge stop position PP when the unworked land remains in the work target area CA after the completion of the discharging of the grains this is executed When there is no unworked land remaining in the work target area CA, the harvesting operation is terminated.

The discharge travel may be executed after the automatic travel on one harvest travel path LI ends, as shown in FIG. 30 . In this case, the harvest restart position RP becomes the starting point of the next harvest travel path LI. The discharge travel may be executed while stopping the automatic travel on the harvest travel path LI. In this case, the harvest restart position RP becomes the position where the automatic running in the harvest travel route LI was interrupted.

[Configuration related to control]

31, the control unit 2080 of the combine 2001 includes the own vehicle position calculation unit 2081, the area calculation unit 2082, the route calculation unit 2083, the travel control unit 2084, the minute and second lever control unit ( 2085), a discharge control unit 2086, and a notification control unit 2087 are provided.

The host vehicle position calculation unit 2081 calculates the position coordinates of the combine 2001 over time based on the positioning data generated by the satellite positioning module 2019 .

The area calculation unit 2082 calculates the outer peripheral area SA and the work target area CA based on the temporal coordinates of the combine 2001 calculated by the host vehicle position calculation unit 2081 . Specifically, the area calculation unit 2082 performs the circumferential run (initial round trip) on the outer periphery of the pavement based on the temporal position coordinates of the combine 2001 calculated by the host vehicle position calculation unit 2081 . Calculate the running trajectory of the combine 2001 of. And the area|region calculation part 2082 calculates the area|region on the outer periphery of the pavement in which the combine 2001 traveled while harvesting a planted grain culm as outer periphery area SA based on the calculated traveling trajectory of the combine 2001. . Moreover, the area|region calculation part 2082 calculates the area|region inside the pavement rather than the calculated outer periphery area|region SA as work target area|region CA.

For example, in FIG. 27, the path|route in which the combine 2001 traveled in the circling run (initial circling run) in the outer peripheral side of a pavement is displayed by the arrow. In the example of illustration, the combine 2001 is performing the circling run of 3 weeks. And when this initial round trip is completed, the pavement will be in the state shown in FIG.

As shown in FIG. 28, the area|region calculation part 2082 calculates the area|region on the outer periphery of the pavement in which the combine 2001 traveled while harvesting the planting grain stem as outer periphery area SA, and calculated outer periphery area SA ), the area inside the pavement is calculated as the work target area CA.

The path calculation unit 2083 calculates the harvest travel path LI for the automatic harvest travel inside the work target area CA based on the calculation result of the area calculation unit 2082 . In the present embodiment, the harvest travel path LI is a plurality of mesh lines extending parallel to the four sides of the work target area CA. In addition, the route calculation unit 2083 calculates a turn travel route TN between the two harvest travel routes LI for turn travel (α-turn travel, U-turn travel). In addition, the route calculation unit 2083, based on the harvest stop position (IP) and the harvest resume position (RP) set by the discharge control unit 2086, the discharge travel path (UL) for the discharge travel, and return travel Calculate the return travel path RL for The discharge travel path UL is a path connecting the harvest stop position IP and the discharge stop position PP. The return travel path RL is a path connecting the discharge stop position PP and the harvest resume position RP.

The traveling control unit 2084 is configured to control the traveling device 2011 and the harvesting unit 2012 . The travel control unit 2084 controls the following travel paths (such as the harvest travel path LI, the turn travel path TN, the exhaust travel path UL, and the return travel path RL) calculated by the path calculation unit 2083 . Set the driving route to be driven. The travel control unit 2084 sets the travel route based on the above-described travel pattern (α-turn round travel pattern, U-turn round travel pattern) or an exhaust timing (described later) set by the exhaust control unit 2086 . . Then, the travel control unit 2084 controls the automatic travel of the combine 2001 based on the position coordinates of the combine 2001 calculated by the host vehicle position calculation unit 2081 and the set travel route. Specifically, the traveling control unit 2084 controls the traveling device 2011 of the combine 2001 so that the combine 2001 travels along the set traveling path. And the travel control unit 2084 operates the harvest unit 2012 when the combine 2001 travels the harvest travel path LI.

The minute-and-second lever control section 2085 is configured to be able to control the minute-and-second lever motor 2020a that changes the posture of the minute-and-second lever 2020 . That is, the seconds-and-second lever control unit 2085 automatically controls the change of posture between the working posture and the storage posture of the minute-and-second lever 2020 . In detail, the division lever control unit 2085 sets the division lever 2020 to the working posture at the start of the automatic harvesting driving of harvesting the planted grain stem while automatically traveling on the harvest travel path LI, and the automatic harvesting driving is terminated. At the time, the minute and second lever 2020 is placed in the stowed position. The split-second lever control unit 2085 puts the split-second lever 2020 in the stowed position at the start of the turn running, and puts the split-second lever 2020 in the working posture when the turn travel ends. The split-second lever control unit 2085 puts the split-second lever 2020 in the stowed position at the start of the exhaust travel, and sets the split-second lever 2020 to the working posture at the end of the return travel.

The minute and second lever control unit 2085 performs the automatic posture change of the minute and second lever 2020 described above with the position coordinates of the combine 2001 calculated by the own vehicle position calculation unit 2081 and the travel set by the travel control unit 2084 . Execute based on path. Specifically, as the position coordinates of the combine 2001 calculated by the own vehicle position calculation unit 2081 coincide with the starting point or the end point of the traveling route set by the traveling control unit 2084, Or in a stowed position. For example, as the position coordinates of the combine 2001 calculated by the own vehicle position calculation unit 2081 coincide with the time point of the harvest travel path LI set by the driving control unit 2084, the seconds lever 2020 is operated While setting it as a posture, according to the end point of the harvest travel path LI set by the travel control unit 2084, the split-second lever 2020 is set to a stowed posture.

The discharge control part 2086 controls discharge|emission of the grain stored in the grain tank 2017. Specifically, the discharge control part 2086 sets the discharge|emission timing of a grain based on the quantity of the grain stored in the grain tank 2017 which the storage amount sensor 2017a detected. Then, based on the set discharge timing, the harvest stop position (IP) and the harvest resume position (RP) are set. When the combine 2001 is in the discharge stop position PP, the discharge control part 2086 controls the discharge apparatus 2018 and discharges the grain stored in the grain tank 2017.

For example, as the quantity of the grain stored in the grain tank 2017 exceeds a predetermined threshold value, the discharge|emission control part 2086 sets the discharge|emission timing to "after the end of the currently executed automatic harvesting run." . In this case, the discharge control unit 2086 sets the end point of the harvest travel path LI currently traveling as the harvest stop position IP, and sets the start point of the harvest travel path LI to be driven next to the harvest resume position ( RP).

The discharge control unit 2086 determines the discharge timing based on the position coordinates of the combine 2001 calculated by the own vehicle position calculation unit 2081, the travel route set by the travel control unit 2084, the set discharge stop position PP, etc. You can set For example, when the end point of the harvesting travel path LI currently traveling is far from the discharge stop position PP, the discharge control unit 2086 sets the discharge timing to "after the end of the next automatic harvesting travel". You can set In this case, as shown in FIG. 30 , the discharge control unit 2086 sets the end point of the harvest travel route LI10 to be driven next as the harvest stop position IP, and then sets the harvest travel route to travel next ( LI11) as the re-harvest position (RP).

For example, when the distance between the position of the current combine 2001 and the discharge stop position PP is smaller than the distance between the end point of the currently traveling harvest driving path LI and the discharge stop position PP, The discharge control unit 2086 may set the discharge timing to "current". In this case, the discharge control unit 2086 sets the harvest stop position (IP) and the harvest resume position (RP) to the position of the current combine (2001).

The operator may be notified via the management terminal 2022 that the discharge control part 2086 has set the discharge timing. A route calculation unit 2083 , a traveling control unit 2084 , and an emission control unit to execute the emission driving according to an operation button (not shown) disposed on the driving unit 2013 or a manual operation from an operator through the management terminal 2022 . (2086) may be configured.

The notification control unit 2087 is configured to control the notification mechanism 2021 . The notification control part 2087 operates the notification mechanism 2021 before the combine 2001 starts an exhaust run. In detail, the notification control unit 2087 operates the notification mechanism 2021 as the discharge control unit 2086 sets the discharge timing. For example, the notification control unit 2087 operates the notification mechanism 2021 while the automatic harvesting travel before the discharge travel is being executed or when the automatic harvesting travel is started. In the example shown in FIG. 30 , the notification control unit 2087 operates the notification mechanism 2021 when the automatic harvest travel of the harvest travel route LI10 is started. The notification control unit 2087 may operate the notification mechanism 2021 continuously or intermittently during the automatic harvesting driving before the discharge driving, or may activate the notification mechanism 2021 during a predetermined period of the latter half of the automatic harvesting driving. you can make it work The notification control unit 2087 may operate the notification mechanism 2021 before a predetermined time before starting the discharge travel.

[Flow of harvest work by combine]

Below, the flow of the harvest operation|work performed by the combine 2001 in the field shown in FIG. 27 is demonstrated.

First, the operator manually operates the combine 2001, and, as shown in FIG. 27, in the outer peripheral part in a pavement, a harvest run is performed so that it may go around along the boundary line of a pavement (initial circling run). In the example of illustration, the combine 2001 performs round running of 3 weeks. When this initial round trip is completed, the pavement will be in the state shown in FIG. 28 .

The area calculation unit 2082 calculates the traveling trajectory of the combine 2001 during the initial round trip in FIG. 27 based on the temporal position coordinates of the combine 2001 calculated by the host vehicle position calculation unit 2081 . And the area calculation part 2082, as shown in FIG. 28, based on the running trajectory of the calculated combine 2001, the area on the outer periphery of the pavement in which the combine 2001 went round while harvesting the planted grain culm. It is calculated as outer peripheral area SA. Moreover, the area|region calculation part 2082 calculates the area|region inside the pavement rather than the calculated outer peripheral area|region SA as work target area|region CA.

Next, the path calculation unit 2083 calculates the harvest travel path LI in the work target area CA, as shown in FIG. 28 , based on the calculation result of the area calculation unit 2082 . . In the illustrated example, a plurality of harvest travel paths LI parallel to the short side of the work target area CA and a plurality of harvest travel paths LI parallel to the long side of the work target area CA are calculated. The harvesting travel path LI parallel to the short side of the working area CA is parallel to the jaw direction.

Then, when the operator presses an automatic travel start button (not shown), automatic travel along the harvest travel path LI is started. In this example, first, automatic travel ( FIG. 28 ) according to the α-turn circumferential travel pattern is performed. The travel control unit 2084 sets the harvest travel paths LI1 , LI2 , LI3 , and LI4 as travel paths. The route calculation unit 2083 calculates the turn travel routes TN1, TN2, and TN3 for α-turn travel. The travel control unit 2084 controls the travel device 2011 to control the harvest travel path LI1, the turn travel path TN1, the harvest travel path LI2, the turn travel path TN2, and the harvest travel path LI3. , the combine 2001 is automatically driven in the order of the turn travel path TN3 and the harvest travel path LI4.

When the automatic harvesting travel of the harvest travel path LI1 is started, the division lever control unit 2085 controls the division lever motor 2020a to set the division lever 2020 to the working posture. When the combine 2001 reaches the end point of the harvest travel path LI1 (= the start point of the turn travel path TN1), that is, the split-second lever control unit 2085 is configured to terminate the automatic harvest travel of the harvest travel path LI1. At the start of the turn travel of the hour and turn travel path TN1, the seconds and seconds lever motor 2020a is controlled to put the seconds and seconds levers 2020 into the stowed posture. When the combine 2001 reaches the end point of the turn travel path TN1 (= the start of the harvest travel path LI2), that is, when the turn travel path TN1 ends, the And at the start of the automatic harvesting travel of the harvesting travel path LI2, the split-second lever motor 2020a is controlled to put the split-second lever 2020 into the working posture. Hereinafter, similarly, when the start and end points of each travel route are reached, that is, at the start and end of the automatic harvest running and turn running, the posture change of the split-second lever 2020 is performed by the split-second lever control unit 2085.

By the automatic running of the combine 2001 on the round trip, the purpose of the skill on the outer periphery of the pavement is expanded, and when the automatic running by the U-turn round running pattern ( FIG. 29 ) becomes possible, the running control unit 2084 controls the running pattern to the U-turn round driving pattern. The travel control unit 2084 sets the harvest travel paths LI5, LI6, LI7, and LI8 as travel paths. The route calculation unit 2083 calculates turn travel routes TN4, TN5, and TN6 for U-turn travel. The travel control unit 2084 controls the travel device 2011 to control the harvest travel path LI5, the turn travel path TN4, the harvest travel path LI6, the turn travel path TN5, and the harvest travel path LI7. , the combine 2001 is automatically driven in the order of the turn travel path TN6 and the harvest travel path LI8.

When the automatic harvesting travel of the harvest travel path LI5 is started, the division lever control unit 2085 controls the division lever motor 2020a to set the division lever 2020 to the working posture. When the combine 2001 reaches the end point of the harvest travel path LI5 (= the start point of the turn travel path TN4), that is, the split-second lever control unit 2085 controls the end of the automatic harvest travel of the harvest travel path LI5. At the start of the turn travel of the hour and turn travel path TN4, the seconds/second lever motor 2020a is controlled to put the seconds/second lever 2020 into the stowed position. When the combine 2001 reaches the end point of the turn travel path TN4 (= the start of the harvest travel path LI6), that is, at the end of the turn travel of the turn travel path TN4, the and at the start of the automatic harvesting travel of the harvesting travel path LI6, the split-second lever motor 2020a is controlled to set the split-second lever 2020 to the working posture. Hereinafter, similarly, when the start and end points of each travel route are reached, that is, at the start and end of the automatic harvest running and turn running, the posture change of the split-second lever 2020 is performed by the split-second lever control unit 2085.

As shown in FIG. 30 , while the combine 2001 travels along the harvest travel path LI9, the amount of grains stored in the grain tank 2017 exceeds a predetermined threshold, the discharge control unit 2086 is Set the discharge timing to "After the end of the next automatic harvesting run". This means that the end point of the harvest travel path LI10 to be driven next is closer to the discharge stop position PP than the end point of the harvest travel path LI9 currently traveling, and the discharge travel starts from the end point of the harvest travel path LI10. This is because the driving distance can be shortened. The discharge control unit 2086 sets the end point of the harvest travel path LI10, which is the harvest travel path LI to be driven next, as the harvest stop position IP, and then sets the harvest travel path LI to be driven next. The starting point of the travel route LI11 is set as the harvest resume position RP. The route calculation unit 2083 includes a turn travel path TN7 for U-turn travel, an exhaust travel path UL connecting the harvest stop position IP and the discharge stop position PP, and an exhaust stop position PP. and a return travel path RL connecting the harvest resume position RP is calculated. The travel control unit 2084 controls the travel device 2011 to combine the harvest travel path LI9, the turn travel path TN7, the harvest travel path LI10, and the exhaust travel path UL in the order of the combine 2001 . is automatically driven, and the combine 2001 is stopped at the discharge stop position PP. The notification control unit 2087 operates the notification mechanism 2021 during execution of the automatic harvest travel along the harvest travel route LI10 . The discharge control unit 2086 controls the discharge device 2018 while the combine 2001 is stopped at the discharge stop position PP to discharge the grains stored in the grain tank 2017 to the truck CV. When discharge of a grain is complete|finished, the traveling control part 2084 will control the traveling apparatus 2011, and make the combine 2001 run automatically in the order of the return traveling path RL and the harvest traveling path LI11.

[Other embodiment]

[1] In the above embodiment, an example has been described in which the dusting lever 2020 is put into the working posture each time the automatic harvesting travel is started, and the dusting and planting lever 2020 is placed in the retracted posture whenever the automatic harvesting running is ended. By modifying this, when the operator presses the automatic travel start button to start automatic travel along the harvest travel path LI, the minute-second lever 2020 enters the working posture, and automatic travel along the last harvest travel path LI starts. When it is complete|finished and the harvesting of the planting grain stem of a pavement is completed, the dusting and planting lever 2020 may be in a storage posture. In addition, when the automatic driving according to the α-turn circling driving pattern (or automatic driving by the U-turn circling driving pattern) is started, the minute-second lever 2020 is in the working position, and when it is finished, the minute-second lever 2020 is moved to the retracted position. may be In other words, it is not necessary to change the posture of the minute/second lever 2020 at the start/end of the turn travel, discharge travel, and return travel, and some (e.g., the minute/second lever at the start and end of turn travel) 2020) may be performed.

[2] In the above embodiment, an example in which the seconds/second lever 2020 can change its posture between two postures of a working posture and a stowed posture has been described. The minute and second lever 2020 may be configured such that the posture can be changed between three or more postures. That is, two or more working postures taken by the minute and second lever 2020 may be sufficient, and two or more storage postures taken by the seconds and seconds lever 2020 may be sufficient.

[3] In the above embodiment, an example has been described in which the discharge control unit 2086 sets the discharge timing and the discharge travel is executed. The discharge travel may be performed in response to an operation input from the operator. For example, as the storage amount of the grain tank 2017 exceeds a predetermined threshold value, the discharge control part 2086 turns on the button switch (not shown) provided in the operation part 2013, and an operator turns on the said button switch The control unit 2080 may be configured such that the discharge travel is executed according to the pressing.

[4] In the above embodiment, an example in which the outer shape of the pavement and the work target area CA are rectangular has been described. The outer shape of the pavement is not limited to a rectangle, and may be a polygon such as a triangle or a pentagon, or a part or all of the outer periphery shape may be curved. Although a rectangle is preferable from the point of work efficiency, the work target area|region CA may be polygonal, such as a triangle and a pentagon, and a curved part or all of the outer peripheral shape may be sufficient as it.

[5] In the above embodiment, an example in which the harvest travel path LI is a straight line has been described, but a part or all of the harvest travel path LI may be curved.

INDUSTRIAL APPLICABILITY The present invention is applicable to a threshing type combine capable of mowing by group, or a normal type combine capable of putting the whole stem between harvesting grains into a threshing apparatus.

In addition, the present invention can be used in a variety of harvesters, such as a normal combine, as well as a self-harvesting type combine.

11: Driving gear
21B: vehicle speed detection unit
25: inclination control unit
26: work situation detection unit
27: Crop area determination unit
29: Elevating device (mowing inclination change mechanism)
32: cutting height setting unit
H: yew
1010: Aircraft (traveling aircraft)
1012: Harvest Department
1012d: detection unit
1085: retry control unit (control unit)
LI: Harvest Driving Path (Traveling Path)
2010: Aircraft
2020: minute seconds lever
2085: minute second lever control unit
LI1 to LI11: Harvest travel route (travel route)
PP: exhaust stop position
RP: Resume Harvest Location

Claims (19)

A mowing unit provided in the front part of the body and mowing crops in the field;
A harvesting inclination change mechanism capable of changing the inclination of the left and right sides of the harvesting unit by rolling the harvesting unit;
a crop area determination unit for determining which area of the harvesting unit enters the crop area in the left and right direction;
When it is determined by the crop area determination unit that the crop is biased toward the left and right one side with respect to the mowing unit, the height position of the part on the left and the other side of the mowing unit in which the crop does not enter the mowing unit is determined by the crop area determination unit. The inclination control part in which the inclination control which changes the inclination of the right and left of the said harvesting part to the said harvesting inclination changing mechanism is equipped with the said harvesting inclination changing mechanism is provided so that it may make it higher than the height position of the said right and left one side part. According to claim 1,
Left and right traveling devices and a lifting device capable of rolling the body body by changing the height position of the body body with respect to each of the left and right traveling devices are provided;
The said harvesting inclination change mechanism is comprised by the said raising/lowering device,
The said harvesting part is supported by the said base body so that it may roll integrally with the rolling operation of the said base body by the said raising/lowering device, The combine. 3. The method of claim 1 or 2,
The said biasing state WHEREIN: The said inclination control part performs the said inclination control so that the said right and left other side part among the said harvesting|reaping parts may become higher than the pre-set mowing height of the said harvesting part, The combine. 3. The method of claim 1 or 2,
A position detecting unit capable of detecting the position information of the aircraft based on the positioning signal of the navigation satellite, and a work condition detecting unit that detects an already harvested area and an unworked unharvested area in the pavement based on the position information provided,
The said crop area determination part determines with the said biasing state, when it is detected by the said work condition detection part that the said pre-harvesting area and the said non-harvesting area exist in the advancing direction forward, combine. 3. The method of claim 1 or 2,
The said inclination control part makes the height position of the part on the said other right and left side in the said harvesting part high, so that the range in which a crop does not enter in the said harvesting part is wide, The combine. 6. The method of claim 5,
The mowing unit is configured to be mowing by group,
The said crop area determination part determines the area of the range in which a crop does not enter in the said harvesting part based on the tide of the crop existing in front of the said harvesting part, The combine. 3. The method of claim 1 or 2,
A vehicle speed detection unit capable of detecting the vehicle speed is provided;
The said inclination control part is comprised so that the operation start timing of the said harvesting inclination changing mechanism may be changed according to the said vehicle speed, The combine. 3. The method of claim 1 or 2,
A mowing height setting unit for setting the mowing height of the mowing unit is provided,
The said inclination control part performs the said inclination control so that the height position of the part of the said left-right other side among the said harvesting parts on the basis of the harvesting height set by the said harvesting height setting part may change, the combine. 3. The method of claim 1 or 2,
The change amount setting part which sets the operation amount of the said harvesting inclination change mechanism at the time of performing the said inclination control is provided,
The said inclination control part performs the said inclination control so that the height position of the part of the said left-right other side among the said harvesting parts may change based on the said operation amount, The combine. It is a harvester that can run automatically along a set driving route,
A harvesting unit that harvests the crops in the field;
and a control unit for controlling the operation of the harvesting unit and the traveling body,
The control unit executes a retry process as the traveling body is traveling while deviating from the traveling path in an automatic harvesting traveling in which the field is automatically driven while harvesting crops in the field;
In the retry process, the control unit stops the traveling body, continuously operates the harvesting unit, and continuously moves the traveling body backward. It is a harvester that can run automatically along a set driving route,
A harvesting unit configured to be operable at a speed according to the vehicle speed and harvesting crops in the field,
and a control unit for controlling the operation of the harvesting unit and the traveling body,
The control unit executes a retry process as the traveling body is traveling while deviating from the traveling path in an automatic harvesting traveling in which the field is automatically driven while harvesting crops in the field;
In the retry process, the control unit operates the harvesting unit at a speed greater than a speed corresponding to the vehicle speed while decelerating the traveling body, continuously stopping the traveling body, and continuously moving the traveling body backward. . 12. The method of claim 10 or 11,
The harvesting unit is configured to be liftable with respect to the traveling body,
In the retry process, the control unit raises the harvesting unit before moving the traveling body backward. 12. The method of claim 10 or 11,
and a detection unit for detecting the driving rotation speed or driving torque of the harvesting unit,
In the retry process, the control unit stops the operation of the harvesting unit based on a detection result by the detection unit. It is an automatic driving harvester,
A split second lever provided on the lateral side of the body and configured to be able to change its posture to a working posture protruding outward in the lateral direction of the aircraft and a storage posture located in the lateral direction of the aircraft rather than the working posture;
and a minute-second lever control unit for automatically controlling the change of the posture of the minute-second lever during automatic driving,
The harvester, wherein the planting and cutting lever control unit sets the dusting and planting lever to the working posture at the start of an automatic harvesting driving of harvesting a planted grain stem while automatically traveling on a travel route. 15. The method of claim 14,
The division and seconds lever control unit, when the automatic harvesting run is finished, the division and seconds lever to the storage position, the harvester. 16. The method of claim 14 or 15,
The harvesting machine of claim 1, wherein the split and second lever control unit sets the split and second lever to the stowed position at the start of a turn running performed between the automatic harvesting driving and the automatic harvesting running. 17. The method of claim 16,
The division and seconds lever control unit, at the end of the turn running, to put the division lever into the working posture, a harvester. 16. The method of claim 14 or 15,
The said dusting lever control part makes the said dusting lever control part into the said storage posture at the time of the start of the discharge|emission running which runs automatically to the discharge stop position at the time of discharging a grain. 19. The method of claim 18,
The harvesting machine, wherein the planting and cutting lever control unit sets the dusting and planting lever to the working posture at the end of a return travel that automatically travels from the discharge stop position to a harvest resume position where harvesting of the planted grain stem is resumed.

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