Grain culm harvesting method

Abstract

To provide a method for reaping crop stalks, capable of preventing an automatically operated combine-harvester from coming into contact with ridges, etc., for dividing a field.SOLUTION: A controller (40) for setting set routes (55 and 56) for automatically steering a combine-harvester is provided in a steering unit (5). During automatic steering of the combine-harvester, when there are no crop stalks in a stalk-raising device for raising the stalks of a reaper (3) and there are no stalks in a conveying device for conveying the stalks of the reaper (3) to a thresher (4), the controller (40) stops the drive of the reaper (3) and then stops the travel of a traveling device (2); and during the automatic steering of the combine-harvester, when there are no crop stalks in the raising device and there are stalks in the conveying device, the controller (40) stops the travel of the traveling device (2) and then stops the drive of the reaper (3).SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a method for harvesting grain stalks using an automatically steered combine harvester. [Background technology]

[0002] Conventionally, in a method for harvesting stalks, a technique is known that prevents engine malfunctions by suppressing excessive load on the engine of a combine harvester that is automatically steered along a preset route (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-161275 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the method of harvesting stalks described in Patent Document 1, there is a delay in receiving location information from the positioning satellite, so if there is a large discrepancy between the row length actually planted in the field and the row length of the set route, there is a risk that the automatically operated combine will come into contact with the ridges that divide the field.

[0005] Therefore, the present invention aims to provide a method for harvesting stalks that can prevent an automatically operated combine from coming into contact with ridges or the like that divide a field. [Means for solving the problem]

[0006] The present invention, which has solved the above problems, is as follows. That is, the invention described in claim 1 is a method for harvesting stalks in a field using a combine harvester, the method comprising: a traveling device (2) that travels in a field below a machine frame (1) on which an engine (E) is mounted; a reaping device (3) that harvests stalks in front of the machine frame (1); a threshing device (4) that performs threshing processing on the rear left side of the reaping device (3); a control section (5) on which an operator rides on the rear right side of the reaping device (3); and a grain tank (7) behind the control section (5), A controller (40) is provided in the steering unit (5) to set a set route (55, 56) for automatically steering the combine harvester, and if, during the automatic steering of the combine harvester, there are no stalks in the lifting device that lifts the stalks of the harvesting device (3) and there are no stalks in the conveying device that conveys the stalks of the harvesting device (3) to the threshing device (4), the controller (40) stops the drive of the harvesting device (3) and then stops the travel of the traveling device (2); and if, during the automatic steering of the combine harvester, there are no stalks in the lifting device but there are stalks in the conveying device, the controller (40) stops the travel of the traveling device (2) and then stops the drive of the harvesting device (3).

[0007] The invention described in claim 2 is a method for harvesting stalks described in claim 1, in which the controller (40) stops the traveling of the traveling device (2) when the harvesting device (3) rises from a working position for harvesting stalks to a standby position.

[0008] The invention described in claim 3 is a method for harvesting stalks described in claim 1, wherein the controller (40) stops the traveling device (2) from traveling when a communication failure occurs in communication with a base station (22) that monitors the combine.

[0009] The invention described in claim 4 is a method for harvesting stalks described in any one of claims 1 to 3, in which the traveling speed of the traveling device (2) is reduced before the traveling of the traveling device (2) is stopped, and the traveling device (2) is caused to travel a predetermined set distance.

[0010] The invention described in claim 5 is a method for harvesting stalks described in any one of claims 1 to 3, in which the traveling speed of the traveling device (2) is reduced and the traveling device (2) is allowed to travel for a preset time before stopping the traveling of the traveling device (2).

[0011] The invention described in claim 6 is a method for harvesting stalks described in claim 1, in which the controller (40) reduces the traveling speed of the traveling device (2) when a first arrival time (T1) required for the combine to arrive at the discharge position (54) where it discharges grain from the grain tank (7) is shorter than a second arrival time (T2) required for the transport vehicle to arrive at the discharge position (54) transmitted from a base station (22) monitoring the combine. [Effects of the Invention]

[0012] According to the invention described in claim 1, a controller (40) is provided in the steering unit (5) to set a set route (55, 56) for automatically steering the combine harvester. If, during automatic steering of the combine harvester, there are no stalks in the lifting device that lifts the stalks of the harvesting device (3) and there are no stalks in the transporting device that transports the stalks of the harvesting device (3) to the threshing device (4), the controller (40) stops the drive of the harvesting device (3) and then stops the travel of the traveling device (2). If, during automatic steering of the combine harvester, there are no stalks in the lifting device but there are stalks in the transporting device, the controller (40) stops the travel of the traveling device (2) and then stops the drive of the harvesting device (3), thereby preventing the automatically operated combine harvester from coming into contact with ridges or the like that divide the field. In addition, if there is no stalk inside the conveying device, the operation of the reaping device (3) is stopped to reduce the load on the engine (E) and improve fuel efficiency, and if there is stalk inside the conveying device, the operation of the traveling device (2) is stopped and then the operation of the reaping device (3) is stopped to prevent the stalk from remaining inside the conveying device.

[0013] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the controller (40) stops the traveling device (2) when the harvesting device (3) rises from the working position for harvesting the stalks to the waiting position, thereby further preventing the combine from coming into contact with ridges or the like that divide the field.

[0014] According to the invention of claim 3, in addition to the effect of the invention of claim 1, the controller (40) stops the traveling of the traveling device (2) when a communication failure occurs in communication with the base station (22) that monitors the combine, thereby making it possible to further prevent the combine from coming into contact with ridges or the like that divide the field.

[0015] According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, before stopping the traveling of the traveling device (2), the traveling speed of the traveling device (2) is reduced and the traveling device (2) travels a preset distance, so that the traveling of the traveling device (2) can be stopped gently.

[0016] According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 3, before stopping the traveling of the traveling device (2), the traveling speed of the traveling device (2) is reduced and the traveling device (2) is allowed to travel for a preset set time, so that the traveling of the traveling device (2) can be stopped gently.

[0017] According to the invention of claim 6, in addition to the effect of the invention of claim 1, the controller (40) reduces the traveling speed of the traveling device (2) when the first arrival time (T1) required for the combine to arrive at the discharge position (54) where it discharges the grain in the grain tank (7) is shorter than the second arrival time (T2) required for the transport vehicle to arrive at the discharge position (54) transmitted from the base station (22) monitoring the combine. Therefore, by reducing the traveling speed of the traveling device (2), the load on the engine (E) can be reduced, thereby further improving fuel efficiency. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. [Figure 2] FIG. [Figure 3] FIG. 2 is a connection diagram of a positioning unit. [Figure 4] 1 is a transmission diagram of the engine output rotation. [Figure 5] FIG. 2 is an explanatory diagram of a continuously variable transmission. [Figure 6] FIG. 2 is a connection diagram of a controller. [Figure 7] FIG. 10 is an explanatory diagram of a reciprocating mowing mode. [Figure 8] FIG. 10 is an explanatory diagram of a round-cutting mode. [Figure 9] FIG. 2 is an explanatory diagram of the method for harvesting stalks in the first embodiment. [Figure 10] FIG. 10 is an explanatory diagram of a method for harvesting stalks according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] As shown in Figures 1 and 2, a combine harvester has a traveling device 2 consisting of a pair of left and right crawlers that travels on the soil surface on the underside of a body frame 1, a reaping device 3 that harvests stalks in the field on the front side of the body frame 1, a threshing device 4 that threshers and sorts the harvested stalks on the rear left side of the reaping device 3, and a control unit 5 on which an operator rides on on the rear right side of the reaping device 3.

[0020] An engine room 6 carrying an engine E is provided below the control unit 5, and a grain tank 7 for storing threshed and sorted grain is provided behind the control unit 5. Behind the grain tank 7, a discharge auger 8 is provided, consisting of a grain lifting section extending vertically to discharge the grain to the outside, and a horizontal discharge section extending longitudinally.

[0021] A touch panel monitor 11 that displays the running speed of the traveling device 2, etc., is provided in the center of the front panel in front of the driver's seat of the operating unit 5, and an operating lever 12 that turns the traveling device 2 left and right and raises and lowers the reaping device 3 up and down is provided on the right side of the monitor 11, and the operating position of the operating lever 12 is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12.

[0022] A mode changeover switch 13 for changing the reaping mode of the stalks is provided between the monitor 11 and the operation lever 12. The mode changeover operation of the mode changeover switch 13 is performed when reaping work starts.

[0023] A main speed change lever 15 is provided on the side panel to the left of the driver's seat of the control unit 5, and operates the continuously variable transmission 30 to increase or decrease the traveling speed of the traveling device 2. The operating position of the main speed change lever 15 is measured by an angle sensor such as a potentiometer attached to the base of the main speed change lever 15.

[0024] On the right side of the main speed change lever 15, there is provided an auxiliary speed change lever 16 which operates the transmission 31 to increase or decrease the traveling speed of the traveling device 2, and the operating position of the auxiliary speed change lever 16 is measured by an angle sensor such as a potentiometer attached to the base of the auxiliary speed change lever 16.

[0025] A mowing / threshing lever 17 is provided on the rear side of the sub-speed change lever 16, and operates the mowing clutch 32 and the threshing clutch 33 to connect and disconnect them. The operating position of the mowing / threshing lever 17 is measured by an angle sensor such as a potentiometer attached to the base of the mowing / threshing lever 175.

[0026] When the main speed change lever 15 is in the neutral position, the output rotation of the continuously variable transmission 30, which switches the increase / decrease of the output rotation of the engine E and the rotation direction of the output rotation, becomes zero. When the main speed change lever 15 is changed from the neutral position to the forward tilt position, the output rotation of the continuously variable transmission 30 is increased / decreased depending on the magnitude of the tilt angle of the forward tilt position, and the rotation direction of the output rotation of the continuously variable transmission 30 becomes forward rotation, the same as the rotation direction of the output rotation of the engine E. When the main speed change lever 15 is changed from the neutral position to the rear tilt position, the output rotation of the continuously variable transmission 30 is increased / decreased depending on the magnitude of the tilt angle of the rear tilt position, and the rotation direction of the output rotation of the continuously variable transmission 30 becomes reverse rotation, opposite to the rotation direction of the output rotation of the engine E.

[0027] When the auxiliary speed-change lever 16 is tilted forward, the gear is switched to a high-speed gear and the output rotation of the transmission 31 is increased, and when the auxiliary speed-change lever 16 is tilted rearward, the gear is switched to a low-speed gear and the output rotation of the transmission 31 is decreased.

[0028] When the cutting / threshing lever 17 is in the forward tilt position, the cutting clutch 32 and the threshing clutch 33 are disengaged, and when the cutting / threshing lever 17 is in the rearward tilt position, the cutting clutch 32 and the threshing clutch 33 are engaged. When the cutting / threshing lever 17 is in the neutral position between the forward tilt position and the rearward tilt position, the cutting clutch 32 is disengaged and the threshing clutch 33 is engaged.

[0029] When the reaping clutch 32 is engaged, the output rotation of the engine E is transmitted to the reaping device 3, driving the reaping device 3, and when the reaping clutch 32 is disengaged, the transmission of the output rotation of the engine E to the reaping device 3 is cut off, causing the reaping device 3 to stop. In addition, when the threshing clutch 33 is engaged, the output rotation of the engine E is transmitted to the threshing device 4, driving the threshing device 4, and when the threshing clutch 33 is disengaged, the transmission of the output rotation of the engine E to the threshing device 4 is cut off, causing the threshing device 4 to stop.

[0030] <Positioning unit> As shown in Figure 3, positioning unit 20, which uses an RTK-GPS positioning system, is made up of multiple positioning satellites 21A-21D, a base station 22 installed at a known location, and a mobile station 26 installed on the combine harvester. As a result, positioning signals transmitted from the multiple positioning satellites 21A-21D are received and positioned by GNSS receivers installed in base station 22 and mobile station 26, and mobile station 26 performs high-precision positioning using correction signals from base station 22, thereby accurately determining the running position of the combine harvester. The multiple positioning satellites 21A-21D are collectively referred to as positioning satellites 21.

[0031] The base station 22 is made up of a fixed communication device 23, a fixed GPS antenna 24 that receives position information from the positioning satellite 21, and a fixed data transmission antenna 25 that transmits position information of a correction signal to the mobile station 26.

[0032] Mobile station 26 is made up of mobile communication device 27, mobile GPS antenna 28 that receives position information from multiple positioning satellites 41A to 41D, and mobile data receiving antenna 29 that receives corrective position information from base station 22. Note that although the RTK-GPS positioning method is used in this embodiment, any positioning system such as a differential positioning method can be adopted.

[0033] <Engine output rotation transmission diagram> As shown in Fig. 4, the output rotation of the engine E is transmitted to a continuously variable transmission 30 provided on a transmission path A. The output rotation transmitted to the continuously variable transmission 30 is accelerated or decelerated and the rotation direction is switched by the continuously variable transmission 30, and then transmitted to a transmission 31.

[0034] The output rotation transmitted to the transmission 31 is increased or decreased in the transmission 31 and is transmitted to the traveling device 2 and to the reaping device 3 via the reaping clutch 32 .

[0035] The output rotation of the engine E is transmitted to the threshing device 4 via a threshing clutch 33 provided on the transmission path B.

[0036] <Continuously variable transmission> As shown in Fig. 5, a sector gear 30B is supported on a trunnion shaft 30A of the continuously variable transmission 30, and a gear 34A provided on the output shaft of a forward motor 34 and a gear 35A provided on the output shaft of a reverse motor 35 are engaged with gears formed on the outer periphery of the sector gear 30B. As a result, the forward motor 34 and the reverse motor 35 are driven based on the operating position of the main speed change lever 15 to rotate the trunnion shaft 30A of the continuously variable transmission 30, thereby increasing or decreasing the output rotation of the engine E and switching the rotation direction. The output rotation of the engine E is transmitted to an input shaft 30C of the continuously variable transmission 30.

[0037] <controller> As shown in Figure 6, the combine controller 40 is composed of a processing unit 41 consisting of a CPU, etc., a memory unit 42 consisting of a ROM, RAM, hard disk drive, flash memory, etc., a timer unit 43 that measures processing time, etc., and a communication unit 44 for data communication with the outside.

[0038] The processing unit 41 determines whether or not there is stalk in the reaping device 3, and automatically steers the traveling device 2 based on the increase / decrease in the traveling speed of the traveling device 2 and the reaping mode.

[0039] The storage unit 42 stores a preset distance of the traveling device 2, a linear reference route 53 passing through the first reference point 51 and the second reference point 52, a set route 55, and the like.

[0040] The timer unit 43 measures the set time of the traveling device 2 and the like.

[0041] The communication unit 44 receives position information from the positioning satellites 41A to 41D and position information for correction from the base station 22.

[0042] The input side of the controller 40 is connected via a predetermined input interface circuit to a distance sensor 2A such as an encoder that measures the distance traveled by the traveling device 2, a stump sensor 3A such as a proximity sensor that detects the stumps being lifted by the lifting device of the harvesting device 3, a stump sensor 3B such as a proximity sensor that detects the stumps being transported to the threshing device 4 by the transporting device of the harvesting device 3, a shelter sensor 3C such as a proximity sensor that detects when the harvesting device 3 rises from the working position to the sheltered position, a full sensor 7A that detects when the grain tank 7 is full of grain, a mode change switch 13 that switches the harvesting mode, a GPS antenna 28 that receives position information from positioning satellites 41A to 41D, a data receiving antenna 29 that receives corrective position information from the base station 22, and an alarm sensor 20A that notifies of communication failures between the positioning satellite 21 and the GPS antenna 28, etc.

[0043] The output side of the controller 40 is connected via a predetermined output interface circuit to a forward motor 34 and a reverse motor 35 that rotate the trunnion shaft 30A of the continuously variable transmission 30, a stop switch 38 that stops the operation of the engine E, and the like.

[0044] <Reciprocating mowing mode> As shown in Figure 7, in the reciprocating mowing mode, the traveling device 2 is automatically steered along a straight reference path 53 connecting a first reference point 51 and a second reference point 52 located near the loading location 50A of the field 50, and multiple set paths 55 located at predetermined intervals and parallel to the reference path 53, to perform mowing work.

[0045] While the operator is manually steering, the processing unit 41 of the controller 40 sets the first reference point 51 and the second reference point 52, and then sets the reference path 53 and the set path 55 based on the first reference point 51 and the second reference point 52.

[0046] The operator manually steers the traveling device 2 from the end of the reference path 53 toward the beginning of a set path 55 adjacent to the reference path 53, or manually steers the traveling device 2 from the end of the set path 55 toward the beginning of the set path 55 on the side of the unharvested stalk adjacent to the set path 55. The processing unit 41 automatically steers the traveling device 2 along the set path 55, or automatically steers the traveling device 2 from the set path 55 toward the discharge position 54 when the grain tank 7 is full. This significantly reduces the operator's workload. In FIG. 7 , solid lines indicate paths where the operator manually steers the traveling device 2, dashed lines indicate paths where the processing unit 41 automatically steers the traveling device 2, and arrows indicate the direction of travel of the combine harvester on the reference path 53 and the set path 55. When the field is large, it is preferable to use multiple combine harvesters for harvesting.

[0047] <Cycle mowing mode> As shown in Figure 8, in the circular mowing mode, the traveling device 2 performs mowing operations while automatically steering along a straight-line reference path 53 connecting a first reference point 51 and a second reference point 52 located near the loading location 50A of the field 50, and a set path 56 extending from the second reference point 52 along the reference path 53 in the traveling direction.

[0048] While the operator is manually steering, the processing unit 41 of the controller 40 sets a first reference point 51 and a second reference point 52, and sets a reference path 53 based on the first reference point 51 and the second reference point 52, and a set path 56 extending the reference path 53 from the second reference point 52 in the direction of travel.

[0049] The operator manually steers the traveling device 2 toward the set route 56, which extends perpendicularly from the end of the set route 56, and turns it 90 degrees counterclockwise. The processing unit 41 also automatically steers the traveling device 2 along the set route 56, or automatically steers the traveling device 2 from the set route 55 toward the discharge position 54 when the grain tank 7 is full. This significantly reduces the workload of the operator. In FIG. 8, the route along which the operator manually steers the traveling device 2 is shown by a solid line, the route along which the processing unit 41 automatically steers the traveling device 2 is shown by a dashed line, and the direction of travel of the combine is indicated by an arrow on the reference route 53 and the set route 55. When the field is large, it is preferable to perform harvesting work using multiple combine harvesters.

[0050] <First embodiment of culm harvesting method> 9, in step S1, the processing unit 41 of the controller 40 determines whether or not a communication failure has occurred between the positioning satellite 21 and the GPS antenna 28, etc. If the processing unit 41 determines that the alarm sensor 20A is outputting communication failure information due to a disconnection, a drop in power, etc., the processing unit 41 proceeds to step S2, and if the processing unit 41 determines that the alarm sensor 20A is not outputting communication failure information, the processing unit 41 proceeds to step S3.

[0051] In step S2, the processing unit 41 presses the stop switch 38, which stops the drive of the engine E, to stop the output rotation of the engine E, and then returns to step S1. This quickly stops the travel of the traveling device 2, quickly preventing the combine from colliding with a ridge, etc. The processing unit 41 can also drive the forward motor 34 and reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to stop the output rotation of the continuously variable transmission 30.

[0052] In step S3, processing unit 41 determines whether or not reaping device 3 has been raised to the waiting position. If processing unit 41 determines that waiting sensor 3C has output an indication that reaping device 3 is in the waiting position, processing proceeds to step S4, and if processing unit 41 has not output an indication that reaping device 3 is in the waiting position, processing proceeds to step S7.

[0053] In step S4, the processing unit 41 drives the forward motor 34 and the reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to reduce the output rotation of the continuously variable transmission 30, and then proceeds to step S5. This reduces the traveling speed of the traveling device 2, making it possible to prevent the combine from colliding with a ridge, etc. The output rotation of the continuously variable transmission 30 can be reduced linearly or in steps.

[0054] In step S5, the processing unit 41 determines whether the traveling device 2 has traveled a preset distance or more after decelerating the traveling speed of the traveling device 2. If the processing unit 41 determines that the distance sensor 2A is outputting information indicating that the traveling device 2 has traveled a distance or more that is greater than the set distance, the processing unit 41 proceeds to step S6, and if the processing unit 41 determines that the distance sensor 2A is not outputting information indicating that the traveling device 2 has traveled a distance or more that is greater than the set distance, the processing unit 41 repeats step S5. This makes it possible to prevent the traveling device 2 from stopping due to a malfunction of the avoidance sensor 3C, etc. Furthermore, the traveling device 2 can be stopped gradually.

[0055] The processing unit 41 can also determine whether the traveling device 2 has traveled for a preset time or longer after decelerating the traveling speed of the traveling device 2. In this case, if the processing unit 41 determines that the timer unit 43 has output a signal indicating that the traveling device 2 has traveled for a preset time or longer, the processing unit 41 proceeds to step S6, and if the processing unit 41 determines that the timer unit 43 has not output a signal indicating that the traveling device 2 has traveled for a preset time or longer, the processing unit 41 repeats step S5.

[0056] In step S6, the processing unit 41 drives the forward motor 34 and the reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to stop the output rotation of the continuously variable transmission 30, and then returns to step S1. This stops the traveling of the traveling device 2, preventing the combine from colliding with a ridge, etc. The processing unit 41 can also press the stop switch 38 to stop the output rotation of the engine E.

[0057] In step S7, the processing unit 41 determines whether or not stalks are present in the raising device of the harvesting device 3. If the processing unit 41 determines that the stalk sensor 3A has output a signal indicating that no stalks are present in the raising device, the processing unit 41 proceeds to step S8, and if the processing unit 41 determines that the stalk sensor 3A has output a signal indicating that stalks are present in the raising device, the processing unit 41 proceeds to step S17.

[0058] In step S8, the processing unit 41 determines whether or not stalks are present in the conveying device of the harvesting device 3. If the processing unit 41 determines that the stalk sensor 3B has output a signal indicating that no stalks are present in the raising device, the processing unit proceeds to step S9, and if the processing unit 41 determines that the stalk sensor 3A has output a signal indicating that stalks are present in the raising device, the processing unit proceeds to step S13.

[0059] In step S9, the processing unit 41 disengages the reaping clutch 32 and the threshing clutch 33 to stop the output rotation of the engine E from being transmitted to the reaping device 3 and the threshing device 4, and then proceeds to step S10. This reduces the load on the engine E, thereby improving fuel efficiency.

[0060] In step S10, the processing unit 41 drives the forward motor 34 and the reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to reduce the output rotation of the continuously variable transmission 30, and then proceeds to step S11. This reduces the traveling speed of the traveling device 2, making it possible to prevent the combine from colliding with a ridge, etc.

[0061] In step S11, the processing unit 41 determines whether the traveling device 2 has traveled a preset distance or more after decelerating the traveling speed of the traveling device 2. If the processing unit 41 determines that the distance sensor 2A is outputting information indicating that the traveling device 2 has traveled a distance or more that is greater than the set distance, the processing unit 41 proceeds to step S12, and if the processing unit 41 determines that the distance sensor 2A is not outputting information indicating that the traveling device 2 has traveled a distance or more that is greater than the set distance, the processing unit 41 repeats step S11. This makes it possible to prevent the traveling device 2 from stopping due to a malfunction of the avoidance sensor 3C, etc. Furthermore, the traveling device 2 can be stopped gradually.

[0062] In step S12, the processing unit 41 drives the forward motor 34 and the reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to stop the output rotation of the continuously variable transmission 30, and then returns to step S1. This stops the traveling of the traveling device 2, making it possible to prevent the combine from colliding with a ridge, etc.

[0063] In step S13, the processing unit 41 drives the forward motor 34 and the reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to reduce the output rotation of the continuously variable transmission 30, and then proceeds to step S14. This reduces the traveling speed of the traveling device 2, making it possible to prevent the combine from colliding with a ridge, etc.

[0064] In step S14, the processing unit 41 determines whether the traveling device 2 has traveled a preset distance or more after decelerating the traveling speed of the traveling device 2. If the processing unit 41 determines that the distance sensor 2A is outputting information indicating that the traveling device 2 has traveled a distance or more that is greater than the set distance, the processing unit 41 proceeds to step S15, and if the processing unit 41 determines that the distance sensor 2A is not outputting information indicating that the traveling device 2 has traveled a distance or more that is greater than the set distance, the processing unit 41 repeats step S14. This makes it possible to prevent the traveling device 2 from stopping due to a malfunction of the avoidance sensor 3C, etc. Furthermore, the traveling device 2 can be stopped gradually.

[0065] In step S15, the processing unit 41 drives the forward motor 34 and the reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to stop the output rotation of the continuously variable transmission 30, and then proceeds to step S16. This stops the traveling of the traveling device 2, making it possible to prevent the combine from colliding with a ridge, etc.

[0066] In step S16, the processing unit 41 disengages the reaping clutch 32 and the threshing clutch 33, stops the output rotation of the engine E from being transmitted to the reaping device 3 and the threshing device 4, and returns to step S1. This reduces the load on the engine E, thereby improving fuel efficiency.

[0067] In step S17, the processing unit 41 determines whether or not stalks are present in the conveying device of the harvesting device 3. If the processing unit 41 determines that the stalk sensor 3B has output an indication that no stalks are present in the raising device, the processing unit 41 returns to step S1, and also returns to step S1 if the processing unit 41 determines that the stalk sensor 3A has output an indication that stalks are present in the raising device.

[0068] <Method for harvesting stalks according to the second embodiment> As shown in Fig. 10, in step S1, the processing unit 41 of the controller 40 determines whether the grain tank 7 is full of grains. If the processing unit 41 determines that the full-fill sensor 7A has output a signal indicating that the grain tank 7 is full of grains, the processing unit 41 proceeds to step S2, and if the processing unit 41 determines that the full-fill sensor 7A has output a signal indicating that the grain tank 7 is full of grains, the processing unit 41 repeats step S1. Note that in step S1, the processing unit 41 is automatically steering the traveling device 2 to automatically travel along the set routes 45 and 46.

[0069] In step S2, the processing unit 41 calculates the arrival time (the "first arrival time" in the claims) T1 required for the combine to leave the set route 45, 46 and arrive at the discharge position 54 where it discharges grain onto the loading platform of a truck or the like, and then proceeds to step S3.

[0070] In step S3, the processing unit 41 receives the arrival time T2 (the "second arrival time" in the claims) that it takes for the truck to arrive at the discharge position 54, transmitted from the base station 22 or the truck driver, via the communication unit 44, and proceeds to step S4.

[0071] In step S4, the processing unit 41 determines whether the arrival time T1 is shorter than the arrival time T2. If the processing unit 41 determines that the arrival time T1 is shorter than the arrival time T2, the processing unit 41 proceeds to step S5, and if the processing unit 41 determines that the arrival time T1 is longer than the arrival time T2, the processing unit 41 proceeds to step S6.

[0072] In step S5, the processing unit 41 drives the forward motor 34 and the reverse motor 35, which rotate the trunnion shaft 30A of the continuously variable transmission 30, to decelerate the output rotation of the continuously variable transmission 30, and then returns to step S1. This decelerates the traveling speed of the traveling device 2, reduces the load applied to the engine E, and improves fuel efficiency.

[0073] In step S6, processing unit 41 stops driving forward motor 34 and reverse motor 35 to maintain the output rotation of continuously variable transmission 30. This maintains the traveling speed of traveling device 2 and the reaping speed of reaping device 3, allowing for efficient reaping work. [Explanation of symbols]

[0074] 1 Aircraft frame 2 Running gear 3 Reaping device 4. Threshing equipment 5 Control Unit 7. Glentank 22 Base station 40 Controller 54 Discharge position 55 Setting Route 56 Setting Route E-Engine T1 arrival time (first arrival time) T2 arrival time (second arrival time)

Claims

1. A method for harvesting grain stalks in a field using a combine harvester comprising: a traveling device (2) that travels in a field below a machine frame (1) on which an engine (E) is mounted; a reaping device (3) that harvests grain stalks in front of the machine frame (1); a threshing device (4) that performs threshing processing on the rear left side of the reaping device (3); a control section (5) on which an operator rides on the rear right side of the reaping device (3); and a grain tank (7) behind the control section (5), a controller (40) for setting a set route (55, 56) for automatically steering the combine harvester in the steering unit (5); During automatic steering of the combine, if there are no stalks in the lifting device that lifts the stalks of the reaping device (3) and there are no stalks in the transporting device that transports the stalks of the reaping device (3) to the threshing device (4), the controller (40) stops the drive of the reaping device (3) and then stops the travel of the traveling device (2), A method for harvesting stalks, characterized in that, when there are no stalks in the lifting device and there are stalks in the conveying device during automatic steering of the combine, the controller (40) stops the travel of the traveling device (2) and then stops the drive of the harvesting device (3).

2. 2. A method for harvesting stalks according to claim 1, wherein the controller (40) stops the traveling of the traveling device (2) when the harvesting device (3) is raised from a working position for harvesting stalks to a standby position.

3. 2. A method for harvesting stalks according to claim 1, wherein the controller (40) stops the traveling of the traveling device (2) when a communication failure occurs in communication with a base station (22) that monitors the combine.

4. The method for harvesting stumps according to any one of claims 1 to 3, wherein before stopping the traveling of the traveling device (2), the traveling speed of the traveling device (2) is reduced and the traveling device (2) is caused to travel a preset distance.

5. A method for harvesting stumps according to any one of claims 1 to 3, wherein before stopping the traveling of the traveling device (2), the traveling speed of the traveling device (2) is reduced and the traveling device (2) is allowed to travel for a preset time.

6. 2. The method for harvesting stalks according to claim 1, wherein the controller (40) reduces the traveling speed of the traveling device (2) when a first arrival time (T1) required for the combine to arrive at a discharge position (54) where it discharges grain from the grain tank (7) is shorter than a second arrival time (T2) required for a transport vehicle transmitted from a base station (22) monitoring the combine to arrive at the discharge position (54).

Images