Methods for harvesting grain stalks

Abstract

To provide a grain culm reaping method which allows a single combine harvester to efficiently reap lodged grain culms in a farm field.SOLUTION: A steering unit (5) includes a switch (13) that switches between a first priority route (60) that prevents lodged grain culms whose lodging angle (A) of the grain culm exceeds a preset angle from clogging a reaping device (3) and a second priority route (65) for shortening a travel distance of a traveling device (2). When the switch (13) is set to the first priority route (60) side, a controller (30) of the steering unit (5) sets a first setting route (61) for reciprocating reaping in which the reaping device (3) makes a left reaping (55A) or following reaping (55B) of lodged grain culms. When the switch (13) is set to the second priority route (65) side, the controller (30) sets a second setting route (66) for counterclockwise reaping in which the reaping device (3) makes the left reaping (55A), following reaping (55B), right reaping (55C), and facing reaping (55D) of lodged grain culms.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present invention relates to a grain stalk reaping work method for an automatically traveling combine harvester. [Background Art]

[0002] There is known a technology in which a large combine harvester and a small combine harvester are caused to travel automatically according to the lodging state of grain stalks planted in a field and the wet condition of the field, to perform reaping work on grain stalks in the field. (Patent Document 1) [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2021-19531 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, in the technology of Patent Document 1, it is necessary to cause at least a large combine harvester and a small combine harvester to automatically travel in the field to reap grain stalks, so it is necessary to own a plurality of combine harvesters.

[0005] Therefore, an object of the present invention is to provide a grain stalk reaping work method that can efficiently perform reaping work on lodged grain stalks in a field with a single combine harvester. [Means for Solving the Problem]

[0006] The present invention which solves the above problem is as follows.

[0007] That is, the invention according to claim 1 is a grain stalk reaping work method for reaping grain stalks in a field by causing a combine harvester to automatically travel, wherein the combine harvester is provided with a traveling device (2) that travels on the field below a body frame (1) and a reaping device (3) that reaps grain stalks in front of the body frame (1), and a controller (30) of the combine harvester is configured to: The harvesting device (3) sets a counterclockwise circular cutting path for the grain stalks, performing left lodging cuts (55A), right lodging cuts (55B), right lodging cuts (55C), and opposite cuts (55D).In determining the cutting rotation speed of the harvesting device (3) relative to the traveling speed of the traveling device (2), the method for harvesting grain stalks is characterized in that, in the case of right-facing lodging harvesting (55C) and facing harvesting (55D), the speed is set to a higher speed than in the case of left-facing lodging harvesting (55A) and chasing harvesting (55B). [Effects of the Invention]

[0012] According to the invention described in claim 1 , This further prevents lodged grain stalks from clogging the harvesting device (3). do It is possible. According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, it is possible to further suppress the clogging of the harvesting device (3) with lodged grain stalks. [Brief explanation of the drawing]

[0018] [Figure 1] This is a front view of a combine harvester. [Figure 2] This is a plan view of a combine harvester. [Figure 3] This is a left side view of a combine harvester. [Figure 4] This is a diagram explaining the control panel. [Figure 5] This is a diagram showing the connections between positioning satellites and combine harvesters, etc. [Figure 6] This is a connection diagram for the combine harvester's controller. [Figure 7] This is a diagram explaining the drone. [Figure 8] This is a diagram showing the connections between positioning satellites and drones, etc. [Figure 9] This is a connection diagram for the drone controller. [Figure 10] This is an explanatory diagram of the lodging area. [Figure 11] This is an explanatory diagram of the lodging angle and ear height of grain stalks. [Figure 12] This is an explanatory diagram of left-leaning mowing, chasing mowing, right-leaning mowing, and opposing mowing. [Figure 13] This is an explanatory diagram of the travel speed of the traveling device and the cutting rotation speed of the harvesting device. [Figure 14] This is a diagram illustrating the harvesting method. [Figure 15] This is an explanatory diagram of the priority route for preventing blockages. [Figure 16] It is an explanatory diagram of a distance priority route. [Figure 17] It is a front view of a parking brake pedal and a lock lever. [Figure 18] It is a left side view of a parking brake pedal and a lock lever. [Figure 19] It is a right side view of a fire extinguisher mounted on the rear side of a control section. [Figure 20] It is a front view of a mounting plate for a grain tank. [Figure 21] It is a perspective view illustrating an opening of a cabin and an opening of a grain tank. [Figure 22] It is a plan view of a battery and a storage case. MODE FOR CARRYING OUT THE INVENTION

[0019] As shown in FIGS. 1 to 3, the combine is provided with a traveling device 2 formed of a pair of left and right crawlers traveling on a soil surface on the lower side of a body frame 1, a reaping device 3 for reaping grain stalks in a farm field on the front side of the body frame 1, a threshing device 4 for threshing and sorting the reaped grain stalks on the rear left side of the reaping device 3, and a control section 5 on which an operator rides on the rear right side of the reaping device 3.

[0020] An engine room 6 for mounting an engine E is provided on the lower side of the control section 5, a grain tank 7 for storing grains subjected to threshing and sorting is provided on the rear side of the control section 5, and a discharge auger 8 including a vertically extending grain lifting section for discharging grains to the outside and a horizontally extending lateral discharge section is provided on the rear side of the grain tank 7. Further, the control section 5 is surrounded by a cabin 9 provided at an upper part thereof with a camera 25 for measuring the lodging angle of grain stalks and the height of ear tips. Further, The camera 25 is attached to a support device 26 that expands and contracts in the vertical direction and rotates in the axial direction.

[0021] As shown in FIG. 4, a touch-panel type monitor 11 for displaying the traveling speed and the like of the traveling device 2 is provided on a front panel 10 on the front side of a driver's seat of the control section 5, and on the right side of the monitor 11, An operating lever 12 is provided to rotate the traveling device 2 in the left-right direction and raise and lower the harvesting device 3 in the up-down direction. A route switching switch (the "switch" in the claim) 13 for switching the travel path of the combine harvester is provided on the left side of the monitor 11, and an automatic travel switch 14 for automatically driving the combine harvester is provided on the left side of the route switching switch 13. The operating state of the operating lever 12 is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12.

[0022] On the left side panel 15 of the cockpit in the control unit 5, there is a main shift lever 16 for operating the continuously variable transmission (CVT) which increases and decreases the output rotation speed of the engine E and switches the direction of rotation. Behind the main shift lever 16, there is a sub-shift lever 17 for operating the transmission which increases and decreases the output rotation speed of the CVT. On the lower side of the front panel 10, there is a parking brake pedal 18 for applying the brakes to the running gear 2. The operating state of the main shift lever 16 is measured by an angle sensor such as a potentiometer attached to the base of the main shift lever 16, and the operating state of the sub-shift lever 17 is measured by an angle sensor such as a potentiometer attached to the base of the sub-shift lever 17.

[0023] As shown in Figure 5, the positioning unit 20A, which uses the RTK-GPS positioning method, consists of a positioning satellite 21, a base station 22 located at a known location, and a mobile station 23 installed on the combine harvester. This allows the position of the combine harvester to be accurately determined by the position of the mobile station 23, based on the position information transmitted from the positioning satellite 21 to the mobile station 23 and the correction position information transmitted from the base station 22 to the mobile station 23.

[0024] The base station 22 consists of a fixed communication device 22A, a fixed GPS antenna 22B that receives position information from positioning satellites 21, and a fixed data transmission / reception antenna 22C that transmits correction position information to the mobile station 23.

[0025] The mobile station 23 consists of a mobile communication device 23A, a mobile GPS antenna 23B that receives position information from positioning satellites 21, and a mobile data transmission / reception antenna 23C that receives correction position information from base station 22, etc.

[0026] As shown in Figure 6, the combine harvester's controller 30 is composed of a processing unit 30A consisting of a CPU and the like, a storage unit 30B consisting of ROM, RAM, a hard disk drive, flash memory, and the like, and a communication unit 30C for data communication with the outside.

[0027] The processing unit 30A determines the input state of the route switching switch 13 and sets the combine harvester's travel route 54 to either a jam prevention priority route 60 that prioritizes preventing jamming of grain stalks, or a distance priority route (the "second priority route" in the claim) 65 that prioritizes travel distance.

[0028] The memory unit 30B stores data such as the shape of the field, the cutting width of the harvesting device 3, and the lodging angle and ear height of the grain stalks shown in Figure 13, which are used to change the harvesting speed of the harvesting device 3 in relation to the travel speed of the travel device 2.

[0029] The communication unit 30C receives position information from positioning satellites 21 via the GPS antenna 23B. The system receives location information from the base station 22 via the data transmission antenna 23C, and also receives measurement data 51 from the drone 40 (described later) via the data transmission antenna 23C.

[0030] On the input side of the controller 30, an automatic driving switch 14 for automatically driving the combine harvester, a GPS antenna 23B for receiving position information from positioning satellites 21, a data transmission antenna 23C for receiving position information from base station 22 and measurement data 51 from drone 40, and a camera 25 for measuring the lodging angle and lodging direction of grain stalks planted in the lodging area 52 (described later) are connected via a predetermined input interface circuit.

[0031] On the output side of the controller 30, a drive start switch 58 that starts the automatic operation of the travel device 2 after the travel path 54 is set, and an increase / decrease means 59 that increases or decreases the cutting rotation speed of the harvesting device 3 are connected via a predetermined output interface circuit.

[0032] <Drone> As shown in Figure 7, the drone 40, which flies over the field to measure the position of lodged grain stalks, is equipped with distance sensors 41 such as infrared sensors and ultrasonic sensors to measure the distance between the drone 40 and the grain stalks.

[0033] As shown in Figure 8, the positioning unit 20B, which uses the RTK-GPS positioning method, consists of a positioning satellite 21, a base station 22 located at a known location, and a mobile station 24 installed on the drone 40. This allows the drone 40's flight position to be accurately determined by the position of the mobile station 24, based on the position information transmitted from the positioning satellite 21 to the mobile station 24 and the correction position information transmitted from the base station 22 to the mobile station 24.

[0034] The mobile station 24 consists of a mobile communication device 24A, a mobile GPS antenna 24B that receives position information from positioning satellites 21, and a mobile data transmission / reception antenna 24C that receives correction position information from base station 22. The configuration of base station 22 is as described above.

[0035] As shown in Figure 9, the controller 31 of the drone 40 is formed from a processing unit 31A consisting of a CPU and the like, a storage unit 31B consisting of ROM, RAM, a hard disk drive, flash memory and the like, and a communication unit 31C for data communication with the outside.

[0036] The processing unit 31A sets a flight path 50 that causes the drone 40 to fly counterclockwise based on the field's location and shape, which are previously stored in the memory unit 32B. This makes it possible to identify the location of lodged grain stalks.

[0037] The memory unit 31B stores measurement data 51, such as the distance between the drone 40 and the grain stalks, which is measured by the distance sensor 41 of the drone 40.

[0038] The communication unit 31C receives position information from positioning satellites 21 via the GPS antenna 24B. The system receives location information from the base station 22 via the data transmission antenna 24C, and also receives field location and field shape information transmitted from the combine harvester's controller 30 via the data transmission antenna 24C.

[0039] On the input side of the controller 31, a GPS antenna 24B for receiving position information from positioning satellites 21 and a data transmission / reception antenna 24C for receiving position information from base stations 22 and field location information transmitted from the combine harvester's controller 30 are connected via a predetermined input interface circuit.

[0040] A distance sensor 41, which measures the distance between the drone 40 and the grain stalk, is connected to the output side of the controller 31 via a predetermined output interface circuit.

[0041] <Identifying the area where lodged grain stalks have formed> As shown in Figure 10, the drone 40 is flown along a counterclockwise rectangular flight path 50 that is set up at a predetermined distance above the field, and the distance between the drone 40 and the grain stalks is measured by the distance sensor 41 and stored in the memory unit 31B.

[0042] Next, the flight position and distance measurement data 51 stored in the memory unit 31B is transmitted to the combine harvester's controller 30 via the data transmission antenna 24C and the data transmission antenna 23C.

[0043] Next, based on the measurement data 51, the combine harvester's controller 30 determines that the grain stalks have been lodged if the separation distance is longer than a preset separation distance, and identifies the lodged area 52 of the lodged grain stalks. Note that the height of lodged grain stalks is lower than the height of non-lodged grain stalks, and the separation distance between the drone 40 and the lodged grain stalks is longer than the separation distance between the drone 40 and the non-lodged grain stalks. Also, symbol 45 indicates the field.

[0044] <Identifying the lodging angle and direction of grain stalks> As shown in Figure 11, a camera 25 installed in the combine harvester's cabin 9 is pointed towards the lodging area 52 to photograph the lodged grain stalks, and grain stalk data 53 is measured, including the lodging angle, lodging direction, and ear height of the grain stalks. This allows for the determination of the lodging angle of the lodged grain stalks planted in the lodging area 52, and The lodging direction and ear height can be determined. In this embodiment, the lodging angle of the grain stalk is set to the average value calculated from the lodging angles of multiple grain stalks photographed by camera 25, the lodging direction is set to the lodging direction of 50% or more of the grain stalks photographed by camera 25, and the ear height is set to the average value calculated from the ear heights of multiple grain stalks photographed by camera 25. Figure 11 illustrates a right-lost form in which the ear of the grain stalk is located to the right of the base of the plant with respect to the direction of travel of the combine harvester, where symbol A indicates the lodging angle and symbol B indicates the ear height.

[0045] <Method for harvesting lodged grain stalks> As shown in Figure 12, the grain stalks planted in the lodging area 52 are left-lodging, with the tip of the grain stalk located to the left of the base of the plant, and the lodging angle is 45 degrees.

[0046] When the combine harvester is driven counterclockwise along a rectangular travel path 54, the harvesting operation while the combine harvester is traveling along the travel path 54 from bottom to top is called left-leaning harvesting 55A. Harvesting operations where the combine harvester travels along the travel path 54 from right to left are called chase harvesting 55B, harvesting operations where the combine harvester travels along the travel path 54 from top to bottom are called right-lodging harvesting 55C, and harvesting operations where the combine harvester travels along the travel path 54 from left to right are called counter-harvesting 55D.

[0047] In the case of left-lodging harvesting 55A, the upper grain stalks are lifted and harvested from among the overlapping, lodged grain stalks by the harvesting device 3, so there is less risk of grain stalks clogging the harvesting device 3.

[0048] Furthermore, in the case of the 55B overcutting method, the upper grain stalks are lifted and cut by the harvesting device 3 from among the overlapping, lodged grain stalks, so there is less risk of the grain stalks clogging the harvesting device 3.

[0049] On the other hand, in the case of right-lodging harvesting 55C, the grain stalks planted on the left outside of the harvesting device 3 overlap the grain stalks being harvested by the harvesting device 3, causing the stalks to become entangled just before harvesting, which increases the risk of the harvesting device 3 becoming clogged with grain stalks.

[0050] Furthermore, in the case of the opposing cut 55D, on the upper side of the grain stalk that is lifted and cut by the cutting device 3, The stalks planted in front of it will cover it, and just before harvesting the stalks will become entangled with each other, increasing the risk of the stalks clogging the harvesting device 3.

[0051] As shown in Figure 13, the horizontal axis represents the travel speed of the combine harvester's travel device 2, and the vertical axis represents the cutting rotation speed of the harvesting device 3.

[0052] When the lodging angle of the grain stalks is 60 degrees or less, the travel speed of the travel device 2 and the cutting rotation speed of the cutting device 3 are as shown in line 56A. When the travel speed of the travel device 2 is increased to 0-2 m / s, the cutting rotation speed of the cutting device 3 is increased to 0-R4 rpm. This allows for efficient harvesting of grain stalks with a lodging angle of less than 60 degrees.

[0053] When the lodging angle of the grain stalks exceeds 60 degrees, and when using left-lodging harvesting 55A and right-side harvesting 55B, As shown in the straight line (the "first straight line" in the claim) 56B, when the travel speed of the travel device 2 increases to 0-1 m / s, the cutting rotation speed of the cutting device 3 increases to 0-R1 rpm, and when the travel speed of the travel device 2 increases to 1-2 m / s, the cutting rotation speed of the cutting device 3 increases to R1-R4 rpm. This makes it possible to efficiently cut left-lost stalks 55A and over-cut 55B grain stalks with a lodging angle of 60 degrees or more.

[0054] When the lodging angle of the grain stalks exceeds 60 degrees, and when using right-lodging harvesting 55C and opposite-lodging harvesting 55D, As shown in the straight line (the "second straight line" in the claim) 56C, when the travel speed of the travel device 2 increases to 0-1 m / s, the cutting rotation speed of the cutting device 3 increases to 0-R3 rpm, and when the travel speed of the travel device 2 increases to 1-2 m / s, the cutting rotation speed of the cutting device 3 increases to R3-R4 rpm. This makes it possible to efficiently cut grain stalks with a lodging angle of 60 degrees or more using right-lodging cutting 55C and opposite-lodging cutting 55D.

[0055] Furthermore, when the lodging angle of the grain stalk exceeds 60 degrees and the ear height exceeds 120 cm, in the case of left-lodging harvesting 55A and over-harvesting 55B, the travel speed of the travel device 2 and the harvesting rotation speed of the harvesting device 3 are as shown in line 56C. When the travel speed of the travel device 2 increases to 0-1 m / s, the harvesting rotation speed of the harvesting device 3 increases to 0-R3 rpm, and when the travel speed of the travel device 2 increases to 1-2 m / s, the harvesting rotation speed of the harvesting device 3 increases to R3-R4 rpm. This makes it possible to efficiently perform left-lodging harvesting 55A and over-harvesting 55B on grain stalks with a lodging angle of 60 degrees or more and an ear height of 120 cm or more.

[0056] When the lodging angle of the grain stalk exceeds 60 degrees and the ear height exceeds 120 cm, in the case of right-lodging harvesting 55C and opposite-facing harvesting 55D, the travel speed of the travel device 2 and the harvesting rotation speed of the harvesting device 3 are as shown in the straight line (the "third straight line" in the claim) 56D, where if the travel speed of the travel device 2 increases to 0 to 0.6 m / s, the harvesting rotation speed of the harvesting device 3 increases to 0 to R2 rpm, and if the travel speed of the travel device 2 increases to 0.6 to 2 m / s, the harvesting rotation speed of the harvesting device 3 increases to R2 to R4 rpm. This makes it possible to efficiently harvest grain stalks with a lodging angle of 60 degrees or more and an ear height of 120 cm or more using right-lodging harvesting 55C and opposite-facing harvesting 55D.

[0057] <Reaping method> As shown in Figure 14, in step S1, the processing unit 30A of the combine harvester's controller 30 determines the operating state of the route switching switch 13. If it is determined that the route switching switch 13 is operated to the side that prioritizes preventing jamming of grain stalks, the process proceeds to step S2. If it is determined that the route switching switch 13 is operated to the side that prioritizes shortening the travel distance, the process proceeds to step S5.

[0058] In step S2, the processing unit 30A sets a priority path for preventing clogging (the "first priority path" in the claim) 60 based on measurement data 51 which associates the lodging angle, lodging direction, and head height of the grain stalks planted in the lodging area 52 with their positions.

[0059] The grain stalks (not shown) planted in the lodged area 52 in Figure 15 are in a left-lodged form, with the tip of the grain stalk located to the left of the base of the plant. The processing unit 30A forms a setting path (the "first setting path" in the claim) 61 as a priority path 60 to prevent clogging, which extends linearly from the end of the area where the operator has driven the combine harvester counterclockwise along the outer perimeter of the field, across the cutting width of the harvesting device 3, towards the top of the lodged area 52, and proceeds to step S3.

[0060] In step S3, the processing unit 30A determines the operation status of the automatic travel switch 14, which controls the automatic travel of the combine harvester. If it determines that the automatic travel switch 14 is pressed, it inputs the travel start switch 58 to start the combine harvester's movement, and the combine harvester automatically travels along the set path 61 to perform back-and-forth harvesting before proceeding to step S4. On the other hand, if it determines that the automatic travel switch 14 is not pressed, it repeats step S3.

[0061] Figure 15 shows three configuration paths 61A to 61C as configuration paths 61.

[0062] The processing unit 30A automatically drives the combine harvester along the set path 61A from the starting point to the ending point, and then automatically drives it along the set path 61A from the ending point to the starting point. Next, the processing unit 30A moves the combine harvester from the starting point of the set path 61A to the starting point of the set path 61B, and then automatically drives the combine harvester along the set path 61B from the starting point to the ending point, and then automatically drives it along the set path 61B from the ending point to the starting point. Next, the processing unit 30A moves the combine harvester from the starting point of the set path 61B to the starting point of the set path 61C, and then automatically drives the combine harvester along the set path 61C from the starting point to the ending point, and then automatically drives it along the set path 61C from the ending point to the starting point. This makes it possible to harvest grain stalks that have fallen to the left relative to the direction of travel of the combine harvester by left-lodging harvesting 55A, and prevents grain stalks from getting stuck in the harvesting device 3.

[0063] In step S4, if the ear height is 120 cm or less, the processing unit 30A controls the travel speed of the travel device 2 and the cutting rotation speed of the cutting device 3 based on the straight line 56B shown in Figure 13. If the height of the rice stalk exceeds 120 cm, the travel speed of the travel device 2 and the cutting rotation speed of the harvesting device 3 are controlled based on the straight line 56C in Figure 13, and the process returns to step S1. This further prevents the grain stalks from clogging the harvesting device 3.

[0064] In addition, the above description explains the form in which grain stalks planted in the lodging area 52 have fallen to the left, but the same applies to the form in which grain stalks planted in the lodging area 52 have fallen to the right, with the tip of the grain stalk positioned in front of the base of the plant relative to the direction of travel of the combine harvester.

[0065] In step S5, the processing unit 30A sets a distance-prioritized path 65 based on measurement data 51 which associates the lodging angle, lodging direction, and ear height of the grain stalks planted in the lodging area 52 with their positions.

[0066] The grain stalks (not shown) planted in the lodged area 52 in Figure 16 are in a left-lodged form, with the tip of the grain stalk located to the left of the base of the plant. The processing unit 30A sets setting paths 66A to 66E of the setting path (the "second setting path" in the claim) 66, which rotate in a rectangular shape counterclockwise around the lodged area 52, separated by the cutting width of the harvesting device 3, starting from the end point where the operator has driven the combine harvester counterclockwise along the outer perimeter of the field and harvesting, and proceeds to step S6.

[0067] In step S6, the processing unit 30A determines the status of the automatic travel switch 14, which controls the automatic movement of the combine harvester. If it determines that the automatic travel switch 14 is pressed, it inputs the travel start switch 58 to start the combine harvester's movement, and the combine harvester automatically travels along the set path 66A to 66E to perform the harvesting cycle before proceeding to step S7. On the other hand, if it determines that the automatic travel switch 14 is not pressed, it repeats step S6.

[0068] Figure 16 shows five setting paths 66A to 66E that rotate counterclockwise as the setting path 66. The processing unit 30A automatically drives the combine along the setting path 66A from the starting point to the ending point, then performs an α turn to move it to the starting point of the setting path 66B.

[0069] Next, the processing unit 30A automatically drives the combine along the set path 66B from the start to the end, then performs an α-turn to move to the start of the set path 66C. Next, the processing unit 30A automatically drives the combine along the set path 66C from the start to the end, then performs an α-turn to move to the start of the set path 66D. Next, the processing unit 30A automatically drives the combine along the set path 66D from the start to the end, then performs an α-turn to move to the start of the set path 66E. Next, the processing unit 30A automatically drives the combine along the set path 66E from the start to the end. This allows the combine to automatically travel a short distance and efficiently harvest the grain stalks planted in the lodged area 52.

[0070] In step S7, the processing unit 30A controls the travel speed of the travel device 2 and the cutting rotation speed of the harvesting device 3 based on the straight line 56B shown in Figure 13 if the height of the ear of grain is 120 cm or less, if the combine is automatically traveling along the set path 66A, it controls the travel speed of the travel device 2 and the cutting rotation speed of the harvesting device 3 based on the straight line 56B if the combine is automatically traveling along the set path 66B, it controls the travel speed of the travel device 2 and the cutting rotation speed of the harvesting device 3 based on the straight line 56C if the combine is automatically traveling along the set path 66C, it controls the travel speed of the travel device 2 and the cutting rotation speed of the harvesting device 3 based on the straight line 56C if the combine is automatically traveling along the set path 66D, and it controls the travel speed of the travel device 2 and the cutting rotation speed of the harvesting device 3 based on the straight line 56C if the combine is automatically traveling along the set path 66E, and then returns to step S1. This makes it possible to further prevent grain stalks from getting stuck in the harvesting device 3.

[0071] Furthermore, in step S7, if the ear height exceeds 120 cm, the processing unit 30A controls the travel speed of the travel device 2 and the harvesting rotation speed of the harvesting device 3 based on the straight line 56C shown in Figure 13 if the combine is automatically traveling along the set path 66A, controls the travel speed of the travel device 2 and the harvesting rotation speed of the harvesting device 3 based on the straight line 56C if the combine is automatically traveling along the set path 66B, controls the travel speed of the travel device 2 and the harvesting rotation speed of the harvesting device 3 based on the straight line 56D if the combine is automatically traveling along the set path 66C, controls the travel speed of the travel device 2 and the harvesting rotation speed of the harvesting device 3 based on the straight line 56D if the combine is automatically traveling along the set path 66D, and controls the travel speed of the travel device 2 and the harvesting rotation speed of the harvesting device 3 based on the straight line 56C if the combine is automatically traveling along the set path 66E, and returns to step S1. This further prevents grain stalks from getting stuck in the harvesting device 3.

[0072] <Parking brake pedal and lock lever> As shown in Figures 17 and 18, a lock lever 19 is provided on the left side of the parking brake pedal 18, which is formed at an upward slope to adjust the amount of depression of the parking brake pedal 18 within a predetermined range.

[0073] The operating portion 19A of the lock lever 19 is preferably positioned above the parking brake pedal 18, at a predetermined distance from the unpressed parking brake pedal. This prevents the operating portion 19A from contacting the parking brake pedal 18, making it easier to operate the lock lever 19.

[0074] <Digestive organ> As shown in Figure 19, it is preferable to mount fire extinguishers 71 on the upper and lower rear frames 70 of the control unit 5. This allows for effective use of the space formed on the rear side of the rear wall of the control unit 5. Reference numeral 72 indicates an air cleaner that removes impurities from the outside air.

[0075] <Glentank> As shown in Figure 20, it is preferable that the front wall of the grain tank 7 is connected to the support plate 75 via a mounting plate 74 having an elongated hole 74A with a long axis in the vertical direction. This prevents the front wall of the grain tank 7 from being mounted at an angle in a side view, and allows the gap between the rear wall of the control unit 5 and the front wall of the grain tank 7 at the bottom and the gap between the rear wall of the control unit 5 and the front wall of the grain tank 7 at the top to be maintained at the same distance.

[0076] <Cabin and Grain Tank> As shown in Figure 21, it is preferable to form an opening 77 with transparent resin embedded in the rear wall of the cabin 9, and an opening 78 with transparent resin embedded in the front wall of the grain tank 7 opposite to the opening 77. This allows the operator to visually check the amount of grain stored in the grain tank 7 through the openings 77 and 78.

[0077] <Battery> As shown in Figure 22, when the harvesting device 3 is driven by an electric motor (not shown) instead of an engine E, a battery 80 for storing electricity supplied to the electric motor is located on the machine frame 1 in a position opposite the lower side of the grain tank 7. Furthermore, the battery 80 is... It is preferable to store it in a storage case 81 that can slide between the storage position and the drawer position. The storage case 81 can be pulled out to the right-side pull-out position of the aircraft frame 1, making it easy to replace the battery 80. [Explanation of Symbols]

[0078] 1. Aircraft frame 2. Traveling device 3 Reaping device 5. Control Unit 13. Route switching switch (switch) 30 controllers 55A Left-handed downward cutting 55B Repeated mowing 55C Right-handed fall and slash 55D Facing Cut 56B Straight line (First straight line) 56C straight line (second straight line) 56D Straight Line (Third Straight Line) 60. Blockage prevention priority route (first priority route) 61 Configuration path (First configuration path) 65 Distance-priority route (second-priority route) 66 Configuration path (Second configuration path) A Lodging angle B Tip height

Claims

[Claim 1] A method for harvesting grain stalks in a field, comprising a combine harvester equipped with a traveling device (2) for traveling in a field on the underside of a machine frame (1) and a harvesting device (3) for cutting grain stalks on the front side of the machine frame (1), which is automatically driven to harvest grain stalks in a field. The controller (30) of the combine harvester is A setting path is set for a counterclockwise circular cutting process in which the grain stalks are cut to the left (55A), followed by cutting (55B), cut to the right (55C), and cut in the opposite direction (55D) using the harvesting device (3). A method for harvesting grain stalks, characterized in that, when determining the harvesting rotation speed of the harvesting device (3) with respect to the travel speed of the traveling device (2), the speed is set to a higher speed in the case of right-lobed harvesting (55C) and forward harvesting (55D) than in the case of left-lobed harvesting (55A) and chasing harvesting (55B).

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