combine

Abstract

To provide a combine harvester that eliminates human error, suppresses forward and backward swaying, and maintains a high level of safety during operation. [Solution] A continuously variable transmission (30) that increases or decreases the output rotation of the engine (E) is provided between the transmission path of the engine (E) and the running gear (2). The control unit (5) is equipped with a tilt sensor (18) that detects the tilt angle of the machine frame (1) in the front-rear direction, an operating lever (12) that rotates the running gear (2) in the left-right direction, and a gear lever (15) that increases or decreases the output rotation of the continuously variable transmission (30). The combine harvester's controller (60) reduces the maximum output rotation of the continuously variable transmission (30) to a preset first set reduction rate when the measurement value of the tilt sensor (18) exceeds a preset set tilt angle.

Description

Technical Field

[0006] ,

[0001] The present invention relates to a combine equipped with a continuously variable transmission device for increasing or decreasing the output rotation speed of an engine.

Background Art

[0002] There is known a technique of providing a maximum vehicle speed setting dial that switches a continuously variable transmission device for increasing or decreasing the output rotation speed of an engine between a high-speed side during non-cutting work and a low-speed side during cutting work, and further increasing or decreasing the maximum output rotation speed of the continuously variable transmission device switched to the low-speed side according to the state of the field scene and the lodging state of the cereal straws planted in the field. (Patent Document 1)

[0003] Also, there is known a technique of sounding an alarm when the inclination angle of a work vehicle such as a tractor that automatically travels exceeds a predetermined value, and a monitor who monitors the work vehicle at a remote location that has received the alarm decelerates the traveling speed of the work vehicle to a predetermined value or less.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the technique of Patent Document 1, an operator determines the state of the field scene or the like and increases or decreases the maximum output rotation speed of the continuously variable transmission device, and in the technique of Patent Document 2, a monitor who has received an alarm decelerates the traveling speed of the work vehicle. Therefore, when a human error such as an incorrect operation occurs, a large swing may occur in the combine, and the safety during traveling may be reduced.

[0006] Therefore, the present invention aims to provide a combine harvester that can eliminate human error, suppress swaying in the front-to-back direction, and maintain a high level of safety during operation. [Means for solving the problem]

[0007] The present invention, which solves the above problems, is as follows. In other words, the invention described in claim 1 is a combine harvester having a machine frame (1) on which an engine (E) is mounted, a traveling device (2) for traveling in a field located below the frame, a harvesting device (3) for cutting grain stalks located in front of the machine frame (1), a threshing device (4) for threshing the grain located to the rear left of the harvesting device (3), and a control unit (5) for the operator to sit on located to the rear right of the harvesting device (3), A continuously variable transmission (30) that increases or decreases the output rotation of the engine (E) is provided between the transmission path of the engine (E) and the running gear (2), and the control unit (5) detects the inclination angle of the aircraft frame (1) in the front-rear direction. Inertial measuring device The combine harvester's controller (60) is provided with a tilt sensor (18), an operating lever (12) for rotating the traveling device (2) in the left and right directions, and a shift lever (15) for increasing or decreasing the output rotation of the continuously variable transmission (30). When the combine harvester, with the harvesting device (3) raised to a retracted position, is brought into the field from outside the field, The measurement value of the tilt sensor (18) is a preset set tilt angle. 5 degrees That's all. 0.5 seconds have passed on a downward slope. In that case, The travel speed of the aforementioned travel device (2) is set to 0.3 m / second. This combine harvester is characterized by its ability to slow down to a certain speed.

[0008] The invention described in claim 2 is, In a combine harvester having a machine frame (1) equipped with an engine (E), a traveling device (2) for traveling in a field located below it, a harvesting device (3) for cutting grain stalks located in front of the machine frame (1), a threshing device (4) for threshing the grain located to the rear left of the harvesting device (3), and a control unit (5) for the operator located to the rear right of the harvesting device (3), Between the transmission path of the engine (E) and the running gear (2), a continuously variable transmission (30) is provided to increase or decrease the output rotation of the engine (E), and the control unit (5) is provided with an inclination sensor (18) of an inertial measuring device that detects the inclination angle of the machine frame (1) in the front-rear direction, an operating lever (12) that rotates the running gear (2) in the left-right direction, and a shift lever (15) that increases or decreases the output rotation of the continuously variable transmission (30), and the controller (60) of the combine harvester, when the combine harvester with the harvesting device (3) raised to a stowed position is being transported from the field to outside the field, The measurement value of the tilt sensor (18) is a preset set tilt angle. A combine harvester characterized in that if it has been tilted backward by 5 degrees or more for 0.5 seconds, the traveling speed of the traveling device (2) will be reduced to 0.5 m / second. That is the case.

[0009]

[0010]

[0011] Claim 3The invention described above allows the controller (60) to pre-set the maximum output rotation of the continuously variable transmission (30) when automatic driving is deactivated and the operating levers (12) and (15) are not being operated. The The combine harvester according to claim 1, which decelerates to a constant deceleration rate.

[0012] Claim 4 The invention described above allows the controller (60) to set a preset maximum output rotation speed of the continuously variable transmission (30) when the operating lever (12) is operated in the left or right direction and the rotation of one crawler of the running device (2) stops. other The combine harvester according to claim 1, which decelerates to a set deceleration rate.

[0013] Claim 5 The invention described herein claims that the controller (60) stops the deceleration when the gear lever (15) is operated to the neutral position which reduces the output rotation of the continuously variable transmission (30) to zero. 1 or 2 This is the combine harvester described. [Effects of the Invention]

[0014] According to the invention described in claim 1, a continuously variable transmission (30) that increases or decreases the output rotation of the engine (E) is provided between the transmission path of the engine (E) and the running gear (2), and the control unit (5) detects the inclination angle of the aircraft frame (1) in the front-rear direction. Inertial measuring device The combine harvester's controller (60) is equipped with a tilt sensor (18), an operating lever (12) for rotating the travel device (2) in the left and right directions, and a shift lever (15) for increasing or decreasing the output rotation of the continuously variable transmission (30). When bringing a combine harvester with the harvesting device (3) raised to a retracted position from outside the field into the field, The measurement value from the tilt sensor (18) is the preset set tilt angle. 5 degrees That's all. 0.5 seconds have passed on a downward slope. In that case, The travel speed of the travel device (2) is set to 0.3 m / second. It slows down to this point. When transporting the combine harvester from outside the field into the field, To prevent human error by workers, Delivery Sometimes large swaying occurs in the combine harvester, which is suppressed. Delivery A high level of safety can be maintained at that time. ru.

[0015] According to the invention described in claim 2, Between the transmission path of the engine (E) and the running gear (2), a continuously variable transmission (30) is provided to increase or decrease the output rotation of the engine (E). The control unit (5) is equipped with an inclination sensor (18) of an inertial measuring device that detects the tilt angle of the machine frame (1) in the front-rear direction, an operating lever (12) that rotates the running gear (2) left and right, and a gear lever (15) that increases or decreases the output rotation of the continuously variable transmission (30). The combine's controller (60) controls the combine when it has raised the harvesting device (3) to a stowaway position and is being transported from the field to outside the field. when the measured value of the tilt sensor (18) is equal to a preset tilt angle If the combined harvester is tilted downwards by more than 5 degrees for 0.5 seconds, the travel speed of the traveling device (2) is reduced to 0.5 m / second. This prevents human error by the operator when transporting the combine harvester from the field to outside the field, suppresses large swaying of the combine harvester during transport, and maintains a high level of safety during transport.

[0016]

[0017]

[0018] claim 3 According to the invention described, in addition to the effects of the invention described in claim 1, when the automatic driving is canceled and the operation lever (12) and the shift lever (15) are not operated, the controller (60) sets the maximum output rotation of the continuously variable transmission (30) in advance The and decelerates to a preset deceleration rate, so that the operator can be made to feel and notice that the automatic driving has been canceled.

[0019] claim 4 According to the invention described, in addition to the effects of the invention described in claim 1, when the operation lever (12) is operated in the left-right direction and the rotation of the crawler on one side of the traveling device (2) stops, the controller (60) sets the maximum output rotation of the continuously variable transmission (30) in advance other to the preset deceleration rate, so that it is possible to prevent the operator from breaking the working posture and safely replace the crawler on one side of the traveling device (2).

[0020] claim 5 According to the invention described, in addition to the effects of the invention described in claim 1 or 2 when the shift lever (15) is operated to the neutral position where the output rotation of the continuously variable transmission (30) is zero, the controller (60) stops decelerating, so that the operator can quickly increase the output rotation of the continuously variable transmission (30) by operating the shift lever (15).

Brief Description of the Drawings

[0021] [Figure 1] It is a left side view of the combine. [Figure 2] It is a plan view of the combine. [Figure 3]This is a connection diagram of the positioning unit. [Figure 4] This is a power output / speed transmission diagram for the engine. [Figure 5] This is an explanatory diagram of the forward and reverse motors for a continuously variable transmission. [Figure 6] This is an explanatory diagram of the pump room and motor room of a continuously variable transmission. [Figure 7] This is an explanatory diagram of the output rotation speeds in the high-speed and low-speed modes of a continuously variable transmission. [Figure 8] (a) on the speed control dial is an explanatory diagram for deceleration in high-speed mode, and (b) is an explanatory diagram for deceleration in low-speed mode. [Figure 9] This is a diagram illustrating the automatic operation of a combine harvester. [Figure 10] This is a connection diagram for the controller. [Figure 11] This is a flowchart showing the increase and decrease in the combined harvester's travel speed. [Figure 12] These are measurements taken by increasing or decreasing the combine harvester's travel speed based on the tilt angle of the tilt sensor. [Modes for carrying out the invention]

[0022] As shown in Figures 1 and 2, the combine harvester has a running device 2 consisting of a pair of left and right crawlers that travel on the soil surface on the underside of the machine frame 1, a harvesting device 3 for cutting grain stalks in the field on the front side of the machine frame 1, a threshing device 4 for threshing and sorting the harvested grain stalks located to the rear left of the harvesting device 3, and a control unit 5 for the operator to sit in, located to the rear right of the harvesting device 3.

[0023] An engine room 6, which houses the engine E, is located below the control unit 5. A grain tank 7 for storing threshed and sorted grain is located behind the control unit 5. A discharge auger 8 is located behind the grain tank 7, consisting of a vertically extending grain lifting section and a horizontally extending front-to-back discharge section for discharging the grain to the outside.

[0024] A touch-panel monitor 11 that displays the travel speed of the travel device 2 is provided in the center of the front panel in front of the cockpit of the control unit 5. An operating lever 12 that controls the left-right rotation of the travel device 2 and the up-down raising and lowering of the harvesting device 3 is provided on the right side of the front panel. The operating position of the operating lever 12 is detected by an angle sensor 12S such as a potentiometer attached to the base of the operating lever 12.

[0025] When the operating lever 12 is moved to the rear position, the harvesting device 3 rises and assumes a retraction position, and when it is moved to the front position, the harvesting device 3 lowers and assumes a working position for harvesting grain stalks.

[0026] When the control lever 12 is moved to the left position, the running gear 2 turns slowly to the left. When the control lever 12 is moved to its furthest left position, the rotation of the left crawler of the running gear 2 stops, and only the right crawler rotates, causing the running gear 2 to make a sharp left turn. Also, when the control lever 12 is moved to the right position, the running gear 2 turns slowly to the right. When the control lever 12 is moved to its furthest right position, the rotation of the right crawler of the running gear 2 stops, and only the left crawler rotates, causing the running gear 2 to make a sharp right turn.

[0027] An automatic driving switch 13 for automatically driving the driving device 2 is provided between the monitor 11 and the operating lever 12, and a speed control dial 14 for increasing or decreasing the maximum output rotation of the continuously variable transmission 30 is provided to the left of the monitor 11.

[0028] A main shift lever (the "shift lever" in the claim) 15 is provided on the front of the left side panel of the cockpit of the control unit 5 to operate the continuously variable transmission 30 to increase or decrease the travel speed of the travel device 2. A sub-shift lever 16 is provided to the right of the main shift lever 15 to operate the transmission 31 to increase or decrease the travel speed of the travel device 2. A threshing lever 17 is provided behind the sub-shift lever 16 to operate the harvesting clutch 32 and the threshing clutch 33 to engage and disengage them. The main shift lever 15 is also provided with a shift switch 15A that reduces the output rotation speed of the hydraulic motor 46A by reducing the swash plate 46B of the motor chamber 46 of the continuously variable transmission 30.

[0029] The operating position of the main shift lever 15 is detected by an angle sensor 15S attached to the base of the main shift lever 15, the operating position of the auxiliary shift lever 16 is measured by an angle sensor attached to the base of the auxiliary shift lever 16, and the operating position of the mowing lever 17 is measured by an angle sensor attached to the base of the mowing lever 17.

[0030] The control unit 5 is equipped with tilt sensors 18, such as an acceleration sensor and an inertial measurement unit (IMU), which detect the pitching angle, which is the tilt angle in the front-rear direction of the aircraft frame 1, and the rolling angle, which is the tilt angle in the left-right direction.

[0031] As shown in Figure 3, the positioning unit 20, which uses the RTK-GPS positioning method, is composed of multiple positioning satellites 21A to 21D, a base station 22 located at a known location, and a mobile station 26 installed on the combine harvester. This allows the positioning signals transmitted from the multiple positioning satellites 21A to 21D to be received and positioned by GNSS receivers installed on the base station 22 and the mobile station 26. The mobile station 26 then utilizes correction signals from the base station 22 to perform high-precision positioning, thereby accurately determining the combine harvester's position. The multiple positioning satellites 21A to 21D are collectively referred to as positioning satellites 21.

[0032] The base station 22 consists of a fixed communication device 23, a fixed GPS antenna 24 that receives position information from positioning satellites 21, and a fixed data transmission antenna 25 that transmits correction signal position information to the mobile station 26.

[0033] The mobile station 26 is comprised of a mobile communication device 27, a mobile GPS antenna 28 that receives position information from multiple positioning satellites 21, and a mobile data receiving antenna 29 that receives correction position information from the base station 22. In this embodiment, the RTK-GPS positioning method is used, but any positioning system, such as the differential positioning method, can be adopted.

[0034] As shown in Figure 4, the output rotation of engine E is transmitted to the continuously variable transmission 30. The output rotation transmitted to the continuously variable transmission 30 is then accelerated, decelerated, and its direction of rotation is switched by the continuously variable transmission 30 before being transmitted to the harvesting device 3 via the transmission 31 and harvesting clutch 32. The output rotation transmitted to the transmission 31 is then accelerated or decelerated by the transmission 31 before being transmitted to the running gear 2.

[0035] The engine E output rotation is transmitted to the threshing device 4 via the threshing clutch 33.

[0036] <Continuously Variable Speed ​​Control> As shown in Figures 5 and 6, a sector-shaped gear 41 is supported on the trunnion shaft 40 of the continuously variable transmission 30. Gears formed on the outer circumference of the sector-shaped gear 41 mesh with a gear 42A provided on the output shaft of the forward motor 42 and a gear 43A provided on the output shaft of the reverse motor 43. This allows the forward motor 42 and the reverse motor 44 to be driven based on the operating position of the main shift lever 15, rotating the trunnion shaft 40 of the continuously variable transmission 30 to increase or decrease the output speed of the engine E and switch the direction of rotation. The output speed of the engine E is transmitted to the input shaft 30A of the continuously variable transmission 30, and the output speed of the continuously variable transmission 30 is transmitted to the running gear 2 via the output shaft 30B and to the harvesting gear 3 via the output shaft 30C.

[0037] The continuously variable transmission 30 has a pump chamber 45 and a motor chamber 46. The pump chamber 45 is equipped with a hydraulic pump 45A and a swash plate 45B whose tilt angle can be changed, and the motor chamber 46 is equipped with a hydraulic motor 46A and a swash plate 46B whose tilt angle is fixed.

[0038] As shown in Figure 7, when the main gear lever 15 is operated to the neutral position, the inclination angle of the swash plate 45B decreases, reducing the amount of oil supplied from the pump chamber 45 to the motor chamber 46, and stopping the output rotation of the hydraulic motor 46A.

[0039] When the main gear lever 15 is operated from the neutral position to the forward position, the trunnion shaft 40 of the continuously variable transmission 30 rotates clockwise, increasing the inclination angle of the swash plate 45B in the positive direction, which increases the amount of oil supplied from the pump chamber 45 to the motor chamber 46, thereby increasing the forward output rotation speed of the hydraulic motor 46A and increasing the forward speed of the travel device 2.

[0040] When the main gear lever 15 is operated from the neutral position to the reverse position, the trunnion shaft 40 rotates counterclockwise, increasing the inclination angle of the swash plate 45B in the opposite direction, which increases the amount of oil supplied from the pump chamber 45 to the motor chamber 46, thereby increasing the reverse output rotation speed of the hydraulic motor 46A and increasing the reverse speed of the travel device 2.

[0041] Pressing the gear shift switch 15A located on the operating section of the main gear shift lever 15 switches the rotational output of the continuously variable transmission 30 from high-speed mode to low-speed mode. When switched to low-speed mode, the controller 60, described later, drives the swashplate operating device 47 to reduce the tilt angle of the swashplate 46B by a predetermined angle, thereby reducing the output rotation of the hydraulic motor 46A to a predetermined speed. Figure 7 illustrates an example in which the rotational output of the continuously variable transmission 30 is reduced by 40% when the gear shift switch 15A is pressed to switch from high-speed mode to low-speed mode.

[0042] Furthermore, when the speed control dial 14 is operated, the controller 60 drives the swash plate operating device 47 in accordance with the amount the speed control dial 14 is operated to reduce the tilt angle of the swash plate 46B and decelerate the output rotation of the hydraulic motor 46A in accordance with the amount operated. This makes it possible to fine-tune the speed of the travel device 2 according to the road surface conditions of the farm road and the lodging condition of the grain stalks in the field.

[0043] Figure 8(a) illustrates an example of reducing the rotational output of the continuously variable transmission 30 by operating the speed control dial 14 in high-speed mode, and Figure 8(b) illustrates an example of reducing the rotational output of the continuously variable transmission 30 by operating the speed control dial 14 in low-speed mode. In Figures 8(a) and (b), L1 represents the case where the speed control dial is not operated, L2 represents the case where the output rotation of the hydraulic motor 46A is reduced to 75% by operating the speed control dial 14, L3 represents the case where the output rotation of the hydraulic motor 46A is reduced to 50% by operating the speed control dial 14, and L4 represents the case where the output rotation of the hydraulic motor 46A is reduced to 25% by operating the speed control dial 14.

[0044] When the sub-transmission lever 16 is set to the high-speed position, the gear meshing in the transmission 31 switches to the high-speed side, increasing the output rotation speed of the transmission 31. When the sub-transmission lever 16 is set to the rear low-speed position, the gear meshing in the transmission 31 switches to the low-speed side, decreasing the output rotation speed of the transmission 31.

[0045] When the harvesting lever 17 is in the forward position, the harvesting clutch 32 and the threshing clutch 33 are disengaged, and when the harvesting lever 17 is in the rear position, the harvesting clutch 32 and the threshing clutch 33 are engaged. Also, when the harvesting lever 17 is in the neutral position between the forward and rear positions, the harvesting clutch 32 is disengaged and the threshing clutch 33 is engaged.

[0046] <Autonomous driving> As shown in Figure 9, the worker who has brought the combine harvester into the field 50 sets a reference line 52 that serves as the basis for the travel path 51 on which the combine harvester will automatically travel. The reference line 52 is a straight line passing through a first reference point 52A located near the entrance 50A and a second reference point 52B located to the left of the first reference point 52A, which is the direction in which the combine harvester will travel.

[0047] The first reference point 52A can be set by the operator pressing the first reference point switch 11A displayed on the monitor 11. When the first reference point switch 11A is pressed, the controller 60 sets the combine's travel position, as received by the GPS antenna 28 and the data receiving antenna 29, as the first reference point 52A.

[0048] The second reference point 52B can be set by the operator pressing the second reference point switch 11B displayed on the monitor 11. When the second reference point switch 11B is pressed, the controller 60 sets the combine's travel position, as received by the GPS antenna 28 and the data receiving antenna 29, as the second reference point 52B.

[0049] The controller 60 stores the positions of the first reference point 52A and the second reference point 52B, and the bearing of the reference line 52.

[0050] The combine harvester's automatic movement can be started by the operator pressing the automatic movement switch 13. When the automatic movement switch 13 is pressed, the controller 60 sets a travel path 51 extending to the left parallel to the direction of the reference line 52 from the second reference point 52B, and then drives the automatic movement device 55 to start the combine harvester's automatic movement. This relieves the operator of the task of steering the combine harvester, thereby reducing their workload.

[0051] If the combine harvester deviates slightly from the travel path 51 while it is automatically traveling, the operator can correct the combine harvester's direction of travel by moving the control lever 12 slightly left or right to align it with the direction of the travel path 51. Also, if the combine harvester deviates significantly from the travel path 51 while it is automatically traveling, the operator can disengage the automatic travel by moving the control lever 12 significantly left or right.

[0052] As shown in Figure 10, the combine harvester's controller 60 consists of a processing unit 61 comprising a CPU and the like, a storage unit 62 comprising ROM, RAM, a hard disk drive, flash memory, and the like, a timer unit 63 for measuring elapsed time, and a communication unit 64 for data communication with the outside.

[0053] The processing unit 61 reduces the travel speed of the travel device 2 via the continuously variable transmission 30 based on the measurement value of the tilt sensor 18, which detects the tilt angle of the aircraft frame 1 in the front-rear direction.

[0054] As shown in Table 1, the memory unit 62 stores information such as the name of the tilt sensor 18, the tilt direction of the machine frame 1, a preset tilt angle, a set elapsed time, and a set deceleration rate for the travel speed. The preset tilt angle, set elapsed time, and set deceleration rate for the travel speed can be changed according to the lodging state of the grain stalks, etc.

[0055] [Table 1]

[0056] The timer unit 63 measures the elapsed time, and the communication unit 64 sends and receives information with the server, etc., of the base station 22.

[0057] The input side of the controller 60 is connected via a predetermined input interface circuit to a speed control switch 11C that increases or decreases the travel speed of the travel device 2 based on the tilt angle of the machine frame 1 displayed on the monitor 11, an angle sensor 12S that detects the operating position of the operating lever 12, an automatic travel switch 13 that enables the combine to travel automatically, a speed control dial 14 that increases or decreases the maximum rotational output of the continuously variable transmission 30, a speed change switch 15A that switches the mode of the continuously variable transmission 30, an angle sensor 15S that detects the operating position of the main speed change lever 15, and a tilt sensor 18 that detects the tilt angle of the machine frame 1 in the front-rear direction.

[0058] The output side of the controller 60 is connected via a predetermined output interface circuit to a forward motor 42 and a reverse motor 43 that rotate the trunnion shaft 40 of the continuously variable transmission 30, a swash plate operating device 47 that controls the tilt angle of the swash plate 46B in the motor chamber 46 of the continuously variable transmission 30, and an automatic driving device 55 that automatically operates the driving device 2.

[0059] As shown in Figure 11, in step S10, the processing unit 61 of the controller 60 determines whether or not the speed control switch 11C is pressed. If it is determined that the operator is pressing the speed control switch 11C, which increases or decreases the travel speed of the travel device 2 based on the inclination angle of the machine frame 1, the process proceeds to step S12. If it is determined that the speed control switch 11C is not pressed, the process repeats step S10.

[0060] In step S20, the processing unit 61 determines whether the tilt angle of the aircraft frame 1 is equal to or greater than the preset tilt angle shown in Table 1. For ease of understanding, the following explanation will use number 1 in Table 1 as an example.

[0061] If the measurement value of the tilt sensor 18, which detects the tilt angle of the aircraft frame 1 in the front-rear direction, is 5 degrees or greater than the set tilt angle 1, the process proceeds to step S30. If the measurement value of the tilt sensor 18 is less than 5 degrees, the process proceeds to step S50.

[0062] In step S30, the processing unit 61 proceeds to step S40 if the measurement value of the timer unit 63 that measures the elapsed time is 2 seconds or more, which is the set elapsed time for number 1, and proceeds to step S50 if the measurement value of the timer unit 63 is less than 2 seconds, which is the set elapsed time.

[0063] In step S40, the processing unit 61 drives the forward motor 42 and the reverse motor 43 via the trunnion shaft 40 of the continuously variable transmission 30 to control the tilt angle of the swash plate 45B of the pump chamber 45, thereby reducing the output rotation of the output shaft 30B of the continuously variable transmission 30 to the set reduction of number 1. rate 5 The speed is reduced to 0%, and the process returns to step S10. As shown in Figure 12, this reduces the travel speed of the travel device 2 by approximately 50% when, for example, a worker is transporting the combine harvester from a farm road to the field 50, thereby suppressing the worker's hunched-over posture and preventing a decrease in travel safety by suppressing the swaying of the combine harvester.

[0064] In step S50, the processing unit 61 determines whether the main shift lever 15 has been operated to the neutral position. If the main shift lever 15 has been operated to the neutral position and the output rotation of the output shaft 30B of the continuously variable transmission 30 is 0 rpm, the process proceeds to step S60. If the main shift lever 15 has not been operated to the neutral position, the process returns to step S10.

[0065] In step S60, the processing unit 61 terminates by ceasing the deceleration of the output rotation of the output shaft 30B of the continuously variable transmission 30. This prevents excessive deceleration of the travel speed of the travel device 2, for example, when there is little difference in elevation between the farm road and the field.

[0066] In Figure 12, the horizontal axis represents elapsed time [seconds], the left vertical axis represents the inclination angle [degrees] of the aircraft frame 1, and the right vertical axis represents the travel speed [m / sec] of the travel device 2. Furthermore, on the left vertical axis, 0 to 15 degrees indicates a downward inclination angle where the rear of the aircraft frame 1 is lower than the front, and -0 to -15 degrees indicates a downward inclination angle where the front of the aircraft frame 1 is lower than the rear.

[0067] Line A (solid line) represents the measured tilt angle of the aircraft frame 1 as detected by the acceleration sensor, which is used as the tilt sensor 18, and line B (dotted line) represents the measured tilt angle of the aircraft frame 1 as detected by the inertial measuring device, which is used as the tilt sensor 18.

[0068] Comparing the measurements from the acceleration sensor and the inertial measurement device, it can be seen that the inertial measurement device is preferable as a tilt sensor 18 because it detects the tilt angle of the aircraft frame 1 faster than the acceleration sensor and flattens the tilt angle before detection.

[0069] Furthermore, line C (dashed line) shows the measured travel speed of the travel device 2. When a downward tilt angle occurs, for example when transporting the combine harvester from the field to the farm road, the travel speed of the travel device 2 is reduced from 1 m / s to 0.5 m / s. When a downward tilt angle occurs, for example when transporting the combine harvester from the farm road to the field, the travel speed of the travel device 2 is reduced from 0.6 m / s to 0.3 m / s. This significantly reduces the backward lean of the worker when transporting the combine harvester from the field to the farm road, and the forward lean of the worker when transporting the combine harvester from the farm road to the field, as perceived by the worker. In addition, the reduction in speed prevents human error by the worker, suppresses large swaying of the combine harvester during travel, maintains a high level of safety during travel, and reduces the burden on the worker's steering work.

[0070] <Other Embodiments> The present invention may be configured to automatically reduce the travel speed when automatic travel is deactivated. Specifically, the processing unit 61 determines whether automatic travel has been deactivated and whether the operating lever 12, which controls the travel direction of the travel device 2, and the main shift lever 15, which controls the continuously variable transmission 30, are being operated. If the measurement value of the angle sensor 12S that detects the operation of the operating lever 12 and the measurement value of the angle sensor 15S that detects the operation of the main shift lever 15 have not changed, i.e., they are not being operated, the processing unit 61 drives the forward motor 42 and the reverse motor 43, which control the inclination angle of the swash plate 45B of the pump chamber 45 via the trunnion shaft 40 of the continuously variable transmission 30, to reduce the output rotation of the output shaft 30B of the continuously variable transmission 30 to a preset set deceleration. rate 5 The vehicle slows down to a certain percentage, and after a predetermined time (for example, 0.5 seconds), it returns to its original speed. The change in speed allows the operator to perceive that the automatic driving function has been deactivated.

[0071] Furthermore, the present invention may be configured to automatically reduce the travel speed when in crawler replacement mode, in which the clutch is disengaged and the crawler is replaced. The processing unit 61 determines whether or not it is in crawler replacement mode when the operating lever 12 is turned to the left or right. In crawler replacement mode, the processing unit 61 drives the forward motor 42 and the reverse motor 43, which operate the inclination angle of the swash plate 45B of the pump chamber 45 via the trunnion shaft 40 of the continuously variable transmission 30, so that the output rotation of the output shaft 30B of the continuously variable transmission 30 is set to a preset reduction rate (claim " other The system slows down to a set deceleration rate of 50%. This allows the worker to safely change the crawler track. [Industrial applicability]

[0072] This invention is a technology for controlling the speed of work vehicles, which can be used not only for combine harvesters but also for other work vehicles such as tractors and rice transplanters. [Explanation of Symbols]

[0073] 1. Aircraft frame 2. Traveling device 3 Reaping device 4. Threshing machine 5. Control Unit 12 Operating levers 15. Main gear shift lever (gear shift lever) 18 Tilt sensor 30 Continuously Variable Transmission 60 Controllers E-engine

Claims

1. In a combine harvester having a machine frame (1) equipped with an engine (E), a traveling device (2) for traveling in a field located below it, a harvesting device (3) for cutting grain stalks located in front of the machine frame (1), a threshing device (4) for threshing the grain located to the rear left of the harvesting device (3), and a control unit (5) for the operator located to the rear right of the harvesting device (3), A continuously variable transmission (30) that increases or decreases the output rotation of the engine (E) is provided between the transmission path of the engine (E) and the running gear (2). The control unit (5) is provided with a tilt sensor (18) for detecting the tilt angle of the aircraft frame (1) in the front-rear direction, an operating lever (12) for rotating the running device (2) in the left-right direction, and a gear shift lever (15) for increasing or decreasing the output rotation of the continuously variable transmission (30). The combine harvester's controller (60) is characterized in that, when the measured value of the tilt sensor (18) exceeds a preset tilt angle, it reduces the maximum output rotation of the continuously variable transmission (30) to a preset first set reduction rate.

2. The combine harvester according to claim 1, wherein the controller (60) reduces the maximum output rotation of the continuously variable transmission (30) to a first set reduction ratio when the measurement value of the tilt sensor (18) becomes equal to or greater than a preset tilt angle and a preset elapsed time has elapsed.

3. The combine harvester according to claim 2, wherein an acceleration sensor is used as the tilt sensor (18), the set tilt angle is set to 5 degrees, the set elapsed time is set to 2 seconds, and the first set deceleration rate is set to 50%.

4. The combine harvester according to claim 2, wherein an inertial measuring device is used as the tilt sensor (18), the set tilt angle is set to 5 degrees, the set elapsed time is set to 0.5 seconds, and the first set deceleration rate is set to 50%.

5. The combine harvester according to claim 1, wherein the controller (60) reduces the maximum output rotation of the continuously variable transmission (30) to a preset second set reduction ratio when automatic driving is deactivated and the operation lever (12) and the gear shift lever (15) are not being operated.

6. The combine harvester according to claim 1, wherein the controller (60) reduces the maximum output rotation of the continuously variable transmission (30) to a preset third reduction ratio when the operating lever (12) is operated in the left or right direction and the rotation of one side of the crawler of the traveling device (2) stops.

7. The combine harvester according to any one of claims 1 to 6, wherein the controller (60) stops the deceleration when the gear lever (15) is operated to the neutral position that reduces the output rotation of the continuously variable transmission (30) to zero.

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