JP7548289B2 - Harvesting method - Google Patents

Description

The present invention relates to a harvesting method in which an operator operates a combine harvester to harvest stalks on the outer periphery of a field, and then the combine harvester travels automatically to harvest stalks on the inner periphery of the field.

A conventional method for harvesting culms involves a combine harvester being brought into a farm field and harvesting the culms while traveling along a harvesting route that is set based on signals from a positioning satellite.
(See Patent Document 1)

JP 2018-108034 A

However, in conventional methods of harvesting stalks, the controller determines at each start point of a reaping path whether the grains to be harvested by circling the next reaping path can be stored in the grain tank. If the harvested grains cannot be stored in the grain tank, the controller leaves the reaping path, moves to a discharge position, discharges the grains to the vehicle, and then returns to the start point of reaping, which can lead to inefficient reaping operations.

The present invention aims to provide a highly efficient harvesting method in which, when the amount of grain stored in the grain tank reaches a predetermined amount, the machine leaves one of the corners of the rectangular automatic harvesting path and moves to a discharge position.

The present invention, which solves the above problems, is as follows:

That is, the invention described in claim 1 is a method of harvesting culms planted in a farm field using a combine harvester having a harvesting device (3) that harvests culms planted in a farm field, a thresher (4) at the rear left side of the harvesting device (3) that threshes the culms, a control section (5) on which an operator sits at the rear right side of the harvesting device (3), a grain tank (7) at the rear of the control section (5) that stores the threshed grains, and a discharge auger (8) that discharges the grains stored in the grain tank (7) to the outside,
The combine controller (20) arranges a first automatic mowing path (52A), a second automatic mowing path (52B), a third automatic mowing path (52C), and a fourth automatic mowing path (52D) in this order counterclockwise to form a rectangular automatic mowing path (52), and sets a discharge position (61) on the outer periphery of the field opposite the first automatic mowing path (52A), and when the amount of grain stored in the grain tank (7) during automatic traveling of the combine, the combine controller (20) sets a departure position (53) from the automatic mowing path (52) at the end of the first automatic mowing path (52A) on the terminal side in the traveling direction, and sets a return position (54) to the automatic mowing path (52) at the end of the first automatic mowing path (52A) on the starting end side in the traveling direction . This is a mowing operation method characterized in that

According to the invention described in claim 1, when the amount of grain stored in the grain tank (7) becomes equal to or greater than a predetermined amount during automatic travel of the combine, the combine controller (20) automatically drives the combine from a corner exit position (53) of the rectangular automatic reaping path (52) located in front of the automatic travel to a discharge position (61) set on the outer periphery of the field, and then drives the discharge auger (8) to discharge the grain stored in the grain tank (7) to the outside. This allows the combine to automatically travel quickly to the discharge position (61) and discharge the grain stored in the grain tank (7) onto the bed of a transport vehicle, thereby improving the efficiency of the reaping work. It also prevents the harvested grain from leaking out of the grain tank (7).

FIG. FIG. FIG. 1 is a connection diagram of a positioning unit of a combine harvester. FIG. 1 is a connection diagram of a combine harvester controller. 1A and 1B are explanatory diagrams showing a first reaping operation method of a combine harvester, in which (a) is a detachment method and (b) is a return method. 13A and 13B are explanatory diagrams showing a second harvesting operation method for a combine harvester, in which (a) is a detachment method and (b) is a return method. 13A and 13B are explanatory diagrams showing a third harvesting operation method for a combine harvester, in which (a) is a detachment method and (b) is a return method. 4A and 4B are explanatory diagrams showing the fourth harvesting operation method of a combine harvester, in which (a) is a detachment method and (b) is a return method. 5 is an explanatory diagram of a fifth harvesting operation method for a combine harvester, in which (a) is a detachment method and (b) is a return method. FIG. 2 is an explanatory diagram of a harvesting method of a combine harvester.

As shown in Figures 1 and 2, the combine harvester has a traveling device 2 consisting of a pair of left and right crawlers that travel on the soil surface on the underside of the machine frame 1, a harvesting device 3 that harvests the stalks in the field is provided on the front side of the machine frame 1, a threshing device 4 that threshes and sorts the harvested stalks is provided on the rear left side of the harvesting device 3, and a control unit 5 on which the operator sits is provided on the rear right side of the harvesting device 3.

Below the control unit 5 is an engine room 6 housing an engine E, and behind the control unit 5 is a grain tank 7 for storing threshed and sorted grains. Behind the grain tank 7 is a discharge auger 8 consisting of a vertically extending grain lifting section for discharging grains to the outside and a horizontal discharge section extending in the front-to-rear direction.

As shown in Figure 3, the positioning unit 10, which uses the RTK-GPS positioning method, is composed of a positioning satellite 11, a base station 12 installed at a known position, and a mobile station 16 installed in the combine. This makes it possible to accurately obtain the position of the mobile station 16, i.e., the position of the combine, from the position information transmitted from the positioning satellite 11 to the mobile station 16 and the correction position information transmitted from the base station 12 to the mobile station 16.

The base station 12 is composed of a fixed communication device 13, a fixed GPS antenna 14 that receives position information from the positioning satellite 11, and a fixed data transmission antenna 15 that transmits corrective position information to the mobile station 16.

The mobile station 16 is composed of a mobile communication device 17, a mobile GPS antenna 18 that receives position information from the positioning satellite 11, and a mobile data transmission antenna 19 that receives correction position information from the base station 12.

As shown in FIG. 4, the combine controller 20 is made up of a processing unit 21 consisting of a CPU etc., a memory unit 22 consisting of a ROM, RAM, a hard disk drive, a flash memory etc., and a communication unit 23 for data communication with the outside.

The processing unit 21 compares the free capacity of the grain tank 7 for storing grains with the harvest yield calculated based on the travel distance of the preset automatic harvesting path 52, and determines whether to run the combine along the automatic harvesting path 52, or to set a departure position 53 at which the combine is to leave the automatic harvesting path 52 and head toward the vehicle 60 transporting the grains, and a return position 54 at which the combine, having discharged the grains, is to return from the vehicle 60 to the automatic harvesting path 52.

The memory unit 22 stores information such as the free capacity of the grain tank 7, the harvest yield per unit travel distance, the position of the field, the shape of the field, the loading and unloading positions, the automatic harvesting path, the departure position, the return position, etc., and this information is updated periodically.

On the input side of the controller 20, the mobile communication device 17 of the mobile station 16, which is the position information of the combine harvester, the full sensor 30, which measures the weight of the grain stored in the grain tank 7, the full sensor 31, which measures when the grain stored in the grain tank 7 reaches approximately 80% of the grain tank 7's storage capacity, and the full sensor 32, which measures when the grain stored in the grain tank 7 reaches approximately 100% of the grain tank 7's storage capacity, are connected via a specified input interface circuit. The free capacity of the grain tank 7 can be calculated by subtracting the grain storage capacity calculated based on the measurement value of the full sensor 30 from the capacity of the grain tank 7.

The output side of the controller 20 is connected to a travel switch 40 that causes the combine to travel along the automatic reaping path 52, a release switch 41 that causes the combine to leave the release position 53 at the corner of the automatic reaping path 52, a movement switch 42 that moves the combine from the release position 53 to a discharge position 61 near the vehicle 60, a movement switch 43 that moves the combine from the discharge position 61 to a return position 54 at the corner of the automatic reaping path 52, a restart switch 44 that causes the combine to travel along the automatic reaping path 52 from the return position 54, and an auger switch 45 that drives the discharge auger 8 via a predetermined output interface circuit. In this specification, the first release position 53A to the fourth release position 53D are collectively referred to as the release position 53, and the first return position 54A and the second return position 54B are collectively referred to as the return position 54.

<Harvesting work>
As shown in Fig. 5, the combine harvester is brought into the field through the field entrance 50. The combine harvester brought into the field is operated by a driver riding on the control unit 5 to travel counterclockwise around the outer periphery of the field, i.e., along the area near the ridges in the field, to harvest the culms planted on the outer periphery of the field. This makes it possible to avoid collision between the combine harvester and the ridges and harvest the culms planted on the outer periphery of the field. The manual harvesting path 51 traveled around the field is stored in the memory unit 22 of the controller 20.

After the harvesting of the stalks on the periphery of the field is completed, the combine is switched to automatic driving and automatically drives along the automatic harvesting route 52 that was previously stored in the memory unit 22 of the controller 20. This allows the stalks planted on the inner periphery of the field to be automatically harvested, greatly reducing the burden of harvesting work. In Figure 5 etc., the manual harvesting route 51, which the combine was operated by the operator, is shown by a dashed line, and the automatic harvesting route 52, which the combine was automatically driven along, is shown by a solid line.

For the sake of clarity, in this specification, the automatic reaping path 52 is defined as follows: the path along which the combine runs from the entrance 50 to the left side is called the first automatic reaping path 52A; the path along which the combine runs from the left end of the first automatic reaping path 52A downwards is called the second automatic reaping path 52B; the path along which the combine runs from the lower end of the second automatic reaping path 52B to the right side is called the third automatic reaping path 52C; and the path along which the combine runs from the right end of the third automatic reaping path 52C upwards is called the fourth automatic reaping path 52D. In addition, the description will be made assuming that a vehicle 60 transporting grains discharged from the combine is waiting outside the field opposite the first automatic reaping path 52A.

The distance traveled by the combine harvester operated by the operator can be calculated from the input value of the mobile communication device 17, and the harvested grain yield can be calculated from the input value of the full sensor 30. The calculated harvest yield is divided by the distance to calculate the harvest yield per unit distance, and the calculated unit harvest yield is stored in the memory unit 22 of the controller 20. This makes it possible to calculate the harvest yield, for example, by multiplying the unit harvest yield by the distance of the first automatic reaping path 52A, and to determine whether the harvesting operation can be performed up to the left end of the first automatic reaping path 52A and the harvested grain can be stored in the grain tank 7.

(First reaping work method)
When the full sensor 31 is input during travel along the first automatic reaping path 52A, that is, when the amount of grains reaches approximately 80% or more of the storage capacity of the grain tank 7, the processing unit 21 of the controller 20 determines whether the grains to be harvested by automatically traveling along the first automatic reaping route 52A to the fourth automatic reaping route 52D can be stored in the grain tank 7.

When it is determined that the grains harvested by automatically traveling along the first automatic reaping path 52A to the fourth automatic reaping path 52D can be stored in the grain tank 7, as shown in FIG. 5(a), the combine is caused to travel along the first automatic reaping path 52A to the fourth automatic reaping path 52D, and then the combine is caused to leave the fourth release position 53D, which is the upper end of the fourth automatic reaping path 52D, and automatically travel to the discharge position 61 near the vehicle 60. This allows the combine to travel quickly to the discharge position 61 and discharge the grains stored in the grain tank 7 into the bed of the vehicle 60. After traveling upward from the fourth release position 53D, the combine turns left at a predetermined radius, and then travels leftward to reach the discharge position 61. Furthermore, if there is an input from the full sensor 32 while the combine is automatically traveling along the fourth automatic harvesting route 52D, the combine will move backwards a specified distance, leave the area, and automatically travel to a discharge position 61 near the vehicle 60.

Next, as shown in FIG. 5(b), after the grain discharge is completed, the combine is automatically driven from the discharge position 61 to the second return position 54B, which is the upper end of the second automatic reaping path 52B where reaping work has already been completed, and returned. This allows the combine to be driven quickly to the second return position 54B and reaping work to be resumed efficiently. After driving left from the discharge position 61, the combine turns downward at a predetermined radius, and then drives downward to reach the second return position 54B. This allows the combine to resume reaping work along the second automatic reaping path 52B without having to move backwards, etc.

(Second reaping work method)
6 shows the second mowing method. This method differs from the first mowing method in that the vehicle 60 waits outside the field opposite the right end of the first automatic mowing path 52A. .
In addition, the same routes, etc. as those in the first mowing operation method are given the same symbols and their explanations are omitted.

When it is determined that the grains to be harvested by automatically traveling along the first automatic reaping path 52A to the fourth automatic reaping path 52D can be stored in the grain tank 7, as shown in FIG. 6(a), the combine is caused to travel along the first automatic reaping path 52A to the third automatic reaping path 52C, and then the combine is caused to leave the third departure position 53C, which is the right end of the third automatic reaping path 52C, and automatically travel to the discharge position 61 near the vehicle 60. As a result, even if there is no space above the fourth departure position 53D for the combine to turn left, the combine can be caused to quickly travel to the discharge position 61 and the grains stored in the grain tank 7 can be discharged to the loading platform of the vehicle 60. The combine travels to the right from the third departure position 53C, and then turns left (upward in FIG. 6(a)) with a predetermined radius. Then, after traveling upward, it turns left with a predetermined radius, and then travels left to the discharge position 61. Furthermore, if there is an input from the full sensor 32 while the combine is automatically traveling along the third automatic harvesting route 52C, the combine will move backwards a specified distance, leave the area, and automatically travel to a discharge position 61 near the vehicle 60.

Next, as shown in FIG. 6(b), after the grain discharge is completed, the combine is automatically driven from the discharge position 61 to the second return position 54B, which is the upper end of the second automatic reaping path 52B where reaping work has already been completed, and returned. This allows the combine to be driven quickly to the second return position 54B and reaping work to be resumed efficiently. After driving left from the discharge position 61, the combine turns downward at a predetermined radius, and then drives downward to reach the second return position 54B. This allows the combine to resume reaping work along the second automatic reaping path 52B without having to move backwards, etc.

In addition, if there is no space to the right of the third release position 53C for the combine to turn left, the combine is released at the second release position 53B of the second automatic mowing path 52B, as in the fourth mowing method described below, and if there is no space below the second release position 53B for the combine to turn left, the combine is released at the first release position 53A of the first automatic mowing path 52A, as in the fifth mowing method described below.

(Third reaping work method)
7 shows a third reaping operation method. When it is determined that the grains harvested by automatically traveling along the first automatic reaping route 52A to the fourth automatic reaping route 52D cannot be stored in the grain tank 7, The second reaping method is different from the first reaping method. The same routes and the like as those in the first reaping method are denoted by the same reference numerals and their explanations are omitted.

If it is determined that the grains harvested by automatically traveling along the first automatic reaping path 52A to the third automatic reaping path 52C can be stored in the grain tank 7, but the grains harvested by automatically traveling along the fourth automatic reaping path 52D cannot be stored in the grain tank 7, as shown in FIG. 7(a), the combine is caused to travel along the first automatic reaping path 52A to the third automatic reaping path 52C, and then the combine is caused to leave the third departure position 53C, which is the right end of the third automatic reaping path 52C, and to automatically travel to the discharge position 61 near the vehicle 60. This allows the combine to travel quickly to the discharge position 61, so that the grains stored in the grain tank 7 can be discharged to the loading platform of the vehicle 60, and also prevents the harvested grains from leaking out of the grain tank 7. After traveling to the right from the third departure position 53C, the combine turns leftward with a predetermined radius (upward in FIG. 7(a)). Then, after traveling upward, it turns left at a predetermined radius, then travels left and reaches the discharge position 61. Also, if there is an input from the full sensor 32 while the combine is automatically traveling on the third automatic harvesting path 52C, the combine will move backwards a predetermined distance, leave the scene, and automatically travel to the discharge position 61 near the vehicle 60.

Next, as shown in FIG. 7(b), after the grain discharge is completed, the combine is automatically driven from the discharge position 61 to the second return position 54B, which is the upper end of the second automatic reaping path 52B where reaping work has already been completed, and returned. This allows the combine to be driven quickly to the second return position 54B and reaping work to be resumed efficiently. After driving left from the discharge position 61, the combine turns downward at a predetermined radius, and then drives downward to reach the second return position 54B. This allows the combine to resume reaping work along the second automatic reaping path 52B without having to move backwards, etc.

In addition, if there is no space to the right of the third release position 53C for the combine to turn left, the combine is released at the second release position 53B of the second automatic mowing path 52B, as in the fourth mowing method described below, and if there is no space below the second release position 53B for the combine to turn left, the combine is released at the first release position 53A of the first automatic mowing path 52A, as in the fifth mowing method described below.

(Fourth reaping work method)
8 shows a fourth reaping operation method. When it is determined that the grains harvested by automatically traveling along the first automatic reaping route 52A to the fourth automatic reaping route 52D cannot be stored in the grain tank 7, The second reaping method is different from the first reaping method. The same routes and the like as those in the first reaping method are denoted by the same reference numerals and their explanations are omitted.

If it is determined that the grains harvested by automatically traveling along the first automatic reaping path 52A and the second automatic reaping path 52B can be stored in the grain tank 7, but the grains harvested by automatically traveling along the third automatic reaping path 52C and the fourth automatic reaping path 52D cannot be stored in the grain tank 7, as shown in FIG. 8(a), the combine is removed from the second removal position 53B, which is the lower end of the second automatic reaping path 52B, and is automatically driven to the discharge position 61 near the vehicle 60. This allows the combine to quickly travel to the discharge position 61, so that the grains stored in the grain tank 7 can be discharged to the loading platform of the vehicle 60, and the harvested grains can be prevented from leaking out of the grain tank 7. The combine travels downward from the second removal position 53B, and then turns left (right in FIG. 8(a)) with a predetermined radius. Then, after traveling rightward, it turns left (upward in FIG. 8(a)) with a predetermined radius. Then, after traveling upward, it turns left at a predetermined radius, then travels left and reaches the discharge position 61. Also, if there is an input from the full sensor 32 while the combine is automatically traveling on the second automatic harvesting path 52B, the combine will move backwards a predetermined distance, leave the area, and automatically travel to the discharge position 61 near the vehicle 60.

Next, as shown in FIG. 8(b), after the grain discharge is completed, the combine is automatically driven from the discharge position 61 to the second return position 54B, which is the upper end of the second automatic reaping path 52B where reaping work has already been completed, and returned. This allows the combine to be driven quickly to the second return position 54B and reaping work to be resumed efficiently. After driving left from the discharge position 61, the combine turns downward at a predetermined radius, and then drives downward to reach the second return position 54B. This allows the combine to resume reaping work along the second automatic reaping path 52B without having to move backwards, etc.

In addition, if there is no space below the second removal position 53B for the combine to turn left, the combine is removed from the first automatic mowing path 52A at the first removal position 53A, as in the fifth mowing method described below.

(Fifth reaping work method)
FIG. 9 illustrates a fifth reaping operation method. When it is determined that the grains harvested by automatically traveling along the first automatic reaping route 52A to the fourth automatic reaping route 52D cannot be stored in the grain tank 7, The second reaping method is different from the first reaping method. The same routes and the like as those in the first reaping method are denoted by the same reference numerals and their explanations are omitted.

When it is determined that the grains harvested by automatically traveling along the first automatic reaping path 52A can be stored in the grain tank 7, but the grains harvested by automatically traveling along the second automatic reaping path 52B to the fourth automatic reaping path 52D cannot be stored in the grain tank 7, the combine is removed from the first removal position 53A, which is the left end of the first automatic reaping path 52A, and automatically travels to the discharge position 61 near the vehicle 60, as shown in FIG. 9(a). This allows the combine to travel quickly to the discharge position 61, so that the grains stored in the grain tank 7 can be discharged to the bed of the vehicle 60, and also prevents the harvested grains from leaking out of the grain tank 7. After traveling leftward from the first removal position 53A, the combine makes a U-turn upward to the right with a predetermined radius, and then travels rightward to the discharge position 61. In addition, if there is an input from the full sensor 32 while the combine is automatically traveling along the first automatic harvesting route 52A, the combine will move backwards a specified distance, leave the area, and automatically travel to a discharge position 61 near the vehicle 60.

Next, as shown in FIG. 9(b), after the grain discharge is completed, the combine is automatically driven from the discharge position 61 to the first return position 54A, which is the right end of the first automatic reaping path 52A where reaping work has already been completed, and returned. This allows the combine to be driven quickly to the first return position 54A and reaping work to be resumed efficiently. After driving to the right from the discharge position 61, the combine makes a U-turn with a predetermined radius downward to the right, and then drives to the left to reach the first return position 54A. This allows the combine to resume reaping work along the first automatic reaping path 52A without having to move backwards, etc.

<Combine harvesting method>
10, in step S1, the processing unit 21 of the controller 20 judges whether or not there is an input from the full sensor 30. If there is an input from the full sensor 30 and it is judged that the harvested grains have reached approximately 80% or more of the storage capacity of the grain tank 7, the process proceeds to step S2, and if it is judged that there is no input from the full sensor 30, step S1 is repeated. For clarity of explanation and ease of understanding, the judgment in step S1 will be explained as being made while the combine is automatically traveling on the first automatic reaping path 52A.

In step S2, the processing unit 21 determines the position at which the grain tank 7 will be filled with harvested grains based on the harvest yield per unit travel distance stored in the memory unit 22 and the distance of the automatic harvesting route along which the machine will automatically travel.

If it is determined that the grain tank 7 will not become full with the grains harvested by automatically traveling along the first automatic reaping path 52A to the fourth automatic reaping path 52D, proceed to step S3; if it is determined that the grain tank 7 will not become full with the grains harvested by automatically traveling along the first automatic reaping path 52A to the third automatic reaping path 52C, proceed to step S8; if it is determined that the grain tank 7 will not become full with the grains harvested by automatically traveling along the first automatic reaping path 52A and the second automatic reaping path 52B, proceed to step S13; if it is determined that the grain tank 7 will not become full with the grains harvested by automatically traveling along the first automatic reaping path 52A, proceed to step S18.

In step S3, the processing unit 21 determines whether there is space to turn the combine to the left around the fourth departure position 53D of the fourth automatic reaping path 52D. If it is determined that there is space, the process proceeds to step S4, and if it is determined that there is no space, the process proceeds to step S8.

In step S4, the processing unit 21 maintains the input of the travel switch 40 to automatically travel the combine to the fourth departure position 53D of the fourth automatic harvesting path 52D, and then proceeds to step S5.

In step S5, the processing unit 21 inputs the release switch 41 to release the combine from the fourth release position 53D, and then inputs the movement switch 42 to automatically drive the combine from the fourth release position 53D to the discharge position 61 where the grain is discharged, and proceeds to step S6. This allows the combine to quickly drive to the discharge position 61, and the grain stored in the grain tank 7 to be discharged onto the bed of the vehicle 60.

In step S6, the processing unit 21 inputs the auger switch 45 to drive the discharge auger 8 to discharge the grains stored in the grain tank 7 into the bed of the vehicle 60, and then proceeds to step S7.

In step S7, the processing unit 21 inputs the movement switch 43 to automatically drive the combine from the discharge position 61 to the second return position 54B of the second automatic reaping path 52B that is closest in the direction of travel, and then inputs the resume switch 44 to automatically drive the combine along the second automatic reaping path 52B, etc., and returns to step S1. This allows the combine to quickly drive to the second return position 54B, allowing the reaping operation to be resumed efficiently.

In step S8, the processing unit 21 determines whether there is space to turn the combine to the left around the third departure position 53C of the third automatic reaping path 52C. If it is determined that there is space, the process proceeds to step S9, and if it is determined that there is no space, the process proceeds to step S13.

In step S9, the processing unit 21 maintains the input of the travel switch 40 to automatically travel the combine to the third departure position 53C of the third automatic harvesting path 52C, and then proceeds to step S10.

In step S10, the processing unit 21 inputs the release switch 41 to release the combine from the third release position 53C, and then inputs the movement switch 42 to automatically drive the combine from the third release position 53C to the discharge position 61 where the grain is discharged, and proceeds to step S11. This allows the combine to quickly drive to the discharge position 61, so that the grain stored in the grain tank 7 can be discharged into the bed of the vehicle 60, and also prevents the harvested grain from leaking out of the grain tank 7.

In step S11, the processing unit 21 inputs the auger switch 45 to drive the discharge auger 8 to discharge the grains stored in the grain tank 7 into the loading platform of the vehicle 60, and then proceeds to step S12.

In step S12, the processing unit 21 inputs the movement switch 43 to automatically drive the combine from the discharge position 61 to the second return position 54B of the second automatic reaping path 52B that is closest in the direction of travel, and then inputs the resume switch 44 to automatically drive the combine along the second automatic reaping path 52B, etc., and returns to step S1. This allows the combine to quickly drive to the second return position 54B, allowing the reaping operation to be resumed efficiently.

In step S13, the processing unit 21 determines whether there is space to turn the combine to the left around the second departure position 53B of the second automatic reaping path 52B. If it is determined that there is space, the process proceeds to step S14, and if it is determined that there is no space, the process proceeds to step S18.

In step S14, the processing unit 21 maintains the input of the travel switch 40 to automatically travel the combine to the second departure position 53B of the second automatic harvesting path 52B, and then proceeds to step S15.

In step S15, the processing unit 21 inputs the release switch 41 to release the combine from the second release position 53B, and then inputs the movement switch 42 to automatically drive the combine from the second release position 53B to the discharge position 61 where the grain is discharged, and proceeds to step S16. This allows the combine to quickly drive to the discharge position 61, so that the grain stored in the grain tank 7 can be discharged into the bed of the vehicle 60, and also prevents the harvested grain from leaking out of the grain tank 7.

In step S16, the processing unit 21 inputs the auger switch 45 to drive the discharge auger 8 to discharge the grains stored in the grain tank 7 into the loading platform of the vehicle 60, and then proceeds to step S17.

In step S17, the processing unit 21 inputs the movement switch 43 to automatically drive the combine from the discharge position 61 to the second return position 54B of the second automatic reaping path 52B that is closest in the direction of travel, and then inputs the resume switch 44 to automatically drive the combine along the second automatic reaping path 52B, etc., and returns to step S1. This allows the combine to quickly drive to the second return position 54B, allowing the reaping operation to be resumed efficiently.

In step S18, the processing unit 21 maintains the input of the travel switch 40 to automatically travel the combine to the first departure position 53A of the first automatic harvesting path 52A, and then proceeds to step S19.

In step S19, the processing unit 21 inputs the release switch 41 to release the combine from the first release position 53A, and then inputs the movement switch 42 to automatically drive the combine from the first release position 53A to the discharge position 61 where the grain is discharged, and proceeds to step S20. This allows the combine to quickly drive to the discharge position 61, so that the grain stored in the grain tank 7 can be discharged into the bed of the vehicle 60, and also prevents the harvested grain from leaking out of the grain tank 7.

In step S20, the processing unit 21 inputs the auger switch 45 to drive the discharge auger 8 to discharge the grains stored in the grain tank 7 into the loading platform of the vehicle 60, and then proceeds to step S21.

In step S21, the processing unit 21 inputs the movement switch 43 to automatically drive the combine from the discharge position 61 to the first return position 54A of the first automatic reaping path 52A that is closest in the direction of travel, and then inputs the resume switch 44 to automatically drive the combine along the first automatic reaping path 52A, etc., and returns to step S1. This allows the combine to quickly drive to the first return position 54A, allowing the reaping work to be resumed efficiently.

3 Harvesting device 4 Thresher 5 Control unit 7 Grain tank 8 Discharge auger 20 Controller 52 Automatic reaping path 53 Departure position 54 Return position 61 Discharge position

Claims (1)

A harvesting method for harvesting grain culms planted in a farm field using a combine harvester comprising: a harvesting device (3) for harvesting grain culms planted in a farm field; a thresher (4) for threshing the grain culms on the rear left side of the harvesting device (3); a control section (5) on which an operator sits on the rear right side of the harvesting device (3); a grain tank (7) for storing threshed grains on the rear side of the control section (5); and a discharge auger (8) for discharging the grains stored in the grain tank (7) to the outside,
the controller (20) of the combine forms a rectangular automatic mowing path (52) by arranging a first automatic mowing path (52A), a second automatic mowing path (52B), a third automatic mowing path (52C), and a fourth automatic mowing path (52D) in this order counterclockwise, and sets a discharge position (61) on the outer periphery of the field opposite the first automatic mowing path (52A);
When the amount of grain stored in the grain tank (7) during automatic travel of the combine harvester becomes equal to or greater than a predetermined amount, the controller (20) of the combine harvester sets a departure position (53) from the automatic harvesting path (52) at an end portion on the terminal side of the first automatic harvesting path (52A) in the traveling direction, and sets a return position (54) to the automatic harvesting path (52) at an end portion on the starting side of the first automatic harvesting path (52A) in the traveling direction.
A method for harvesting comprising the steps of: