combine

Abstract

To provide a combine-harvester which can keep the excellent travel attitude and reduce the number of unreaped grain culms left over by a reaping device.SOLUTION: A maneuvering part (5) includes: an operation lever (12) which is manually steered by a worker to make a travel device (2) manually travel; a linear assist switch (13) which is automatically steered by a controller (30) mounted on a combine-harvester to make a travel device (2) automatically travel at a preset travel speed along a preset path (45); and a measurement device (16) which measures the inclination angle of the combine-harvester. When the inclination angle measured by the measurement device (16) is greater than or equal to the pre-set first set angle and the pre-set first set time has elapsed during the input operation of the linear assist switch (13), the controller (30) decelerates the travel speed of the travel device (2).SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a combine harvester that automatically travels along a preset route. [Background technology]

[0002] Conventionally, there is known a technique for avoiding collisions with obstacles such as fallen rocks or fallen trees on a set route along which a combine harvester is automatically driven by setting a new set route (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-10372 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology of Patent Document 1, even if the combine's traveling posture rolls more than a specified amount due to the wet rice field conditions, etc., the combine is allowed to automatically travel at a constant speed, which causes the combine's traveling posture to become unstable, resulting in a problem of a large amount of uncut stalks being left uncut by the harvesting device.

[0005] Therefore, an object of the present invention is to provide a combine harvester that can maintain the combine harvester in a good traveling posture and reduce the amount of uncut stalks left behind by the harvesting device. [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 combine harvester having a traveling device (2) for traveling in a field under a machine frame (1), a harvesting device (3) for harvesting stalks in front of the machine frame (1), a control section (5) behind the harvesting device (3) on which an operator sits, and a grain tank (7) behind the control section (5) for storing threshed grains. The operation section (5) is provided with an operation lever (12) which is manually steered by an operator to manually drive the traveling device (2), a linear assist switch (13) which is automatically steered by a controller (30) mounted on the combine harvester to automatically drive the traveling device (2) at a preset travel speed along a preset route (45), and a measuring device (16) which measures the inclination angle of the combine harvester. When the inclination angle measured by the measuring device (16) is equal to or greater than a first preset angle during an input operation of the linear assist switch (13) and a first preset time has elapsed, the controller (30) reduces the travel speed of the traveling device (2). After the traveling speed of the traveling device (2) is decelerated, if the inclination angle measured by the measuring device (16) is less than a second set angle and a second set time has elapsed, the controller (30) increases the traveling speed of the traveling device (2) to the set traveling speed. This is a combine harvester characterized by the above.

[0007]

[0008] Claim 2 The invention described in the claims is characterized in that the second set angle is set to an angle smaller than the first set angle, and the second set time is set to a time longer than the first set time. 1 The combine harvester described herein is

[0009] Claim 3 The invention described is a combine harvester according to claim 1, wherein when the combine harvester reaches an end of a set path (45), the controller (30) raises the reaping device (3) to a predetermined height.

[0010] Claim 4The invention described in the claims is characterized in that the steering section (5) is provided with a route shift switch (14) for shifting a set route (45) in a direction perpendicular to the traveling direction of the combine harvester, and when the route shift switch (14) is operated, the controller (30) shifts the set route (45) along which the combine harvester will automatically travel next by a predetermined amount toward the set route (45) along which the combine harvester has automatically traveled. 3 The combine harvester described herein is

[0011] Claim 5 The invention described in the present invention is a claim in which the predetermined amount is set to the spacing between rows of culms planted in the field. 4 The combine harvester described herein is

[0012] Claim 6 The described invention is a combine harvester as described in claim 1, in which the control unit (5) is provided with a camera (17) that photographs the culms in front and a buzzer (18) that sounds an alarm, and when the culms photographed by the camera (17) are in a fallen state, the controller (30) activates the buzzer (18) to sound an alarm if the traveling direction of the traveling device (2) is not facing from the base of the fallen culms toward the tip. Effect of the Invention

[0013] According to the invention described in claim 1, the operation section (5) is provided with an operating lever (12) which an operator manually steers to manually drive the traveling device (2), a linear assist switch (13) which a controller (30) mounted on the combine automatically steers to automatically drive the traveling device (2) at a preset travel speed along a preset route (45), and a measuring device (16) which measures the inclination angle of the combine. When the inclination angle measured by the measuring device (16) is equal to or greater than a first preset angle during an input operation of the linear assist switch (13) and the first preset time has elapsed, the controller (30) slows down the travel speed of the traveling device (2). This prevents significant disturbance of the traveling posture of the combine, efficiently harvests the stalks planted in the field, and reduces the amount of unharvested stalks.

[0014] Also, If, after the traveling speed of the traveling device (2) is decelerated, the inclination angle measured by the measuring device (16) is less than a preset second set angle and the preset second set time has elapsed, the controller (30) increases the traveling speed of the traveling device (2) to the set traveling speed, so that the traveling speed of the traveling device (2) can be increased after passing through a wetland portion of the field, thereby improving the efficiency of the harvesting work.

[0015] Claim 2 According to the invention described, claims 1 In addition to the effects of the invention described above, since the second set angle is set to an angle smaller than the first set angle and the second set time is set to a time longer than the first set time, it is possible to better prevent significant disturbance of the combine's traveling posture, efficiently cut the stalks planted in the field, and further reduce the amount of uncut stalks.

[0016] Claim 3 According to the described invention, in addition to the effect of the invention described in claim 1, when the combine reaches the end of the set path (45), the controller (30) raises the cutting device (3) to a predetermined height, thereby preventing the lower part of the cutting device (3) from contacting wetlands in the field and preventing damage to the cutting device (3).

[0017] Claim 4 According to the invention described, claims 3 In addition to the effects of the invention described above, a path shift switch (14) is provided in the control unit (5) for shifting the set path (45) in a direction perpendicular to the traveling direction of the combine. When the path shift switch (14) is operated, the controller (30) shifts the set path (45) along which the combine will next automatically travel a predetermined amount toward the set path (45) along which the combine has automatically traveled. This makes it possible to cut the stalks to be planted in the wetlands of the field and reduce the amount of uncut stalks to be planted in the wetlands of the field.

[0018] Claim 5 According to the invention described, claims 4In addition to the effects of the invention described above, by setting a predetermined amount of spacing between the rows of culms planted in the field, it is possible to cut more culms planted in the wetlands of the field and to further reduce the amount of uncut culms planted in the wetlands of the field.

[0019] Claim 6 According to the described invention, in addition to the effects of the invention described in claim 1, the control unit (5) is provided with a camera (17) that photographs the culms in front and a buzzer (18) that sounds an alarm, and when the culms photographed by the camera (17) are in a fallen state, the controller (30) activates the buzzer (18) to sound an alarm if the traveling direction of the traveling device (2) is not facing from the base of the fallen culm to the tip, thereby preventing grains from being shed from the culms entangled in the harvesting device (3) and suppressing grain loss during harvesting. [Brief description of the drawings]

[0020] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a connection diagram of the positioning unit. [Figure 4] FIG. 2 is a connection diagram of a controller. [Diagram 5] FIG. 11 is an explanatory diagram of a reference path and a set path set based on the reference path. [Figure 6] FIG. 2 is an explanatory diagram of a steering method for a combine harvester. [Figure 7] FIG. 13 is an explanatory diagram for manually driving a combine harvester to a discharge location. [Figure 8] (a) is an explanatory diagram of the combine harvester turning in a normal four-row cut, and (b) is an explanatory diagram of the combine harvester turning in a four-row cut in which one row is cut overlappingly. [Figure 9] This is an explanatory diagram of the fallen state of grain culms photographed by a camera. [Figure 10] FIG. 2 is a perspective view of a scraper according to the first embodiment. [Figure 11] FIG. 1A is a front view of the scraper, and FIG. [Figure 12] FIG. 11 is a perspective view of a scraper according to a second embodiment. [Figure 13] (a) is a front view of the scraper, (b) is a plan view, and (c) is a left side view. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] 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 harvesting device 3 that harvests grain stalks in the field is provided on the front side of the body frame 1, a threshing device 4 that threshes and sorts the harvested grain stalks is provided on the rear left side of the harvesting device 3, and a control unit 5 on which an operator rides is provided on the rear right side of the harvesting device 3.

[0022] An engine room 6 in which an engine is mounted is provided below the control unit 5, and a grain tank 7 in which threshed and sorted grains are stored is provided behind the control unit 5. Behind the grain tank 7 is a discharge auger 8 consisting of a vertically extending grain lifting section and a horizontal discharge section extending back and forth to discharge grains to the outside.

[0023] A monitor 11 that displays the traveling speed of the traveling device 2, etc., is provided in the center of the front panel in front of the seat of the operating unit 5, and an operating lever 12 is provided on the right side of the monitor 11 for controlling the left-right rotation of the traveling device 2 and the up-down movement of the harvesting device 3, etc.

[0024] Between the monitor 11 and the operating lever 12, there is provided a straight-line assist switch 13 which causes the traveling device 2 to automatically travel along a straight-line reference path 41 which will be described later, and on the left side of the monitor 11, there is provided a path shift switch 14 which moves along a set path 45 which will be described later in a direction perpendicular to the traveling direction.

[0025] The operating lever 12 is provided with a wet paddy field travel switch 12A, and when the wet paddy field travel switch 12A is operated, a hydraulic cylinder 3A attached to the base of the reaping device 3 is activated to raise the reaping device 3 to a predetermined height. This prevents the lower part of the reaping device 3 from crashing into the field and being damaged. The position of the operating lever 12 is measured by an angle sensor 12S, such as a potentiometer, attached to the base of the operating lever 12.

[0026] A speed change lever 15 for increasing or decreasing the traveling speed of the traveling device 2 is provided in the front of the side panel on the left side of the seat of the operator's section 5, and an inertial measurement unit (hereinafter referred to as "measurement unit") 16 is provided behind the speed change lever 15. This makes it possible to measure the yawing angle, rolling angle, and pitching angle of the machine frame 1. In addition, it is preferable to install the inertial measurement unit 16 in the center of the combine harvester in the front-rear and left-right directions in a plan view.

[0027] The traveling device 2 is fitted with a speed sensor 2S that measures the traveling speed of the traveling device 2, a camera 17 that measures the lodging state of the stalks in the field is provided in front of the operating unit 5, a buzzer 18 that sounds an alarm to prompt a change in traveling direction during additional harvesting is provided in front of the seat of the operating unit 5, and a grain sensor 7S that measures the amount of grain stored is attached to the inner circumference of the grain tank 7. In this embodiment, three grain sensors 7S are attached: a grain sensor 7SA that measures when the grain tank 7 is filled with 50% of its capacity, a grain sensor 7SB that measures when the grain tank 7 is filled with 75%, and a grain sensor 7SC that measures when the grain tank 7 is filled with 100%, i.e., when it is full.

[0028] As shown in Fig. 3, the positioning unit 20, which is an RTK-GPS positioning system, is composed of a positioning satellite 21, a base station 22 installed at a known position, and a mobile station 26 installed in the combine. This makes it possible to accurately obtain the running position of the combine from the position information transmitted from the positioning satellite 21 to the mobile station 26 and the correction position information transmitted from the base station 22 to the mobile station 26.

[0029] The base station 22 is composed 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 corrective position information to the mobile station 26.

[0030] The mobile station 26 is composed of a mobile communication device 27, a mobile GPS antenna 28 that receives position information from the positioning satellite 21, and a mobile data transmission antenna 29 that receives correction position information from the base station 22.

[0031] As shown in Figure 4, the combine controller 30 is made up of a processing unit 31 consisting of a CPU etc., a memory unit 32 consisting of a ROM, RAM, a hard disk drive, flash memory etc., a communication unit 33 for data communication with the outside, and a timer 34 for measuring elapsed time.

[0032] The processing unit 31 sets a straight-line reference path 41 connecting the first reference point 42 and the second reference point 43 based on the positions of the first reference point 42 and the second reference point 43 described later, and determines the traveling state of the traveling device 2, etc.

[0033] The storage unit 32 stores the positions of the first reference point 42 and the second reference point 43 calculated by the processing unit 31, and so on.

[0034] The input side of the controller 30 is connected, via a specified input interface circuit, to a speed sensor 2S for measuring the traveling speed of the traveling device 2, a first reference point setting switch 11A for setting the first reference point 42, a second reference point setting switch 11B for setting the second reference point 43, a third reference point setting switch 11C for setting the third reference point 44, a wet field traveling switch 12A for raising the harvesting device 3, an angle sensor 12S for measuring the attitude of the operating lever 12, a straight line assist switch 13 for automatically traveling the combine along the reference path 41 or the set path 45, a path shift switch 14 for moving the set path 45 in a direction perpendicular to the traveling direction, an inertial measurement unit 16 for measuring the pitching angle, rolling angle, etc. of the body frame 1, a camera 17 for measuring the lodging state of the stalks, a GPS antenna 28 for receiving position information from a positioning satellite 21, and a data transmission antenna 29 for receiving position information for correction from a base station 22.

[0035] The output side of the controller 30 is connected, via a specified output interface circuit, to a hydraulic cylinder 3A that raises and lowers the harvesting device 3, a monitor 11 that displays the stalks photographed by the camera 17, a buzzer 18 that sounds an alarm to prompt a change in the traveling direction, an autopilot switch 35 that automatically drives the combine along the reference path 41, and a brake 36 that brakes a pair of left and right crawlers of the traveling device 2 based on the operation of the operating lever 12.

[0036] <Setting the reference route and the set route> Figure 5 shows a reference path 41 extending in the vertical direction set at the top of a farm field 40, and a set path 45 set parallel to the reference path 41, spaced a predetermined distance from the reference path 41 in the horizontal direction.

[0037] The reference path 41 is set by extending a straight line in the vertical direction through a first reference point 42 located below an entrance location 40A for a combine harvester or the like in the field 40, and a second reference point 43 located below the first reference point 42 in the traveling direction.

[0038] When the worker operates the first reference point setting switch 11A displayed on the touch panel of the monitor 11, the position of the first reference point 42 is calculated by the processing unit 31 of the controller 30 based on the position information of the combine transmitted from the positioning satellite 21 and the base station 22 at the time of the input operation, and then stored in the memory unit 32.

[0039] When the worker operates the second reference point setting switch 11B displayed on the touch panel of the monitor 11, the position of the second reference point 43 is calculated by the processing unit 31 of the controller 30 based on the position information of the combine transmitted from the positioning satellite 21 and the base station 22 at the time of the input operation, and then stored in the memory unit 32.

[0040] The reference path 41 is a portion located between the first reference point 42 and the third reference point 44 on a straight line that passes through the first reference point 42 and the second reference point 43 and extends in the vertical direction.

[0041] When the operator operates the third reference point setting switch 11C displayed on the touch panel of the monitor 11, the position of the third reference point 44 is calculated by the processing unit 31 of the controller 30 based on the position information of the combine transmitted from the positioning satellite 21 and the base station 22 at the time of the input operation, and then stored in the memory unit 32.

[0042] On the path between the first reference point 42 and the second reference point 43 on the reference path 41, the operator manually steers the combine to manually run it. On the path between the second reference point 43 and the third reference point 44 on the reference path 41, the operator inputs the straight line assist switch 13, and the processing unit 31 automatically steers the combine to automatically run it along the reference path 41. This makes it possible to suppress the combine from meandering and prevent the combine from trampling down culms planted in adjacent rows due to the meandering movement of the combine.

[0043] When the combine reaches the third reference point 44, the operator operates the operating lever 12 to rotate the combine in a substantially semicircular arc from the lower left side to the upper left side, and moves the combine away from the third reference point 44 of the reference path 41, and then moves the combine to the lower end of the set path 45 set on the left side of the reference path 41. This releases the input from the linear assist switch 13, and the processing unit 31 switches from automatic operation to operation by the operator.

[0044] When the operator moves the combine harvester to the lower end of the set path 45 and then operates the linear assist switch 13, the processing unit 31 automatically steers the combine harvester to automatically travel along the set path 45. This makes it possible to suppress the combine harvester from meandering and to prevent the combine harvester from trampling down culms planted in adjacent rows due to its meandering travel. The set path 45 is set parallel to the reference path 41, and the path length of the set path 45 is also set to the same length as the path length of the reference path 41, i.e., the length from the first reference point 42 to the third reference point 44.

[0045] When the grain tank 7 is full as detected by a grain sensor 7SC attached to the grain tank 7, the automatic travel is stopped and the operator manually operates the combine to manually travel to a discharge location 46 provided in the field.

[0046] <How to steer a combine> As shown in Fig. 6, in step S1, the processing unit 31 of the controller 30 judges whether the linear assist switch 13 has been operated. If it is judged that the linear assist switch 13 has been operated, the automatic steering switch 35 is operated and the process proceeds to step S2, and if it is judged that the linear assist switch 13 has not been operated, step S1 is repeated. When the automatic steering switch 35 is operated, the traveling device 2 starts automatic traveling along a set route 45 or the like at a preset traveling speed. It should be noted that immediately before step S1, the operator is manually operating the combine to manually travel.

[0047] In step S2, the processing unit 31 judges whether the pitching angle and rolling angle measured by the inertial measurement device 16 are equal to or greater than a first set angle. If it is judged that the pitching angle, etc. is equal to or greater than the first set angle, the process proceeds to step S3, and if it is judged that the pitching angle, etc. is less than the first set angle, the process returns to step S1. This makes it possible to judge whether the combine is traveling in a field with many puddles, etc. It is preferable to set the first set angle to -5 to 5 degrees.

[0048] In step S3, the processing unit 31 judges whether the elapsed time, which is the measurement value of the timer 34, is equal to or greater than a first preset time. If it is judged that the elapsed time is equal to or greater than the first preset time, the process proceeds to step S4, and if it is judged that the elapsed time is less than the first preset time, the process returns to step S1. This makes it possible to more accurately judge whether the combine is traveling through a field with many puddles or the like. The first preset time is preferably set to 3 to 5 seconds.

[0049] In step S4, the processing unit 31 reduces the travel speed of the traveling device 2 from the set travel speed by reducing the output rotation of the engine and the output rotation of the continuously variable transmission provided between the engine and the traveling device 2, and proceeds to step S5. This makes it possible to prevent the crawlers of the traveling device 2 from slipping, etc., causing the combine to deviate significantly from the set route 45. The reduced travel speed of the traveling device 2 is stored in the memory unit 32 of the controller 30 together with the field. This allows the processing unit 31 to easily set the travel speed of the traveling device 2 to the travel speed stored in the memory unit 32 when performing reaping work on the same field again.

[0050] In step S5, the processing unit 31 judges whether the pitching angle and rolling angle measured by the inertial measurement device 16 are less than a second set angle that has been set in advance. If it is judged that the pitching angle, etc. is less than the second set angle, the process proceeds to step S6, and if it is judged that the pitching angle, etc. is equal to or greater than the second set angle, the process proceeds to step S8. This makes it possible to judge that the combine is traveling through a part of the field with many puddles, etc. It is preferable to set the second set angle to -3 to 3 degrees, which is smaller than the first set angle.

[0051] In step S6, the processing unit 31 judges whether the elapsed time, which is the measurement value of the timer 34, is equal to or greater than a second preset time. If it is judged that the elapsed time is equal to or greater than the second preset time, the processing proceeds to step S7, and if it is judged that the elapsed time is less than the second preset time, the processing proceeds to step S8. This makes it possible to more accurately judge that the combine is traveling through a part of the field with many puddles. The second preset time is preferably set to 5 to 10 seconds, which is longer than the first preset time.

[0052] In step S7, the processing unit 31 increases the output rotation of the engine and the output rotation of the continuously variable transmission provided between the engine and the traveling device 2 to increase the traveling speed of the traveling device 2 to the set traveling speed, and then returns to step S2. This increases the traveling speed of the traveling device 2, thereby making it possible to improve the efficiency of the reaping work.

[0053] In step S8, the processing unit 31 determines whether or not the combine is located at the end of the reference route 41 or the set route 45 based on the position information received by the GPS antenna 28 or the data transmission antenna 29. If it is determined that the combine has reached the end of the set route 45 or the like, the process proceeds to step S9, and if it is determined that the combine has not reached the end of the set route 45 or the like, the process returns to step S2.

[0054] In step S9, the processing unit 31 activates the hydraulic cylinder 3A attached to the base of the reaping device 3 to raise the reaping device 3 to a predetermined height, and then proceeds to step S10. This makes it possible to prevent the lower part of the reaping device 3 from colliding with a protruding part in the field while the combine is being manually turned, thereby preventing damage to the height sensor of the reaping device 3 and the like.

[0055] In step S10, the processing unit 31 cancels the input operation of the autopilot switch 35 and proceeds to step S11. This stops the autopilot and allows the operator to manually drive the combine harvester.

[0056] In step S11, the operator determines whether the stored grains are 75% or more of the capacity of the grain tank 7. If the grains are 75% or more of the capacity of the grain tank 7, i.e., the input value of the grain sensor 7SB is ON, the process proceeds to step S12, and if the grains are less than 75% of the capacity of the grain tank 7, i.e., the input value of the grain sensor 7SB is OFF, the process proceeds to step S13. Note that, although the input value of the grain sensor 7SB is set to ON when the grains are 75% or more of the capacity of the grain tank 7, it is preferable to set it in the range of 70 to 90%.

[0057] In step S12, as shown in Fig. 7, the operator manually drives the combine harvester from the end of the set route 45 or the like to the discharge location 46, drives the discharge auger 8 to discharge the grains stored in the grain tank 7 onto the truck bed, and then manually drives the combine harvester from the discharge location 46 to the start of the next set route 45, returning to step S1. This makes it possible to prevent a decrease in efficiency of the harvesting work caused by interrupting the harvesting work in the middle of the set route 45 or the like and manually driving the combine harvester to the discharge location 46.

[0058] In step S13, the processing unit 31 judges whether or not the operator has operated the route shift switch 14. If it is judged that the route shift switch 14 has not been operated, the process proceeds to step S14, and if it is judged that the route shift switch 14 has been operated, the process proceeds to step S15.

[0059] In step S14, as shown in Fig. 8(a), the operator applies a predetermined rotational speed difference to the pair of left and right crawlers of the traveling device 2 to gently manually turn the traveling device 2 and return to step S1. This makes it possible to keep the outer parts of the end and start ends of the set route 45, etc. in the field flat. Note that Fig. 8(a) shows an example of four-row mowing.

[0060] In addition, a mild turn refers to giving a predetermined rotational speed difference to the pair of left and right crawlers of the traveling device 2 to cause the traveling device 2 to turn gently, a brake turn refers to stopping the rotational speed of one of the pair of left and right crawlers of the traveling device 2 to cause the traveling device 2 to turn, and a spin turn refers to reversing the rotational speed of one of the pair of left and right crawlers of the traveling device 2 to cause the traveling device 2 to turn sharply.

[0061] In step S15, the processor 31 moves the set route 45 along which the combine will automatically travel next by the distance between the rows of culms in the direction of the set route 45 along which the combine has automatically traveled, as shown in Fig. 8(b), and proceeds to step S16. Note that Fig. 8(b) illustrates an example of 4-row cutting.

[0062] In this embodiment, the distance between the row in which the culms are planted and the adjacent row is 30 cm, so the set route 45 along which the combine harvester will automatically travel next is moved 30 cm in the direction of the set route 45 along which the combine harvester has automatically traveled. The distance between the rows is preferably 30 to 50 cm.

[0063] In step S16, as shown in Fig. 8(b), the operator gives a predetermined rotational speed difference to the pair of left and right crawlers of the traveling device 2 to gently manually turn the traveling device 2, or stops the rotational speed of one of the pair of left and right crawlers of the traveling device 2 to turn the traveling device 2 and then returns to step S1. This makes it possible to keep the outer parts of the end and start ends of the set path 45, etc. in the field flat, and also makes it possible to reliably cut the culms planted in the field and reduce the amount of uncut culms.

[0064] As shown in Figure 9, the image captured by the camera 17 mounted on the control unit 5 is subjected to a predetermined image processing, and then the direction in which the culms fall and their posture are displayed on the monitor 11. The posture of the culms is displayed in six stages, ranging from a posture P0 in which the culms stand upright to a posture P5 in which the culms are completely fallen.

[0065] The camera 17 photographs the distal part in front of the combine harvester when the traveling speed of the traveling device 2 is fast, and photographs the proximal part in front of the combine harvester when the traveling speed is slow. It is preferable to photograph 4 m in front of the combine harvester when the traveling speed is 2 m / sec, and 2 m in front of the combine harvester when the traveling speed is 1 m / sec.

[0066] In the cases of postures P0 to P3, the tips of the culms are located above the cutting height of the culm base, so the combine can be automatically driven to perform the following cut and the opposite cut of the culms. On the other hand, in the cases of postures P4 and P5, the tips of the culms are located below the cutting height of the culm base, so if the combine is automatically driven to perform the opposite cut of the culms, the tips of many culms will become entangled in the harvesting device 3 and will be shed.

[0067] In the case of postures P4 and P5, if the processor 31 of the controller 30 determines based on the direction of the culms falling and their posture that the traveling direction of the combine does not match the additional cutting direction from the base of the culms to the tip, it activates the buzzer 18 to issue an alarm. This makes it possible to reduce grain loss that occurs during the reaping work.

[0068] <Scraper of the first embodiment> As shown in Figures 10 and 11, a star wheel (not shown) is provided at the bottom of the harvesting device 3, and has a corrugated outer periphery that transports the base of the culm rearward. On the underside of the star wheel, a scraper 50 of the first embodiment is provided to peel off the base of the culm that has become entangled around the star wheel.

[0069] The scraper 50 is formed of a flange portion 51 attached to a support member provided on the underside of the star wheel, and a scraper body 52. ​​The scraper body 52 is formed of a front plate 52A, a left plate 52B extending from the left part of the front plate 52A toward the rear left side, and a right plate 52C extending from the right part of the front plate 52A toward the rear right side. This makes it possible to efficiently peel off the base of the culm entangled in the star wheel and transport it backward. In addition, the left plate 52B and the right plate 52C each have a rear-rising notch portion.

[0070] <Scraper of Second Embodiment> 12 and 13 show a scraper 50 according to a second embodiment. The same members as those in the scraper 50 according to the first embodiment are given the same reference numerals and the description thereof will be omitted.

[0071] In the scraper 50 of the second embodiment, a rectangular plate 55 is provided on the rear side of the front plate 52A of the scraper body 52. ​​The upper part of the plate 55 is supported by a support pipe 57 extending in the left-right direction via a biasing member 56 such as a spring, and both sides of the support pipe 57 are inserted into openings formed in the left plate 52B and the right plate 52C. This makes it possible to more efficiently peel off the base of the culms entangled around the star wheel and transport them rearward. [Explanation of symbols]

[0072] 1 Aircraft frame 2 Running gear 3 Reaping device 5. Control Unit 7. Glentank 12 Operating lever 13 Straight line assist switch 14 Route shift switch 16 Inertial Measurement Unit (measurement device) 17 Camera 18 Buzzer 30 Controller 45 Setting Route

Claims

1. A combine harvester having a traveling device (2) for traveling in a field below a machine frame (1), a harvesting device (3) for harvesting stalks in front of the machine frame (1), a control section (5) behind the harvesting device (3) on which an operator sits, and a grain tank (7) behind the control section (5) for storing threshed grains, The operation section (5) is provided with an operation lever (12) which an operator manually steers to manually run the traveling device (2), a straight line assist switch (13) which automatically steers the traveling device (2) along a preset route (45) set in advance at a preset traveling speed by a controller (30) mounted on the combine, and a measuring device (16) which measures the inclination angle of the combine, When the inclination angle measured by the measuring device (16) is equal to or greater than a first set angle and a first set time has elapsed during an input operation of the linear assist switch (13), the controller (30) decelerates the traveling speed of the traveling device (2); The combine harvester is characterized in that, after the traveling speed of the traveling device (2) is decelerated, if the inclination angle measured by the measuring device (16) is less than a preset second set angle and a preset second set time has elapsed, the controller (30) increases the traveling speed of the traveling device (2) to the set traveling speed.

2. 2. The combine harvester according to claim 1, wherein the second set angle is set to an angle smaller than the first set angle, and the second set time is set to a time longer than the first set time.

3. 2. The combine harvester according to claim 1, wherein the controller (30) raises the reaping device (3) to a predetermined height when the combine harvester reaches an end of a set path (45).

4. A route shift switch (14) is provided in the steering unit (5) for shifting a set route (45) in a direction perpendicular to the traveling direction of the combine harvester, A combine harvester as described in claim 3, wherein when the route shift switch (14) is operated, the controller (30) shifts the set route (45) along which the combine harvester will next automatically travel a predetermined amount toward the set route (45) along which the combine harvester has automatically traveled.

5. 5. The combine harvester according to claim 4, wherein the predetermined amount is set to the spacing between rows of culms planted in the field.

6. The control unit (5) is provided with a camera (17) for photographing the culms in front and a buzzer (18) for sounding an alarm. A combine harvester as described in claim 1, wherein when the culm photographed by the camera (17) is in a fallen state, the controller (30) activates the buzzer (18) to sound an alarm if the traveling direction of the traveling device (2) is not directed from the base of the fallen culm to the tip.

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