combine

Abstract

To provide a combine-harvester capable of reducing a workload of a worker.SOLUTION: A control unit (5) includes an operation lever (12) which allows a traveling device (2) to manually travel by manual steering of a worker, and a linear assist switch (13) which is automatically steered by a controller (30) installed on the combine-harvester to allow the traveling device (2) to automatically travel along previously set routes (41 and 45). During automatic travel of the traveling device (2), after the traveling device (2) has traveled out of the routes (41 and 45) exceeding a permitted travel range, and if the operation lever (12) has not been operated for a prescribed time period, the routes (41 and 45) are configured to be moved in parallel in front of the linear traveling direction of the combine-harvester for which the operation lever (12) becomes not operated.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 stopping the automatic driving of a work vehicle and changing it to manual driving under manual steering by an operator when the work vehicle deviates significantly from a preset route (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-29231 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it has been pointed out that the technique of Patent Document 1 has the problem that it is not possible to reduce the workload of the worker.

[0005] Therefore, an object of the present invention is to provide a combine harvester that can reduce the workload of an operator. [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) that travels in a field below a machine frame (1), a harvesting device (3) that harvests stalks in front of the machine frame (1), a threshing device (4) that threshes the stalks on the left rear side of the harvesting device (3), a control section (5) on which an operator sits on the right rear side of the harvesting device (3), and a grain tank (7) that stores the threshed grains on the rear side of the control section (5), The operation section (5) is provided with an operation lever (12) which is manually steered by an operator to manually run the traveling device (2), and a straight-line assist switch (13) which is automatically steered by a controller (30) mounted on the combine harvester to automatically run the traveling device (2) along a preset route (41, 45), and when the operation lever (12) is operated for a predetermined time after the traveling device (2) deviates from the route (41, 45) by more than an allowable travel range during automatic travel of the traveling device (2), And the route shift switch (14) for shifting the route (41, 45) is input. In case, The operator manually steers the traveling device (2) of the combine harvester, and the combine harvester that was automatically traveling just before the operator reaches the end of the traveling position of the combine harvester. This combine harvester is characterized in that the paths (41, 45) are moved in parallel.

[0007] The invention described in claim 2 is a combine described in claim 1, in which, when the intersecting angle between the traveling direction of the traveling device (2) and the extension direction of the paths (41, 45) is greater than a preset allowable angle, the automatic traveling of the traveling device (2) is stopped and changed to manual operation.

[0008] The invention described in claim 3 is a combine according to claim 1 or 2, in which if the operating lever (12) is operated for a period of time longer than a preset allowable time during automatic traveling of the traveling device (2), the automatic traveling of the traveling device (2) is stopped and changed to manual operation.

[0009] The invention described in claim 4 is a combine harvester as described in claim 1, in which a first movable wall (56) capable of moving in the vertical direction is provided between the first left wall (52) and the first right wall (53) of the grain tank (7) to load grains transported from the threshing device (4), a first carriage (57) carrying a battery is provided on the upper surface of the first lower wall (54) of the grain tank (7), the first left wall (52) extends from the lower part toward the upper left side, and when the first movable wall (56) moves downward due to an increase in the grains, the first carriage (57) moves toward the threshing device (4).

[0010] The invention described in claim 5 is a combine harvester as described in claim 1, in which a second movable wall (66) capable of moving in the vertical direction is provided between the second left wall (62) and the second right wall (63) of the grain tank (7) to load grains transported from the threshing device (4), a second carriage (67) carrying a battery is provided on the upper surface of the second lower wall (64) of the grain tank (7), the second movable wall (66) and the second carriage (67) are connected by a wire (69), and when the second moving wall (66) moves downward due to an increase in the grains, the second carriage (67) moves toward the threshing device (4). Effect of the Invention

[0011] According to the invention of claim 1, the steering section (5) is provided with an operation lever (12) which is manually steered by an operator to manually run the traveling device (2), and a straight-line assist switch (13) which is automatically steered by a controller (30) mounted on the combine harvester to automatically run the traveling device (2) along a preset route (41, 45). During the automatic running of the traveling device (2), after the traveling device (2) has run off the route (41, 45) by more than an allowable running range, the operation lever (12) is operated for a predetermined time. And the route shift switch (14) for moving the route (41, 45) is input. In case, The operator manually steered the traveling gear (2) of the combine harvester, and the combine harvester was automatically traveling just before the end of the traveling position. Since the paths (41, 45) are configured to move in parallel, the combine harvester can automatically travel from the end of the manually traveled travel position to the end of the path (41, 45), thereby reducing the workload of the operator.

[0012] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, when the intersection angle between the traveling direction of the traveling device (2) and the extension direction of the path (41, 45) is larger than a preset allowable angle, the automatic traveling of the traveling device (2) is stopped and changed to manual operation, so that it is possible to prevent the traveling position of the traveling device (2) from significantly deviating from the path (41, 45) in a short period of time.

[0013] According to the invention as set forth in claim 3, in addition to the effects of the invention as set forth in claim 1 or 2, if the operating lever (12) is operated for a time longer than a preset allowable time during automatic traveling of the traveling device (2), the automatic traveling of the traveling device (2) is stopped and changed to manual operation, so that excessive disturbance is prevented from being input to the controller (30) and automatic traveling of the traveling device (2) can be prevented from becoming unstable.

[0014] According to the invention described in claim 4, in addition to the effects of the invention described in claim 1, a first movable wall (56) that can move in the vertical direction is provided between the first left wall (52) and the first right wall (53) of the grain tank (7) to load grains transported from the threshing device (4), a first cart (57) carrying a battery is provided on the upper surface of the first lower wall (54) of the grain tank (7), the first left wall (52) extends from the lower part toward the upper left side, and when the first movable wall (56) moves downward due to an increase in grains, the first cart (57) moves toward the threshing device (4). This makes it possible to suppress a decrease in the storage capacity of the grain tank (7), and when there are few grains on the first movable wall (56), the upper part of the first cart (57) can be covered with the first left wall (52) to prevent rainwater, etc. from getting on it.

[0015] According to the invention described in claim 5, in addition to the effects of the invention described in claim 1, a second movable wall (66) that can move in the vertical direction is provided between the second left wall (62) and the second right wall (63) of the grain tank (7) to load grains transported from the threshing device (4), a second cart (67) carrying a battery is provided on the upper surface of the second lower wall (64) of the grain tank (7), and the second movable wall (66) and the second cart (67) are connected by a wire (69). When the second moving wall (66) moves downward due to an increase in grains, the second cart (67) moves toward the threshing device (4). This makes it possible to suppress a decrease in the storage capacity of the grain tank (7). Furthermore, when there are few grains on the second moving wall (66), the upper part of the second cart (67) can be covered with the second moving wall (66) to prevent rainwater, etc. from getting on it. [Brief description of the drawings]

[0016] [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. 11 is an explanatory diagram of a method for setting a reference trajectory. [Figure 7] FIG. 2 is an explanatory diagram of automatic driving of a combine harvester. [Figure 8] FIG. 13 is an explanatory diagram of the combine harvester automatically traveling after changing course. [Figure 9] FIG. 13 is an explanatory diagram showing how the combine changes course, then is driven manually, and then automatically driven again. [Figure 10] FIG. 2 is a perspective view of a main part of the grain tank according to the first embodiment. [Figure 11] (a) is a plan view, (b) is a front view, and (c) is a left side view of the grain tank. [Figure 12] FIG. 11 is a perspective view of a main part of a grain tank according to a second embodiment. [Figure 13] (a) is a plan view, (b) is a front view, and (c) is a left side view of the grain tank. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] 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.

[0018] 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.

[0019] 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.

[0020] Between the monitor 11 and the operating lever 12, there is provided a straight line assist switch 13 that automatically drives the traveling device 2 along a straight reference route ("route" in the claims) 41, which will be described later, and on the left side of the monitor 11, there is provided a route shift switch 14 that moves a set route ("route" in the claims) 45, which will be described later, in a direction perpendicular to the traveling direction. The attitude of the operating lever 12 is measured by an angle sensor 12A, such as a potentiometer, attached to the base of the operating lever 12.

[0021] A speed change lever 15 for increasing or decreasing the traveling speed of the traveling device 2 is provided in front of the side panel on the left side of the seat of the control unit 5, and an inertial 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. Also, a buzzer 17 that sounds an alarm when the course is changed is provided in front of the seat of the control unit 5. This allows an assistant worker performing manual harvesting work around the combine to be notified by voice that the combine is changing course.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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., and a communication unit 33 for data communication with the outside.

[0026] 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.

[0027] 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.

[0028] The input side of the controller 30 is connected, via a specified input interface circuit, to 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, an angle sensor 12A for measuring the posture of the operated operating lever 12, a straight line assist switch 13 for automatically running the combine along the reference route 41 or the set route 45, a route shift switch 14 for moving the set route 45 in a direction perpendicular to the running direction, an inertial measurement unit 16 for measuring the yawing angle of the body frame 1, 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.

[0029] The output side of the controller 30 is connected, via a specified output interface circuit, to a buzzer 17 that allows the assistant operator to recognize voice signals, an autopilot switch 35 that automatically drives the combine along the reference path 41, and a brake 36 that brakes the pair of left and right crawlers of the traveling device 2 based on the operation of the operating lever 12.

[0030] <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.

[0031] The reference path 41 is set by extending a straight line in the vertical direction through a first reference point 42 provided below a loading location 40A for a combine harvester or the like in the farm field 40 and a second reference point 43 located below the traveling direction of the first reference point 42. The distance between the first reference point 42 and the second reference point 43 is preferably about 5 m.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] <Steering a combine> As shown in Fig. 6, in step S1, the processing unit 31 of the controller 30 judges whether or not the linear assist switch 13 has been operated. If it is judged that the linear assist switch 13 has been operated, the process proceeds to step S2, and if it is judged that the linear assist switch 13 has not been operated, the process repeats step S1. Note that immediately before step S1, the operator is manually operating the combine harvester to manually travel.

[0040] In step S2, the processing unit 31 inputs the automatic operation switch 35 and proceeds to step S3. As a result, as shown in Fig. 7, the processing unit 31 automatically operates the combine harvester to automatically travel from the starting point of the reference route 41 or the set route 45 to the ending point of the reference route 41 or the set route 45, so that the workload of the operator can be significantly reduced.

[0041] In step S3, the processing unit 31 judges whether the operation lever 12 is operated in the left-right direction within a preset predetermined time. If it is judged that the operation lever 12 is operated in the left-right direction, the process proceeds to step S4, and if it is judged that the operation lever 12 is not operated in the left-right direction, the process returns to step S2. As shown in FIG. 8, when the traveling direction of the combine is tilted clockwise with respect to the extension direction of the reference route 41 or the set route 45, the operator operates the operation lever 12 to the left to make the traveling direction of the combine coincide with the extension direction of the reference route 41 or the set route 45, and when the traveling direction of the combine is tilted counterclockwise with respect to the extension direction of the reference route 41 or the set route 45, the operator operates the operation lever 12 to the right to make the traveling direction of the combine coincide with the extension direction of the reference route 41 or the set route 45. When the operating lever 12 is operated to the left, the brake 36 is activated to brake the left crawler of the traveling device 2, and when the operating lever 12 is operated to the right, the brake 36 is activated to brake the right crawler of the traveling device 2. The predetermined time is preferably set to 1 to 2 seconds.

[0042] In step S4, the processing unit 31 judges whether the crossing angle between the traveling direction of the combine and the extension direction of the reference path 41 or the set path 45 is within a preset allowable angle range. If it is judged that the crossing angle of the combine is within the allowable angle range, the processing proceeds to step S5, and if it is judged that the crossing angle of the combine is not within the allowable angle range, the processing proceeds to step S7. This makes it possible to prevent the traveling position of the combine from moving significantly away from the reference path 41 or the set path 45 in a short period of time. Note that the symbol θ in Figures 8 and 9 indicates the crossing angle.

[0043] The processing unit 31 calculates the crossing angle of the combine based on the yawing angle input from the inertial measurement unit 16. In addition, the allowable angle is preferably set to 30 to 60 degrees in the clockwise direction and 30 to 60 degrees in the counterclockwise direction.

[0044] In step S5, the processing unit 31 judges whether the operation time during which the operating lever 12 is operated in the left / right direction is within a preset allowable time range. If it is judged that the operation time of the operating lever 12 is within the allowable time range, the processing proceeds to step S6, and if it is judged that the operation time of the operating lever 12 is not within the allowable time range, the processing proceeds to step S7. This makes it possible to prevent excessive disturbances from being input to the controller 30 and to suppress the automatic traveling of the combine from becoming unstable.

[0045] The processing unit 31 reads out the permissible time input from the monitor 11, which is stored in the storage unit 32, and compares it with the operation time. The permissible time is preferably set to 3 to 7 seconds.

[0046] In step S6, the processing unit 31 judges whether the traveling position of the combine is within a preset allowable traveling range. As shown in Fig. 8, if it is judged that the traveling position of the combine is within the allowable traveling range, the process returns to step S2, and as shown in Fig. 9, if it is judged that the traveling position of the combine is not within the allowable traveling range, the process proceeds to step S7. Note that the symbol W in Figs. 7 to 9 indicates the allowable traveling range.

[0047] The processing unit 31 calculates the traveling position of the combine harvester based on the position information from the positioning satellite 21 inputted from the GPS antenna 28 and the correction position information from the base station 22 inputted from the data transmission antenna 29. The allowable range can be set based on the unevenness and water content of the field, and in this embodiment, the allowable range is set to the row spacing of the culm.

[0048] In step S7, the processing unit 31 activates the buzzer 17 to sound an alarm, and then proceeds to step S8. This allows the assistant operator to recognize by voice that the operator is manually operating the combine harvester to change its course.

[0049] In step S8, the processing unit 31 cancels the input operation of the autopilot switch 35 and proceeds to step S9. This stops the automatic travel by the automatic operation of the processing unit 31 and starts the manual travel by the manual operation of the operator, thereby preventing the automatic travel of the combine from becoming uncontrollable.

[0050] In step S9, the processor 31 judges whether the operating lever 12 is operated in the left-right direction within a preset predetermined time. If it is judged that the operating lever 12 is not operated in the left-right direction, the process proceeds to step S10, and if it is judged that the operating lever 12 is operated in the left-right direction, the process returns to step S8. The predetermined time is preferably set to 1 to 2 seconds.

[0051] In step S10, the processing unit 31 judges whether or not the route shift switch 14 has been operated. If it is judged that the route shift switch 14 has been operated, the process proceeds to step S11, and if it is judged that the route shift switch 14 has not been operated, the process returns to step S8.

[0052] In step S11, the processing unit 31 translates the reference path 41 or the set path 45 along which the combine was automatically traveling just before the operator manually operated it to the end of the traveling position of the combine that was manually operated by the operator, and proceeds to step S12.

[0053] In step S12, the processing unit 31 determines whether or not an input operation has been performed on the straight assist switch 13. If it is determined that the straight assist switch 13 has been operated, the process proceeds to step S13, and if it is determined that the straight assist switch 13 has not been operated, the process returns to step S8.

[0054] In step S13, the processing unit 31 inputs the automatic operation switch 35 and proceeds to step S14. As a result, as shown in Fig. 9, the processing unit 31 automatically operates the combine harvester to automatically travel along the reference route 41 or the set route 45 from the end of the travel position of the combine harvester that was manually operated by the operator to the end of the reference route 41 or the set route 45.

[0055] In step S14, the processing unit 31 stops the operation of the buzzer 17 and returns to step S1. This allows the assistant operator to recognize by voice that the combine has finished changing its course and has returned to automatic travel. Note that, although the operation of the buzzer 17 is stopped in this embodiment, it is also possible to switch to a warning sound different from the warning sound when the combine changes its course.

[0056] <Glentank of the first embodiment> 10 and 11, the grain tank 7 of the first embodiment is formed of a front wall 50, a rear wall 51, a left wall (first left wall) 52, a right wall (first right wall) 53, a lower wall (first lower wall) 54, an upper wall 55, and a movable wall (first movable wall) 56 that moves downward due to the weight of the grains placed on it. A cart (first cart) 57 equipped with a battery is provided on the upper surface of the lower wall 54 at a position facing the left wall 52.

[0057] A pair of front and rear rails 52A along which the moving wall 56 moves up and down is formed on the right surface of the left wall 52, and a pair of front and rear rails 53A along which the moving wall 56 moves up and down is formed on the left surface of the right wall 53. This allows the moving wall 56 to move downward efficiently.

[0058] The left wall 52 extends upward and leftward from its lower part at a predetermined inclination angle, and as the movable wall 56 moves downward, the lower part of the left wall 52 moves leftward along a pair of front and rear rails 54A formed on the upper surface of the lower wall 54 and abuts against the cart 57, moving the cart 57 leftward. This makes it possible to suppress a decrease in the storage capacity of the grain tank 7, and also makes it possible to cover the upper part of the cart 57 with the left wall 52 when there is only a small amount of grain loaded on the movable wall 56, thereby preventing rainwater, etc. from getting on the battery loaded on the cart 57.

[0059] The moving wall 56 is formed of a lower plate, a left plate, and a right plate, the left plate extending from the lower portion at a predetermined inclination angle, and the right plate extending from the lower portion upward. The inclination angle of the left plate of the moving wall 56 is formed to be the same as the inclination angle of the left wall 52. This allows the moving wall 56 to move downward more efficiently. Furthermore, it is preferable that the cover (not shown) provided on the right side of the right wall 53 is configured so that the upper and lower cover portions can be folded back via a connecting member such as a hinge.

[0060] <Glentank of the second embodiment> 12 and 13, the grain tank 7 of the second embodiment is formed of a front wall 60, a rear wall 61, a left wall (a "second left wall" in the claims) 62, a right wall (a "second right wall" in the claims) 63, a lower wall (a "second lower wall" in the claims) 64, an upper wall 65, and a moving wall (a "second moving wall" in the claims) 66 that moves downward due to the weight of the grains placed on it. In addition, a cart (a "second cart" in the claims) 67 on which a battery is mounted and a moving member 68 to which the cart 67 is fixed are provided on the upper surface of the lower wall 64.

[0061] A pair of front and rear rails 62A along which the moving wall 66 moves up and down is formed on the right surface of the left wall 62, and a pair of front and rear rails 63A along which the moving wall 66 moves up and down is formed on the left surface of the right wall 63. This allows the moving wall 66 to move downward efficiently.

[0062] At the four corners of the upper wall 65, a support member 65B is provided to rotatably support the pulley 65A, and at the two left corners of the lower wall 64, a support member 64B is provided to rotatably support the pulley 64A, and a pair of fixed parts 68A is provided in the front-rear direction of the moving member 68. A wire 69 is wound around the pulley 64A and the pulley 65A, and the upper end of the wire 69 is fixed to the upper part of the moving wall 66, and the lower end of the wire 69 is fixed to the fixed part 68A of the moving member 68. When the amount of grains loaded on the moving wall 66 increases, the wire 69 fixed to the fixed part 68A moves leftward to move the moving member 68 leftward. This makes it possible to suppress a decrease in the storage capacity of the grain tank 7, and when there are few grains loaded on the moving wall 66, the upper part of the cart 67 is covered with the moving wall 66, and it is possible to prevent rainwater, etc. from getting on the battery loaded on the cart 67.

[0063] In the case of a large-capacity grain tank, it is preferable to use sprockets instead of the pulleys 64A, 65A, and to use a chain instead of the wire 69. Furthermore, it is preferable that the cover (not shown) provided on the right side of the right wall 63 be configured so that the upper and lower parts of the cover can be folded back via a connecting member such as a hinge. [Explanation of symbols]

[0064] 1 Aircraft frame 2 Running gear 3 Reaping device 4. Threshing equipment 5. Control Unit 7. Glentank 12 Operating lever 13 Straight line assist switch 30 Controller 41 Reference Route (Route) 45 Set route (route) 52 Left Wall (First Left Wall) 53 Right wall (1st right wall) 54 Lower wall (first lower wall) 56 Moving Wall (First Moving Wall) 57 Cart (First Cart) 62 Left Wall (Second Left Wall) 63 Right wall (2nd right wall) 64 Lower Wall (Second Lower Wall) 66 Moving Wall (Second Moving Wall) 67 Cart (2nd Cart) 69 Wire

Claims

1. A combine harvester comprising 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 threshing device (4) for threshing the stalks on the rear left side of the harvesting device (3), a control section (5) for an operator to ride on on the rear right side of the harvesting device (3), and a grain tank (7) for storing the threshed grains on the rear side of the control section (5), The operation unit (5) is provided with an operation lever (12) which an operator manually steers to manually run the traveling device (2), and a straight line assist switch (13) which a controller (30) mounted on the combine automatically steers to automatically run the traveling device (2) along a preset route (41, 45), This combine is characterized in that, during automatic traveling of the traveling device (2), when the traveling device (2) travels outside the route (41, 45) by more than an allowable traveling range, the operating lever (12) is not operated for a predetermined time period, and a route shift switch (14) for moving the route (41, 45) is input, the route (41, 45) on which the combine was automatically traveling just before is moved parallel to the end of the traveling position of the combine where an operator manually steers the traveling device (2) to manually travel.

2. A combine harvester as described in claim 1, wherein when the intersection angle between the traveling direction of the traveling device (2) and the extension direction of the path (41, 45) is greater than a preset allowable angle, the automatic traveling of the traveling device (2) is stopped and changed to manual operation.

3. A combine harvester as described in claim 1, wherein if the operating lever (12) is operated for a period of time longer than a preset allowable time during automatic traveling of the traveling device (2), the automatic traveling of the traveling device (2) is stopped and changed to manual operation.

4. A first movable wall (56) movable in the vertical direction is provided between a first left wall (52) and a first right wall (53) of the grain tank (7) for loading grains conveyed from the threshing device (4); a first carriage (57) carrying a battery is provided on an upper surface of a first lower wall (54) of the grain tank (7); The first left wall (52) extends from the lower portion toward the upper left side, 3. A combine harvester according to claim 1 or 2, wherein when the first moving wall (56) moves downward due to an increase in the grains, the first carriage (57) moves toward the threshing device (4).

5. A second movable wall (66) movable in the vertical direction is provided between the second left wall (62) and the second right wall (63) of the grain tank (7) for loading grains conveyed from the threshing device (4); a second carriage (67) carrying a battery is provided on an upper surface of the second lower wall (64) of the grain tank (7); A combine harvester as described in claim 1, wherein the second moving wall (66) and the second carriage (67) are connected by a wire (69), and when the second moving wall (66) moves downward due to an increase in the grains, the second carriage (67) moves toward the threshing device (4).

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