JPH10215646A - Rolling controller for combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress adverse influence on traveling stability and a sorting processing in a threshing part, etc., by setting a machine body height to be lower than an upper limit position in a non-reaping work state at the time of traveling on a butt or the like while appropriate reaping work is performed at a low machine body height in a reaping work state and making the swing of a machine body upper part side when a machine body is inclined by the recessed and projecting parts and soft state of a field surface or the like as small as possible. SOLUTION: In the non reaping work state, the target height to the ground of the machine body in the state of maintaining the left and right inclination angle to a horizontal reference surface of a traveling machine body detected in an inclination angle detection means 23 at a set inclination angle is changed and adjusted by a target height setting means 102 with the entire range from the upper limit to lower limit of the elevating and lowering operation range of the respective ground parts of a pair of left and right traveling devices as an adjustment object. The respective left and right ground parts are separately elevated and lowered in an elevating and lowering driving means 19 and the height to the ground of the traveling machine body is controlled to the target height to the ground. In the reaping work state, it is controlled to the target height to the ground set separately from the target height to the ground at the time of the non-reaping work state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting drive means for individually lifting and lowering a ground contact portion of a pair of right and left traveling devices with respect to a traveling body, and an inclination for detecting a lateral inclination angle of the traveling body with respect to a horizontal reference plane. Angle detection means, based on the information of the inclination angle detection means, to maintain the left and right inclination angle of the traveling body at a set inclination angle, and the ground height of the traveling body at the set inclination angle is a harvesting operation The present invention relates to a combine rolling control device provided with elevation control means for operating the elevation drive means so that target heights respectively set in the state and the non-cutting operation state are respectively set.

[0002]

2. Description of the Related Art In the above-described rolling control apparatus for a combine, for example, as shown in FIG. 12, while maintaining a left-right inclination angle of a traveling body at a set inclination angle (for example, a horizontal state or the like),
In the harvesting operation state in which the harvesting operation is performed along each operation process L arranged side by side in the field F or the like, the mode is switched to the lower limit reference mode in which the ground contact portions of the left and right traveling devices approach the traveling aircraft side, and the ground height of the aircraft is adjusted. In a non-cutting operation state in which the vehicle runs on the headland portion F1 of the field from the end of one stroke L to the beginning of the next stroke L, the ground contact portion Is switched to an upper limit reference mode in which the vehicle is separated from the traveling body to avoid inconveniences such as the bottom of the body contacting the ground during turning or the like (for example, see Japanese Patent Application Laid-Open No. 8-228561).

[0003]

However, in the above-mentioned prior art, either the lower limit reference mode or the upper limit reference mode can be selected, and in the non-cutting operation state, the mode is switched to the upper limit reference mode to limit the ground height of the body to the upper limit. Since the height was maintained, when the traveling aircraft tilted left and right due to, for example, unevenness in a field scene or a soft state in the case of a wetland, the upper body side shaking increased, and as a result, the traveling stability of the aircraft decreased. At the same time, sorting processing etc. in the threshing section are not performed properly,
Alternatively, there is a problem that the ride comfort of the passenger becomes poor.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to set a target ground height of a traveling body in a non-cutting state in order to eliminate the above-mentioned disadvantages of the prior art. Is set at an arbitrary height position lower than the height position so as to perform good rolling control.

[0005]

According to the first aspect of the present invention, in a non-cutting operation state, the target ground height of the traveling machine body in a state in which the left-right inclination angle with respect to the horizontal reference plane of the traveling machine body is maintained at the set inclination angle. The entire range from the upper limit to the lower limit of the lifting operation range of each grounding portion of the pair of left and right traveling devices is changed and adjusted, and each of the left and right grounding portions becomes the above adjustment position in the entire range of the lifting operation range. As described above, the traveling body is individually lifted and lowered, and the ground height of the traveling body is controlled to the target ground height while maintaining the left-right inclination angle of the traveling body at the set inclination angle. Also, in the harvesting operation state, the ground height of the traveling body in a state where the left and right inclination angles of the traveling body are maintained at the set inclination angle is different from the target ground height in the non-cutting operation state. It is controlled to be at height.

Therefore, in the state of the reaping work along each work process in the field, the appropriate reaping work is performed by setting the machine at a lower body height position, etc. In the state, the target ground height of the traveling aircraft is
By setting an appropriate position lower than the upper limit height position between the upper limit and lower limit of the lifting operation range, unevenness and softness of the field scene can be avoided while avoiding disadvantages such as the body bottom contacting the ground Even if the traveling aircraft leans left and right due to etc.,
Since the shaking of the upper part of the aircraft can be minimized,
As in the past, the ground height of the traveling aircraft is at the upper limit height position, so when the traveling aircraft tilts to the left and right, the upper part of the aircraft shakes greatly, and the traveling stability of the aircraft decreases and the threshing part In this manner, it is possible to suppress the occurrence of problems such as adverse effects on the sorting process and the like and deterioration of the ride comfort of the occupant, thereby performing good rolling control.

According to a second aspect of the present invention, in the first aspect, each of the left and right operation amounts of the left and right driving means for lifting and lowering each of the grounding portions of the left and right traveling devices is detected,
The lifting and lowering drive means is arranged so that each of the lifting and lowering operation amounts in each of the right and left becomes a respective target operation amount determined corresponding to a target ground height set separately in the case of the reaping work state and in the case of the non-rearing work state. Activated.

Therefore, for example, when detecting the vertical position of each of the right and left ground parts with respect to the traveling body and controlling it to the target position, the means for detecting the vertical position of the ground part is close to the field scene and is not mud or the like. It is susceptible to the effects of adhesion, vibration, etc., and it is more complicated to secure dust protection. By performing the control, simplification of the device configuration and high reliability can be realized, and the preferable means of the first aspect can be obtained.

According to a third aspect of the present invention, in the above-mentioned second aspect, the difference between the left and right elevation movement amounts of the elevation drive means operated to maintain the left and right inclination angles of the traveling machine body at the set inclination angle in the harvesting operation state. The smaller the smaller, the lower the target ground height of the traveling body in the non-cutting operation state is set as the lower position.

Therefore, for example, when cutting and traveling in a field where the degree of unevenness in a field scene or the softness in a wet field is large, the traveling body is easily inclined left and right, so that it is adjusted according to the inclined state of the field. Since the difference in the amount of vertical movement between the left and right sides to maintain the set inclination angle (horizontal state, etc.) becomes large, by setting the target ground height of the traveling body higher in the non-cutting work state such as headland traveling, On the other hand, while effectively avoiding inconveniences such as the bottom of the body contacting the ground at the time of turning, etc., in a field where the degree of unevenness or softness of the field scene is small, the traveling body is difficult to tilt, so the set tilt angle is Since the difference in the vertical movement amount between left and right to maintain is reduced, by setting the target ground height of the traveling body in the non-cutting work state low, the traveling stability when the traveling body is high Sorting processing or the like and at the threshing section, adverse effects can be minimized to ride like, with,
The preferred means of the second aspect is obtained.

According to a fourth aspect of the present invention, in the above-mentioned second aspect, the lifting / lowering drive means operated to maintain the left-right inclination angle of the traveling body at the set inclination angle when changing from the reaping operation state to the non-rearing operation state. The smaller the difference between the vertical movement amounts on the left and right of the vehicle is, the lower the target ground height of the traveling body in the non-cutting operation state is adjusted to be at a lower position.

Therefore, for example, at the point where the cutting traveling along the work path in the field is terminated and the non-cutting traveling such as a headland is performed, if the degree of unevenness or softness of the field scene is large, the traveling Since the inclination angle of the body becomes large and the difference in the vertical movement amount between the left and right to maintain the set inclination angle (horizontal state, etc.) in accordance with the inclination state of the field, etc., becomes large, the above-mentioned cutting operation state to the non-cutting operation state If there is a large difference between the left and right elevating operation amounts at the time of the change to, by setting the target ground height higher in the non-cutting work state, the aircraft bottom may contact the ground during turning etc. While effectively avoiding the inconvenience, if the difference between the left and right elevating operation amounts when changing from the above-mentioned reaping work state to the non-cutting work state is small, the target ground height in the non-cutting work state is set lower. To do Close to headlands, etc., running in a non-cutting state so as to minimize running stability when the aircraft is at a high ground height, sorting at the threshing section, etc. It is possible to appropriately set the target ground height of the aircraft at the time of the non-cutting work state based on the information of the lifting and lowering operation amount at the point of the cutting work state immediately before
The preferred means of the second aspect is obtained.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a case where the present invention is applied to a combine with all culms will be described with reference to the drawings.
As shown in FIG. 1, the all-culm-insertable combine has a cockpit 2, a threshing unit 3, and the like mounted on a traveling body V equipped with a pair of left and right crawler traveling apparatuses 1, and a mowing in front of the traveling body V. A portion 4 is provided so as to be able to swing up and down by a cutting and lifting cylinder 8 around a horizontal axis P1 along the machine body width direction. Here, the cutting elevating cylinder 8 corresponds to a cutting elevating means for raising and lowering the cutting unit 4 with respect to the traveling machine V.

The cutting unit 4 includes a weeding tool 45 provided at the tip end,
A reel 41 for scraping the planted grain culm of the field to the rear side, a clipper-type cutting blade 42 provided at the rear side part and cutting the stem culm introduced from the tip side, an auger 43 for receiving the cut grain culm and sending it back, And a conveyor 44 and the like that lifts and transports the grain culm sent from the auger 43 to the threshing unit 3.

Behind the cutting blade 42, a grounding type sensor for detecting the ground height of the cutting unit 4 is provided. Specifically, as shown in FIG. Plate member 5 provided and cutting height sensor 6 comprising a potentiometer
Are provided. The plate member 5 has a horizontal axis P2 at the front.
The cutting height sensor 6 converts the turning angle of the plate member 5 about the horizontal axis P2 into a resistance value while being pivotally supported so as to be rotatable around and swinging up and down while the rear portion is in contact with the ground. That is, the rotation angle of the plate member 5, that is, the ground height of the horizontal axis P <b> 2 (corresponding to the ground height of the cutting unit 4) can be detected from the resistance value of the cutting height sensor 6. In addition, 49 in FIG.
This is a hydraulic cylinder that lifts and holds the plate member 5 when it is not necessary to detect the ground height.

The threshing unit 3 includes a handling room A having a handling drum 34 that rotates about the longitudinal axis of the traveling machine body V and a receiving net 35 below the handling drum 34, and a grain from the treated material leaking from the handling room A. It consists of a sorting room B for sorting and collecting the grains. On the inner surface of the ceiling cover 36 of the handling room A, a contact-type grain culm sensor S1 for detecting whether or not the grain culm has been supplied into the handling room A by contacting the grain culm at a starting end side portion thereof; A dust valve 37 for facilitating or suppressing the backward transfer of an object is provided. Here, by the cereal stem sensor S1, it is in a reaping operation state in which the cereal corn is supplied into the handling room A by cutting and traveling in each work process L of the field F shown in FIG. It is detected that the vehicle is in the running non-reaping work state. Sorting room B
Is provided with a rocking sorter plate for separating and sorting kernels and straw wastes, a turtle that generates a wind that blows off the straw wastes, a collecting device that collects the sorted kernels, and the like. .

The traveling body V of each of the left and right crawler traveling devices 1
The mounting structure to the device will be described. As shown in FIGS. 2 and 3,
A horizontal frame 10 is connected to a lower part of a main frame 9 having a front-rear posture, which constitutes the traveling body V, and left and right track frames 11 are connected and fixed by the horizontal frame 10. A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the track frame 11 at each of the front and rear ends, and a pair of front and rear movable frames integrally connected by pivotally supporting a plurality of idler wheels 14. 15A,
15B is mounted so as to be able to move up and down relatively. Idler 14
At an intermediate position of the group, an idler wheel 16 is supported by the track frame 11 so as to be able to swing up and down.

The front and rear movable frames 15A and 15B have
The lower ends of front and rear bell cranks 17A and 17B pivotally supported on the track frame 11 are attached to the track frame 11, respectively, the front and rear bell cranks 17A and 17B are connected by connecting rods 18, and the upper ends of the rear bell cranks 17B. Are connected to hydraulic rolling lifting cylinders 19 as lifting driving means for individually lifting and lowering the ground contacting portions of the left and right crawler traveling devices 1 with respect to the traveling machine body V. Thus, the front and rear movable frames 15A, 15B are connected. Are moved up and down by the same amount in the same direction, so that the contact portions of the left and right crawler traveling devices 1 can be individually moved up and down with respect to the traveling machine body V. As shown in FIG. 2, a stroke sensor 20 for detecting the amount of extension of each of the right and left rolling elevating cylinders 19 is provided on each of the right and left sides. It corresponds to a lifting amount detecting means for detecting each lifting operation amount on each of the right and left sides of the rolling lifting cylinder 19 for raising and lowering the part.

As shown in FIG. 5, a control device 21 using a microcomputer is provided.
The cutting height detection information hs of the cutting height sensor 6, the detection information of the cutting operation state of the grain culm sensor S1, and the weight type inclination as inclination angle detecting means for detecting the left and right inclination angles of the traveling machine body V with respect to the horizontal reference plane. The detection information of the sensor 23 and the left and right stroke sensors 20 is input. In addition, a threshing switch 32 for detecting an operation state of a manual threshing lever for operating the threshing unit 3 and a crop changeover switch SW for selecting one of three crop conditions of rice, wheat, and soybean are provided. These signals are also input to the control device 21.

As shown in FIG. 6, a volume-type tilt angle setting device 28 for setting the right and left tilt angles of the traveling body V with respect to the horizontal reference plane is provided on an operation panel of the cockpit. A horizontal auto switch 26 to be selected, a volume-type cutting height setting device 25 for setting a target value H0 of the cutting height, and a cutting height auto switch 27 for selecting ON / OFF of the operation of the cutting height control are provided. Information such as switches is also input to the control device 21.

Further, when the operation of the horizontal control is off, a horizontal manual switch 31 for manually operating the body horizontally.
And a cutting and raising / lowering switch 33 for manually raising and lowering the cutting unit 4 when the operation of the cutting height control is off, and each operation information from the horizontal manual switch 31 and the cutting and raising / lowering switch 33 is transmitted to the control unit 21. Is being entered. The operation information of the horizontal manual switch 31 includes information of an upper right operation of raising the right of the traveling vehicle V, an upper left operation of raising the left, a lowering operation of lowering the traveling vehicle V to the lowermost position, and an raising operation of raising the traveling vehicle V to the uppermost position. Consists of

On the other hand, the control device 21 outputs a drive signal to the control valve 29 for operating the rolling lift cylinder 19 and a drive signal to the control valve 30 for operating the mowing lift cylinder 8. .

Using the control device 21, the tilt sensor 2
3, the left and right inclination angles of the traveling machine body V are maintained at the set inclination angles (set angles of the inclination angle setting device 28), and
The rolling elevator cylinder 19 is operated so that the ground height of the traveling machine V at the set inclination angle becomes the target ground height that is set separately for each of the cutting operation state and the non-cutting operation state. The lifting / lowering control means 101 is configured.

Further, the control device 21 is used to set the target ground height of the traveling machine body V in the non-cutting operation state from the upper limit to the lower limit of the lifting operation range of each ground contact portion of the left and right crawler traveling devices 1. A target height adjusting means 102 which can be changed and adjusted so as to adjust the entire range is configured. The target height adjusting means 102 adjusts the left and right inclination angles of the traveling machine V in the harvesting operation state (during each work process L). The smaller the difference between the left and right elevating operation amounts of the rolling elevating cylinder 19 operated to maintain the set inclination angle, the lower the target ground height in the non-cutting state (when traveling on the headland portion F1). It is configured to adjust as a position. Here, during the traveling of the immediately preceding work process L, data of the difference between the left and right elevating operation amounts is sampled at predetermined time intervals, and from the average value of the data, the target ground height during traveling of the next headland portion F1 is determined. Set.

The target ground height in the harvesting state is determined based on the input information of the crop switch SW.
It is adjusted so that wheat and soybeans become higher in this order, and as a whole, a position lower than the target ground height in the non-cutting operation state.

Therefore, the lifting control means 101 operates the rolling lifting cylinder 19 in a direction to eliminate the difference (ie, declination) between the value detected by the tilt sensor 23 and the value set by the tilt angle setting device 28, thereby driving the vehicle. While maintaining the left-right inclination angle of the machine body V at the set inclination angle (for example, in a horizontal state), based on the information of the stroke sensor 20, each of the vertical movement amounts of the right and left rolling elevator cylinders 19 becomes the target ground height. The rolling elevating cylinder 19 is operated so that each target operation amount (specifically, target extension amount) determined correspondingly. Here, the respective target extension amounts in the non-cutting operation state become smaller as the difference between the right and left lifting operation amounts of the rolling elevating cylinder 19 in the cutting operation state becomes smaller, and the height of the traveling machine body V with respect to the ground is smaller. Will be lower.

For example, when the traveling machine body V is tilted to the right so as to set the declination to "0", the right and left rolling elevating cylinders 19 are adjusted so that the right and left rolling elevating cylinders 19 become the target operating amounts. The left and right inclination angle is set to the set inclination angle by contracting the elevating cylinder 19 to lower the right crawler traveling device 1 or extending the left rolling elevating cylinder 19 to elevate the left crawler traveling device 1. Control.
When the traveling body V is tilted to the left, an operation is performed in which the left-right relationship is reversed with respect to the above case.

Next, the horizontal control of the traveling body V will be described with reference to the flowcharts of FIGS. First, the horizontal auto switch 26 and the threshing switch 32
And if either switch is off,
The flow returns to the main flow (not shown) without performing the control. In this state, a manual posture changing operation based on input information of the horizontal manual switch 31 is possible.

When both the switches 26 and 32 are on, horizontal control is performed at the target ground height. That is, the input of the set angle by the tilt angle setting device 28 and the input of the tilt sensor 23
The inclination of the left and right is detected by the following formula, and the difference between the set angle and the detected angle, that is, the declination (in the case of +, the traveling body V is inclined right, and in the case of-, the traveling body V is inclined left. The declination can be made zero), and it is determined whether the traveling body V is to be tilted to the right or to the left according to the magnitude of the declination and the signs (+) and (−). , C.

In the flow a (FIG. 8) in which the declination is (+), the traveling body V must be tilted to the right, so that the extension amounts of the left and right rolling elevating cylinders 19 are both larger than the target operation amount. And the right lifting cylinder 1 for rolling
9 is greater than the target operation amount and the extension amount of the left rolling elevating cylinder 19 is equal to the target operation amount.
The operation of the left rolling elevating cylinder 19 is stopped, and the right rolling elevating cylinder 19 is contracted.
However, when the extension amount of the right rolling elevator cylinder 19 is equal to or smaller than the target operation amount, and when the extension amount of the right rolling elevator cylinder 19 is larger than the target operation amount and the left rolling elevator cylinder is extended. When the extension amount of the cylinder 19 is smaller than the target operation amount, the operation of the right lifting cylinder 19 is stopped, and the left rolling cylinder 19 is extended.

In the flow b (FIG. 9) in the case where the declination is (-), it is necessary to incline the traveling body V to the left.
And the right and left are reversed.

In the flow c (FIG. 10) in the case where the magnitude of the declination is zero (same as the set angle), when the extension amounts of the left and right rolling elevating cylinders 19 are both larger than the target operation amounts, The rolling lift cylinder 19 is contracted by the same amount of operation, and when the extension amount of the left or right rolling lift cylinder 19 becomes equal to the target operation amount, the operation of the left and right rolling lift cylinder 19 is stopped. When the extension amount of one of the left and right rolling elevator cylinders 19 is equal to the target operation amount, and the extension amount of the other rolling elevator cylinder 19 is smaller than the target operation amount, the other rolling member is used. The left and right rolling lift cylinders 19 are extended by the same operation amount until the extension amount of the lift cylinder 19 reaches the target operation amount.

Further, the control device 21 is used to operate the cutting elevating cylinder 8 based on the detection information hs of the cutting height sensor 6 so that the ground height of the cutting unit 4 becomes the target height H0. The control means 103 is configured. In the actual processing, a predetermined number of data obtained by sampling the detection information hs at predetermined time intervals is averaged to obtain a cut height detection value H0, and the cut height detection value H0 is used for cutting height control.

Next, the cutting height control will be described with reference to the flowchart of FIG. First, the states of the horizontal auto switch 26 and the threshing switch 32 are checked. If either of the switches is off, the process returns to the main flow (not shown) without performing control. In this state, a manual elevating operation based on the input information of the mowing elevating switch 33 is possible. When both of the switches are on, a cut height detection value Hs is input, and the cut height detection value Hs and the target value H0 are input.
If the difference is within the dead zone, the process directly returns to the main flow, and if the detected cutting height Hs is smaller than the target value H0, the cutting height is lower than the appropriate height, so that the cutting unit 4 is raised, If the cutting height detection value Hs is larger than the target value H0, the cutting height is higher than the appropriate height, and the cutting unit 4 is lowered.

[Another Embodiment] The target height adjusting means 10
As another example of the second embodiment, the configuration for obtaining the difference in the vertical movement amount between the left and right of the rolling lifting cylinder 19 in the harvesting operation state (during the harvesting travel of each work stroke L) is not limited to the average value of the sampling data as described above. Instead, for simplification of the arithmetic processing, an intermediate value between the maximum value and the minimum value may be used.

When the target height adjusting means 102 changes from the reaping operation state to the non-rearing operation state,
At the right and left of the rolling lifting cylinder 19 which is operated to maintain the left and right inclination angle of the traveling machine body V at the set inclination angle at the point of time when the cutting traveling at the end of the mowing traveling is shifted to the next traveling step L. As the difference in the amount is smaller, the target ground height in the non-cutting state may be adjusted to a lower position. This makes it possible to simplify the calculation process as compared with the process of averaging the difference data of the entire work process L, but at the point of the cutting work state immediately before approaching the headland portion of the field traveling in the non-cutting work state. The height adjustment of the ground of the machine body V in the non-cutting operation state can be appropriately performed on the basis of the information.

In the above-described embodiment, the target ground height in the non-cutting state is automatically set. However, the target ground height in the non-cutting state is displayed on the operation panel of the cockpit. Provide a manual volume etc. for setting arbitrarily,
In accordance with the input voltage of the manual volume, the target height adjusting means 102 can change and adjust the target ground height in the non-cutting operation state.

In the above embodiment, the pair of left and right traveling devices 1 are constituted by crawler traveling devices. However, the present invention is not limited to this. For example, wheeled traveling devices may be used.

In the above embodiment, the lifting drive means 19 is constituted by a hydraulic cylinder. However, the invention is not limited to this. For example, an electric motor with a speed reduction mechanism may be used.

In the above embodiment, the tilt angle detecting means is constituted by the weight type tilt sensor 23. However, the present invention is not limited to the weight type tilt sensor, and various tilt angle detection sensors can be used.

In the above embodiment, the lifting amount detecting means is constituted by the stroke sensor 20, but other than this, a potentiometer or the like may be used.

In the above embodiment, the target ground height of the traveling machine V in the harvesting state is determined by the type of the crop (rice, wheat, wheat, etc.).
Although the position can be adjusted to be different depending on the soybean or the like), the position may be adjusted to a different position depending on conditions other than the crop, for example, the condition of a field scene such as a wet field or a dry field.

The present invention is not limited to the whole culm type combine, but can also be applied to a self-removing type combine.

[Brief description of the drawings]

FIG. 1 is a side view showing an overall configuration of a combine.

FIG. 2 is a side view showing the lifting drive means of the traveling device.

FIG. 3 is a vertical cross-sectional rear view showing a lifting drive unit of the traveling device.

FIG. 4 is a plan view showing a cutting height detecting means.

FIG. 5 is a block diagram showing a control configuration.

FIG. 6 is a front view showing an operation panel.

FIG. 7 is a flowchart showing a control operation.

FIG. 8 is a flowchart showing a control operation.

FIG. 9 is a flowchart showing a control operation.

FIG. 10 is a flowchart showing a control operation.

FIG. 11 is a flowchart showing a control operation.

FIG. 12 is a plan view showing a harvesting traveling state of a combine on a field.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 19 Elevation drive means 20 Elevation amount detection means 23 Inclination angle detection means 101 Elevation control means 102 Target height adjustment means V Traveling body

Claims (4)

[Claims] 1. A lifting drive means for individually raising and lowering a ground contact portion of a pair of left and right traveling devices with respect to a traveling body, an inclination angle detecting means for detecting a lateral inclination angle of the traveling body with respect to a horizontal reference plane, Based on the information of the inclination angle detecting means,
The right and left inclination angles of the traveling body are maintained at the set inclination angle, and the ground height of the traveling body at the set inclination angle is set separately for each of the cutting state and the non-cutting state. Lifting control means for operating the lifting drive means, so as to reach the target ground height, wherein the target ground height at the time of the non-cutting work state, A combine rolling control device provided with a target height adjusting means that can be changed and adjusted to cover an entire range from an upper limit to a lower limit of a lifting operation range of each ground contacting portion. 2. A lifting / lowering amount detecting means for detecting a lifting / lowering operation amount on each of right and left of the lifting / lowering driving means for lifting / lowering each ground contact portion of the left and right traveling devices, and wherein the lifting / lowering controlling means includes: On the basis of the information of the amount detection means, the lifting drive means is operated such that each lifting movement amount on each of the right and left of the lifting drive means becomes each target operation amount determined corresponding to the target ground height. 2. The combine rolling control device according to claim 1, wherein: 3. The target height adjustment means is configured to determine a difference between the left and right elevation movement amounts of the elevation drive means that is operated to maintain the left and right inclination angles of the traveling machine body at a set inclination angle in the harvesting operation state. 3. The combine rolling control device according to claim 2, wherein the target ground height in the non-cutting operation state is adjusted to a lower position as the size is smaller. 4. The elevation drive, wherein the target height adjusting means is operated to maintain a left-right inclination angle of the traveling body at a set inclination angle when the cutting operation state is changed to the non-cutting operation state. 3. The combine rolling control device according to claim 2, wherein the smaller the difference between the vertical movement amounts on the left and right sides of the means, the lower the target ground height in the non-cutting work state is set.