JP7195247B2 - harvester - Google Patents

Description

The present invention relates to harvesters.

Patent Literature 1 describes a self-threshing combine harvester provided with a reaping part. The reaping unit is equipped with a plurality of lifting devices for raising the grain culms in the field, a clipper-type cutting device for cutting the raised grain culms, and a grain culm conveying device for conveying the harvested grain culms backward. .

JP 2019-10015 A

In recent years, the technology of automatically running a combine harvester to harvest crops in a field has begun to spread. Automatic travel is executed by calculating the position of the vehicle based on signals from GPS satellites and controlling the travel device so that the aircraft travels along the set travel route.

If there is a poor reception of the GPS signal, or if the machine skids due to bad conditions in the field, the traveling machine may deviate from the traveling route and travel. As a result, the culms that should have been harvested by the harvesting unit remain in the field without being harvested, so the combine must be stopped and moved backward to correct the course.

The reaping unit is driven at a speed linked to the vehicle speed, and stops operating when the combine is stopped. When a combine that is traveling while harvesting crops stops, the upper part of the culm just before being cut by the cutting device may be held by the lifting device or the culm conveying device. If the combine is reversed in this state, the uncut culms held at the top may be pulled out of the ground, torn off inside the reaping section, or the grain may fall off, resulting in crop loss. There is

SUMMARY OF THE INVENTION An object of the present invention is to provide a means capable of suppressing loss of crops during course correction in an automatically traveling harvester.

A harvesting machine for achieving the above object is characterized by a harvesting machine capable of automatically traveling along a set traveling route, comprising: a harvesting unit for harvesting crops in a field; wherein the control unit performs retry processing in response to the traveling machine body traveling deviating from the traveling route during automatic harvesting traveling in which the traveling machine automatically travels while harvesting crops in a field. and in the retry process, the control unit stops the traveling machine body, then operates the harvesting section, then moves the traveling machine body backward to a reverse position , and the reverse position is the traveling route In the above, the position is beyond the position corresponding to the position where the retry process was started .

According to the above-described characteristic configuration, after the traveling machine body stops, the traveling machine body moves backward after the harvesting section is operated. It is harvested properly by the action of Therefore, it is possible to suppress loss of crops during course correction.

A characteristic configuration of a harvester for achieving the above object is a harvester that can automatically travel along a set travel route, is configured to be operable at a speed corresponding to the vehicle speed, and harvests crops in a field. and a control unit for controlling the operations of the harvesting unit and the traveling machine body, wherein the controller controls the automatic harvesting traveling in which the traveling machine machine automatically travels while harvesting crops in a field, wherein the traveling machine body follows the traveling route. In the retry processing, the control unit causes the harvesting unit to operate at a speed higher than the speed corresponding to the vehicle speed while decelerating the traveling machine body. , then the traveling body is stopped and then the traveling body is moved backward.

When the operating speed of the harvesting unit is linked to the vehicle speed, the operating speed of the harvesting unit also decreases when the traveling machine decelerates and stops. Become. According to the above characteristic configuration, while the traveling machine body is decelerated, the harvesting section is operated at a speed higher than the speed corresponding to the vehicle speed, and then the vehicle is stopped and reversed, so that the crops are held in the harvesting section without being cut. can reduce the possibility of being Therefore, it is possible to suppress loss of crops during course correction.

In the present invention, the harvesting section is configured to be movable up and down with respect to the traveling machine body, and in the retry process, it is preferable that the control section raises the harvesting section before moving the traveling machine body backward. be.

According to the above characteristic configuration, since the harvesting section rises before the traveling machine body moves backward in the retry process, the contact of the harvesting section with the ground can be suppressed, and the retry process can be executed smoothly.

In the present invention, a detection section is provided for detecting the drive rotation speed or drive torque of the harvesting section, and in the retry processing, the control section stops the operation of the harvesting section based on the detection result of the detection section. preferred.

According to the above characteristic configuration, since the operation of the harvesting section is stopped based on the detection result of the detecting section in the retry process, the operating time of the harvesting section can be minimized. Therefore, retry processing can be performed quickly, and work efficiency can be improved.

It is a left view of a combine. It is a figure which shows the initial round driving|running|working in an agricultural field. FIG. 10 is a diagram showing automatic traveling with an α-turn lap traveling pattern; FIG. 10 is a diagram showing automatic travel in a U-turn circular travel pattern; 4 is a block diagram showing the configuration of a control unit; FIG. FIG. 10 is a diagram showing an overview of retry processing; FIG. 11 is a diagram showing an overview of retry processing according to another embodiment;

An embodiment of the present invention will be described based on the drawings. In the following description, the direction of arrow F is the "front side", the direction of arrow B is the "rear side of the aircraft", the direction of arrow U is the "upper side", and the direction of arrow D is the "lower side". When referring to the left and right, the right hand side and the left hand side when facing the front of the fuselage are referred to as "right" and "left", respectively.

[Overall configuration of combine harvester]
FIG. 1 shows a self-throwing combine as an example of a harvester. The combine 1 is provided with a machine body 10 (an example of a “running machine body”) and a crawler type traveling device 11 . A harvesting section 12 for cutting and harvesting planted grain stalks in a field is provided in the front part of the machine body 10 .

A cutting blade 12a is provided at the bottom of the harvesting section 12 for cutting the bottom of planted grain stalks in the field. A driving mechanism 12b (see FIG. 5) for driving the harvesting section 12 by transmitting the driving force from the engine to the harvesting section 12 is provided. The drive mechanism 12b can be switched between a vehicle speed interlocking state in which the harvesting unit 12 is driven at a speed interlocked with the vehicle speed of the combine 1 and a non-interlocking state in which the harvesting unit 12 is driven without being interlocked with the vehicle speed of the combine 1. It is configured. Normally, the drive mechanism 12b is set to the vehicle speed interlocking state. The harvesting section 12 is configured to be vertically movable with respect to the machine body 10 by means of a lifting mechanism 12c (see FIG. 5). A detection section 12d (see FIG. 5) for detecting the driving torque of the harvesting section 12 is provided. The harvesting unit 12 is provided with a plurality of lifting devices (not shown) for raising the grain culms in the field and a grain culm conveying device (not shown) for conveying the harvested culms rearward.

A driving section 13 is provided behind the harvesting section 12 in the machine body 10 . The driving section 13 is located on the right side of the front portion of the airframe 10 . A conveying unit 14 that conveys the harvested material harvested by the harvesting unit 12 is provided on the left side of the operating unit 13 .

A threshing device 15 for threshing the harvested material conveyed by the conveying unit 14 is provided behind the conveying unit 14 . A waste straw processing device 16 for cutting the waste straw is provided at the rear of the threshing device 15 .

A grain tank 17 (an example of a “grain storage unit”) for storing grains obtained by the threshing device 15 is provided behind the driving unit 13 and to the right of the threshing device 15 . The grain tank 17 is provided with a storage amount sensor 17 a (see FIG. 5 ) for detecting the amount of grains stored in the grain tank 17 .

A discharging device 18 for discharging grains stored in the grain tank 17 to the outside is provided behind the grain tank 17 . The discharging device 18 is rotatable around a vertically extending rotatable axis.

A satellite positioning module 19 is provided in the left part of the front part of the driving unit 13 . The satellite positioning module 19 receives signals from GPS (Global Positioning System) satellites and generates positioning data indicating the position of the combine 1's own vehicle based on the signals.

A management terminal 22 (see FIG. 5) is arranged in the operation unit 13 . The management terminal 22 is configured to be able to display various information. The management terminal 22 may be configured to be capable of receiving input operations for various settings (setting of a preferential running pattern, etc.) related to automatic running of the combine harvester 1 .

A communication unit 23 (see FIG. 5) that can be connected to an external communication network is provided. The communication unit 23 is configured to be able to communicate with an external server or the like through the communication network.

The combine 1 is configured to be self-propelled by the travel device 11, and is configured to be able to travel by the travel device 11 for harvesting while the harvesting unit 12 reaps planted grain stalks in a field.

[Harvesting with a combine harvester]
A harvesting operation in a field using the self-throwing combine 1 will be described with reference to FIGS. 2-4. In this embodiment, as shown in FIG. 2, an example in which the outer shape of the field is rectangular will be described.

First, as shown in FIG. 2, harvesting travel is performed so as to circle along the boundary line of the farm field in the outer peripheral region of the farm field (initial circular travel). The area that has already been worked by this initial round trip is set as the outer peripheral area SA (see FIG. 3), and the unworked area inside the outer peripheral area SA is set as the work target area CA (see FIG. 3).

The outer peripheral area SA is used as a space for the combine 1 to change direction (turn traveling described later) when harvesting planted grain culms in the work target area CA by automatic traveling. The outer peripheral area SA is also used as a space for movement to the discharge stop position PP adjacent to the transport vehicle CV and for movement to a refueling location.

The initial round running is performed for about 2 to 4 rounds in order to ensure the width of the outer peripheral area SA to be wide to some extent. The initial lap run may be performed manually or may be performed automatically. The initial circular travel is performed so that one side (preferably two opposing sides) of the work area CA is parallel to the row direction. In the present embodiment, a case will be described in which the work area CA is rectangular and the two opposing short sides of the work area CA are parallel to the row direction.

After the initial circular travel, the planted culms in the work target area CA are harvested by automatic travel. In this automatic traveling, an automatic harvesting traveling for harvesting planted grain culms while automatically traveling on a harvest traveling route LI (an example of a traveling route) set in the work target area CA, one automatic harvesting traveling, and the next automatic harvesting traveling. The turn running performed between the automatic harvesting running is repeatedly performed. Turn driving is automatic driving on a turn driving path TN connecting two harvesting driving paths LI.

The above-described automatic harvesting travel and turn travel are performed along a predetermined travel pattern. Examples of running patterns include an α-turn running pattern shown in FIG. 3 and a U-turn running pattern shown in FIG.

The α-turn circumference driving pattern (FIG. 3) is a driving pattern in which the harvesting driving route LI parallel to the four sides of the rectangular work area CA is sequentially driven, and turn driving is performed by α-turn driving. The α-turn travel is performed by forward travel along the direction in which the previous harvest travel route LI extends, reverse travel including turning travel, and forward travel along the direction in which the next harvest travel route LI extends. The automatic traveling by the α-turn circular traveling pattern becomes a spiral traveling as shown in FIG. 3 .

The U-turn traveling pattern (FIG. 4) is a traveling pattern in which the harvesting travel route LI parallel to the two opposite sides of the rectangular work area CA is alternately traveled from the outside in order, and the turn travel is performed as a U-turn travel. be. U-turn travel is performed only by forward travel including turning travel. As shown in FIG. 4 , the automatic traveling according to the U-turn circular traveling pattern is a spiral traveling similar to the α-turn circular traveling pattern. In the present embodiment, the harvest travel route LI traveling in a U-turn circular travel pattern is a route parallel to two sides parallel to the row direction of the work area CA.

The automatic traveling according to the α-turn traveling pattern is performed prior to the U-turn traveling pattern when the width of the outer peripheral area SA is narrow and the automatic traveling according to the U-turn traveling traveling pattern is difficult to execute. If the width of the outer peripheral area SA is sufficiently large and automatic travel in the U-turn traveling pattern is possible, automatic travel in the α-turn traveling pattern does not have to be executed.

[Configuration related to control]
As shown in FIG. 5 , the control unit 80 of the combine 1 includes an own vehicle position calculation unit 81 , an area calculation unit 82 , a route calculation unit 83 , a travel control unit 84 and a retry control unit 85 .

The own vehicle position calculator 81 calculates the position coordinates of the combine harvester 1 over time based on the positioning data generated by the satellite positioning module 19 .

The area calculation unit 82 calculates the outer peripheral area SA and the work target area CA based on the temporal position coordinates of the combine harvester 1 calculated by the own vehicle position calculation unit 81 . Specifically, the area calculation unit 82 calculates the position coordinates of the combine harvester 1 over time calculated by the own vehicle position calculation unit 81, and calculates the traveling distance of the combine harvester 1 during the round trip (initial round trip) on the outer circumference side of the field. Calculate the trajectory. Then, based on the calculated travel locus of the combine 1, the area calculation unit 82 calculates an area on the outer peripheral side of the field where the combine 1 traveled while harvesting planted grain culms as an outer peripheral area SA. Further, the area calculation unit 82 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

For example, in FIG. 3, arrows indicate the route along which the combine harvester 1 traveled during the round trip (initial round trip) on the outer circumference side of the field. In the illustrated example, the combine 1 is traveling around three times. Then, when this initial round running is completed, the field is in the state shown in FIG.

As shown in FIG. 3, the area calculation unit 82 calculates an area on the outer peripheral side of the field where the combine 1 traveled while harvesting the planted grain culm as an outer peripheral area SA, and the area of the farm field is larger than the calculated outer peripheral area SA. The inner area is calculated as the work target area CA.

The route calculation unit 83 calculates a harvesting travel route LI for automatic harvesting travel inside the work area CA based on the calculation result of the area calculation unit 82 . In this embodiment, the harvest travel path LI is a plurality of mesh lines extending parallel to the four sides of the work area CA. The route calculation unit 83 also calculates a turn travel route TN connecting two harvest travel routes LI for turn travel (α-turn travel, U-turn travel).

The traveling control unit 84 is configured to be able to control the traveling device 11 and the harvesting unit 12 . The travel control unit 84 sets the next travel route from among the travel routes (the harvest travel route LI, the turn travel route TN, etc.) calculated by the route calculation unit 83 . The traveling control unit 84 sets the traveling route based on the above-described traveling patterns (α-turn traveling pattern, U-turn traveling pattern) and the like. Then, the travel control unit 84 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 calculated by the own vehicle position calculation unit 81 and the set travel route.
Specifically, the travel control unit 84 controls the travel device 11 of the combine harvester 1 so that the combine harvester 1 travels along the set travel route. The traveling control unit 84 operates the harvesting unit 12 when the combine 1 travels along the harvesting travel route LI.

The retry control unit 85 (an example of the “control unit”) performs retry processing in response to the machine body 10 traveling deviating from the harvesting travel route LI during automatic harvesting traveling in which crops in a field are harvested. Run. Specifically, the retry control unit 85 is based on the position coordinates of the combine harvester 1 calculated by the own vehicle position calculation unit 81 and the harvest travel route LI calculated by the route calculation unit 83 and set by the travel control unit 84. Then, the amount of deviation of the machine body 10 from the harvest travel route LI is calculated. The retry control unit 85 executes retry processing by controlling the travel device 11, the drive mechanism 12b, and the lifting mechanism 12c when the calculated deviation amount exceeds a predetermined threshold value. Details of the retry processing will be described later.

[Flow of harvesting work using a combine]
Below, the flow of the harvesting work performed by the combine 1 in the field shown in FIG. 2 will be described.

First, the operator manually operates the combine harvester 1, and as shown in FIG. 2, the harvest travels along the boundary line of the field in the outer peripheral portion of the field (initial circular travel). In the illustrated example, the combine 1 travels around three times. When this initial round traveling is completed, the field will be in the state shown in FIG.

The area calculation unit 82 calculates the running locus of the combine harvester 1 during the initial round running of FIG. Then, as shown in FIG. 3, based on the calculated running locus of the combine harvester 1, the area calculating unit 82 determines the area on the outer peripheral side of the farm field where the combine harvester 1 has traveled around while harvesting the planted grain culms as an outer peripheral area SA. Calculate as Further, the area calculation unit 82 calculates an area inside the agricultural field from the calculated outer peripheral area SA as the work target area CA.

Next, the route calculation unit 83 calculates the harvesting travel route LI in the work target area CA, as shown in FIG. 3, based on the calculation result of the area calculation unit . In the illustrated example, a plurality of harvesting travel routes LI parallel to the short sides of the work area CA and a plurality of harvesting travel routes LI parallel to the long sides are calculated. A harvesting travel path LI parallel to the short side of the work area CA is parallel to the row direction.

When the operator presses an automatic travel start button (not shown), automatic travel along the harvest travel route LI is started. In this example, first, automatic running (FIG. 3) is performed according to the α-turn circular running pattern. The travel control unit 84 sets harvest travel routes LI1, LI2, LI3, and LI4 as travel routes. The route calculation unit 83 calculates turn travel routes TN1, TN2, and TN3 for α-turn travel. The travel control unit 84 controls the travel device 11 to control the harvest travel route LI1, the turn travel route TN1, the harvest travel route LI2, the turn travel route TN2, the harvest travel route LI3, the turn travel route TN3, and the harvest travel route LI4. The combine 1 is automatically run in order.

When the automatic traveling of the combine 1 in a circular motion expands the already-worked area on the outer circumference side of the farm field, and automatic traveling in a U-turn circular traveling pattern (FIG. 4) becomes possible, the traveling control unit 84 changes the traveling pattern to a U-turn. Switch to a circular running pattern. The travel control unit 84 sets harvest travel routes LI5, LI6, LI7, and LI8 as travel routes. The route calculation unit 83 calculates turn travel routes TN4, TN5, and TN6 for U-turn travel. The travel control unit 84 controls the travel device 11 to perform the harvest travel route LI5, the turn travel route TN4, the harvest travel route LI6, the turn travel route TN5, the harvest travel route LI7, the turn travel route TN6, and the harvest travel route LI8 in this order. Let the combine 1 run automatically.

[Retry processing]
The retry processing of this embodiment will be described with reference to FIG.

The retry control unit 85 calculates and monitors the amount of deviation of the machine body 10 from the harvest travel route LI as described above, and starts retry processing when the amount of deviation exceeds a predetermined threshold. In the illustrated example, the retry process is started when the machine body 10 reaches the point P1 and the deviation amount DL exceeds 60% of the row-to-row distance in the field.

First, the retry control unit 85 controls the travel device 11 to decelerate the combine harvester 1 (#1) and stop it at the point P2 (#2). The driving mechanism 12b is set in a vehicle speed interlocked state, and the operating speed of the harvesting section 12 decreases as the combine 1 decelerates, and the harvesting section 12 stops as the combine 1 stops.

When the combine 1 stops, the retry control unit 85 controls the drive mechanism 12b to set it to the non-interlocking state, and operates the harvesting unit 12 (#3). The retry control unit 85 receives the detection result of the driving torque of the harvesting unit 12 from the detecting unit 12d, and stops the harvesting unit 12 when the driving torque of the harvesting unit 12 falls below a predetermined threshold value.

When the harvesting section 12 stops, the retry control section 85 controls the lifting mechanism 12c to raise the harvesting section 12 (#4). When the harvesting section 12 rises, the retry control section 85 controls the travel device 11 to reverse the combine 1 (#5) and stop it at the point P3 (reverse position) (#6). For example, the point P3 is a point beyond the point P1 at which the retry process is started and is located on the harvest travel route LI.

The retry control unit 85 controls the lifting mechanism 12c to lower the harvesting unit 12 (#7), and controls the drive mechanism 12b to switch to the vehicle speed interlocking state. The retry control unit 85 controls the travel device 11 to move the combine 1 forward (#8), and terminates the retry process. Thereafter, the travel control unit 84 controls the travel device 11 and the harvesting unit 12 to automatically travel the combine 1 along the harvesting travel route LI for harvesting.

[Other embodiments]
(1) Retry processing of another embodiment will be described with reference to FIG.

The retry control unit 85 calculates and monitors the amount of deviation of the machine body 10 from the harvest travel route LI, and starts retry processing when the amount of deviation exceeds a predetermined threshold. In the illustrated example, the retry process is started when the machine body 10 reaches the point P1 and the deviation amount DL exceeds 60% of the row-to-row distance in the field.

First, the retry control unit 85 controls the travel device 11 to decelerate the combine harvester 1 (#1). Then, the retry control unit 85 controls the drive mechanism 12b to switch to the non-interlocked state, and operates the harvesting unit 12 at a speed higher than the speed corresponding to the vehicle speed (#2).

The retry control unit 85 stops the combine harvester 1 at the point P2 (#3). Then, the retry control unit 85 receives the detection result of the driving torque of the harvesting unit 12 from the detecting unit 12d, and stops the harvesting unit 12 in response to the driving torque of the harvesting unit 12 falling below a predetermined threshold value ( #4).

When the harvesting section 12 stops, the retry control section 85 controls the lifting mechanism 12c to raise the harvesting section 12 (#5). When the harvesting section 12 rises, the retry control section 85 controls the travel device 11 to move the combine harvester 1 backward (#6) and stop it at the point P3 (#7). For example, the point P3 is a point beyond the point P1 at which the retry process is started and is located on the harvest travel route LI.

Then, the retry control unit 85 controls the lifting mechanism 12c to lower the harvesting unit 12 (#8), and controls the drive mechanism 12b to switch to the vehicle speed interlocking state. The retry control unit 85 controls the travel device 11 to move the combine 1 forward (#9), and terminates the retry process. Thereafter, the travel control unit 84 controls the travel device 11 and the harvesting unit 12 to automatically travel the combine 1 along the harvesting travel route LI for harvesting.

(2) In the above embodiment, the retry control unit 85 causes the machine body 10 to travel off the harvest travel route LI in response to the amount of deviation of the machine body 10 from the harvest travel route LI exceeding the predetermined threshold value. It determines that the A method different from this may be used to determine that “the machine body 10 is traveling off the harvesting travel route LI”.

For example, a sensor that detects the number of planted culms introduced into the harvesting unit 12 may be provided, and the retry control unit 85 may perform retry processing in response to a change in the output of the sensor. This is because when the machine body 10 of the combine harvester 1 travels off the harvest travel route LI, the number of rows of planted grain culms introduced into the harvesting section 12 may change. For example, the number of rows of the planted grain culms decreases when the machine shifts to the side of the already-worked land.

For example, based on an image (video) taken by a camera provided on the aircraft 10 or a drone (radio flying object), it is determined that "the aircraft 10 is traveling off the harvest travel route LI", and the determination The retry control unit 85 may execute retry processing in response to .

For example, the operator monitors the deviation of the machine body 10 from the harvest travel route LI, and when the deviation becomes large, inputs an operation to instruct the management terminal 22 to start retry processing, and when the operation input is received, Then, the retry control unit 85 may execute retry processing.

(3) Conditions for stopping the harvesting unit 12 in the retry process are not limited to the examples shown in the above embodiments. For example, the retry control unit 85 may stop the harvesting unit 12 when the amount of decrease in the driving torque of the harvesting unit 12 exceeds a predetermined value. The retry control unit 85 may stop the harvesting unit 12 when a predetermined time has passed. The detection unit 12d is configured to detect the driving rotation speed of the harvesting unit 12, and the retry control unit 85 detects that the driving rotation speed of the harvesting unit 12 detected by the detection unit 12d has fallen below a predetermined threshold value (or the driving rotation speed). The harvesting unit 12 may be stopped in response to the decrease in the number exceeding a predetermined threshold.

(4) In the above embodiment, an example was explained in which the outer shape of the farm field and the work target area CA were rectangular. The outer shape of the field is not limited to a rectangle, but may be a polygon such as a triangle or a pentagon, or a part or all of the outer peripheral shape may be curved. The work area CA is preferably rectangular from the viewpoint of work efficiency, but may be polygonal such as a triangle or a pentagon, or a part or all of the outer peripheral shape thereof may be a curve.

(5) In the above embodiment, an example in which the harvesting travel route LI is a straight line has been described, but part or all of the harvesting travel route LI may be curved.

INDUSTRIAL APPLICABILITY The present invention can be used not only for self-throwing combine harvesters but also for various harvesters such as ordinary combine harvesters.

10: Machine body (running machine body)
12: harvesting unit 12d: detection unit 85: retry control unit (control unit)
LI: Harvest travel route (travel route)
P3: Reverse position

Claims (4)

A harvester capable of automatically traveling along a set traveling route,
a harvesting unit for harvesting crops in a field;
A control unit that controls the operation of the harvesting unit and the traveling machine body,
The control unit executes retry processing in response to the fact that the traveling machine body deviates from the traveling route during automatic harvesting traveling in which the traveling machine automatically travels while harvesting crops in a field,
In the retry process, the control section stops the traveling machine body, then operates the harvesting section, and then moves the traveling machine body backward to a reverse position ,
The harvester , wherein the backward travel position is a position on the traveling route beyond a position corresponding to the position at which the retry process is started . A harvester capable of automatically traveling along a set traveling route,
a harvesting unit configured to be operable at a speed corresponding to the vehicle speed and harvesting crops in a field;
A control unit that controls the operation of the harvesting unit and the traveling machine body,
The control unit executes retry processing in response to the fact that the traveling machine body deviates from the traveling route during automatic harvesting traveling in which the traveling machine automatically travels while harvesting crops in a field,
In the retry process, the control unit operates the harvesting unit at a speed higher than the speed corresponding to the vehicle speed while decelerating the traveling machine body, then stops the traveling machine body, and then moves the traveling machine machine backward. Harvesting machine to let The harvesting unit is configured to be able to move up and down with respect to the traveling machine body,
The harvesting machine according to claim 1 or 2, wherein in the retry process, the control unit raises the harvesting unit before moving the traveling machine body backward. A detection unit that detects the driving rotation speed or driving torque of the harvesting unit,
The harvesting machine according to any one of claims 1 to 3, wherein in the retry process, the control section stops the operation of the harvesting section based on the detection result of the detection section.

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