JP7503248B2 - Harvesting method for culms - Google Patents

Description

The present invention relates to a method for harvesting stalks using multiple combine harvesters.

In a conventional method for harvesting stalks, a field is divided into a first field and a second field that are symmetrical on the left and right sides by a center line, and an operator gets on a first combine harvester brought into the first field and manually drives it through the first field to harvest the stalks, while a second combine harvester brought into the second field automatically drives along a set automatic driving path that is the same as the manual driving path set for the second field to harvest the stalks. (See Patent Document 1)

JP 2020-120586 A

However, in conventional culm harvesting methods, the first and second combine harvesters are separated from each other, meaning that the operator aboard the first combine harvester cannot immediately recognize and deal with problems with the second combine harvester, such as a blockage of culms, resulting in reduced efficiency in culm harvesting operations.

The present invention aims to provide a highly efficient harvesting method for stalks, in which a second combine is automatically driven adjacent to a first combine on which an operator is riding, allowing the operator riding on the first combine to quickly recognize any malfunctions in the second combine.

The present invention, which has solved the above problems, is as follows.
That is, the invention described in claim 1 is a method for harvesting culms planted in a farm field using a plurality of combine harvesters, comprising the steps of:
A first combine harvester (1A) is automatically driven along a rectangular first set automatic travel route (32A) which is set in a farm field and circulates in a counterclockwise direction, a second combine harvester (1B) is automatically driven along a rectangular second set automatic travel route (32B) which is set in a farm field and circulates in a counterclockwise direction, the second set automatic travel route (32B) is set between the first set automatic travel route (32A) and the next first set automatic travel route (32A), the first combine harvester (1A) is automatically driven ahead of the second combine harvester (1B) in the traveling direction, and when the first combine harvester (1A) and the second combine harvester (1B) are automatically driven, the traveling direction of the first combine harvester (1A) and the second combine harvester (1B) is automatically controlled. a predetermined set distance (A1) is maintained between the first combine harvester (1A) and the second combine harvester (1B), and when the first combine harvester (1A) is turning around a corner of the first set automatic travel path (32A), the automatic travel of the second combine harvester (1B) is stopped, and when the first combine harvester (1A) resumes automatic travel thereafter, the automatic travel of the second combine harvester (1B) is resumed, and when the second combine harvester (1B) is turning around a corner of the second set automatic travel path (32B), maintaining the separation distance between the first combine harvester (1A) and the second combine harvester (1B) at the set distance (A1) is stopped, and the first combine harvester (1A) continues to be automatically traveled .

The invention described in claim 2 is a method for harvesting grain stalks described in claim 1, in which, when the first combine (1A) and the second combine (1B) are running automatically , if the distance between the first combine (1A) and the second combine (1B) becomes less than a predetermined minimum set distance (A2) that is shorter than the set distance (A1), the automatic running of the second combine (1B) is stopped, and thereafter, if the distance between the first combine (1A) and the second combine (1B) becomes equal to or greater than the set distance (A1), the automatic running of the second combine (1B) is resumed.

The invention described in claim 3 is a method for harvesting grain stalks described in claim 1, in which, when the first combine (1A) and the second combine (1B) are running automatically, if the distance between the first combine (1A) and the first combine (1A) exceeds a predetermined maximum set distance (A3) that is longer than the set distance (A1), the automatic running of the first combine (1A) is stopped, and thereafter, if the distance between the first combine (1A) and the second combine (1B) becomes equal to or less than the set distance (A1), the automatic running of the first combine (1A) is resumed.

The invention described in claim 4 is a method for harvesting grain stalks described in any one of claims 1 to 3, wherein, when the first combine harvester (1A) and the second combine harvester (1B) are automatically traveling, if a malfunction occurs in the first combine harvester (1A), after stopping the automatic traveling of the second combine harvester (1B), the first combine harvester (1A) is moved from a first set automatic traveling route (32A) to a waiting area (34) set outside the first set automatic traveling route (32A), and thereafter, the second combine harvester (1B) is moved from the second set automatic traveling route (32B) to the first set automatic traveling route (32A), and after that, a new second reset automatic traveling route (35B) for automatically traveling the second combine harvester (1B) is set, and thereafter, the second combine harvester (1B) is automatically traveled along the second reset automatic traveling route ( 35B ).

The invention described in claim 5 is a method for harvesting stalks described in claim 4 , in which a first jamming sensor (42A) for detecting jamming of stalks is attached to the first threshing device (5A) of the first combine (1A).

According to a sixth aspect of the present invention, when the first combine harvester (1A) and the second combine harvester (1B) are automatically traveling, if a problem occurs in the second combine harvester (1B), the automatic traveling of the first combine harvester (1A) is stopped, and then the second combine harvester (1B) is moved from the second set automatic traveling route (32B) to a waiting area (34) set outside the first set automatic traveling route (32A), and the automatic traveling of the first combine harvester (1A) is resumed. and after automatically driving the second combine (1B) backward where the malfunction has occurred, moving the first combine (1A) from a first set automatic driving path (32A) to a second set automatic driving path (32B), and then setting a new first reset automatic driving path (35A) along which the first combine (1A) automatically drives, and then driving the first combine (1A) automatically along the first reset automatic driving path (35A).

The invention described in claim 7 is a method for harvesting stalks described in claim 6 , in which a second jamming sensor (42B) for detecting jamming of stalks is attached to the second threshing device (5B) of the second combine (1B).

The invention described in claim 8 is a method for harvesting stumps described in claim 1, wherein a first cutting blade width (WA) in the left-right direction of the first harvesting device (4A) of the first combine (1A) and a second cutting blade width (WB) in the left-right direction of the second harvesting device (4B) of the second combine (1B) are formed to be the same width.

According to the invention described in claim 1, a first combine harvester (1A) is automatically run along a rectangular first set automatic travel route (32A) that is set in a farm field and circulates in a counterclockwise direction, a second combine harvester (1B) is automatically run along a rectangular second set automatic travel route (32B) that is set in a farm field and circulates in a counterclockwise direction, a second set automatic travel route (32B) is set between the first set automatic travel route (32A) and the next first set automatic travel route (32A), the first combine harvester (1A) is automatically run ahead of the second combine harvester (1B) in the traveling direction, and when the first combine harvester (1A) and the second combine harvester (1B) are automatically running, a separation distance between the first combine harvester (1A) and the second combine harvester (1B) in the traveling direction is maintained at a preset set distance (A1) , and the first combine harvester (1B) is automatically run along a rectangular first set automatic travel route (32B) that is set in a farm field and circulates in a counterclockwise direction. When the first combine harvester (1A) is turning around a corner of the first set automatic travel route (32A), the automatic travel of the second combine harvester (1B) is stopped, and when the first combine harvester (1A) thereafter resumes its automatic travel, the automatic travel of the second combine harvester (1B) is resumed. When the second combine harvester (1B) is turning around a corner of the second set automatic travel route (32B), the maintenance of the separation distance between the first combine harvester (1A) and the second combine harvester (1B) at the set distance (A1) is stopped, and the first combine harvester (1A) continues to travel automatically. This prevents a collision between the first combine harvester (1A) and the second combine harvester (1B), and enables an operator aboard the first combine harvester (1A) to quickly recognize and deal with any malfunction that occurs in the second combine harvester (1B), thereby improving the efficiency of the stalk harvesting work. In addition, it is possible to prevent the second combine (1B) from colliding with the first combine (1A) during turning.

According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, when the first combine (1A) and the second combine (1B) are running automatically, if the distance between the first combine (1A) and the second combine (1B) becomes less than a preset minimum set distance (A2) that is shorter than the set distance (A1), the automatic running of the second combine (1B) is stopped, and thereafter, if the distance between the first combine (1A) and the second combine (1B) becomes equal to or greater than the set distance (A1), the automatic running of the second combine (1B) is resumed. This suppresses abnormal approach between the first combine (1A) and the second combine (1B), and makes it possible to better prevent collisions between the first combine (1A) and the second combine (1B).

According to the invention described in claim 3, in addition to the effects of the invention described in claim 1, when the first combine (1A) and the second combine (1B) are running automatically, if the distance between the first combine (1A) and the second combine (1B) exceeds a preset maximum set distance (A3) that is longer than the set distance (A1), the automatic running of the first combine (1A) is stopped, and thereafter, if the distance between the first combine (1A) and the second combine (1B) becomes equal to or less than the set distance (A1), the automatic running of the first combine (1A) is resumed. This suppresses abnormal separation between the first combine (1A) and the second combine (1B), and allows the operator aboard the first combine (1A) to more quickly recognize and deal with any malfunctions that occur in the second combine (1B).

According to the invention described in claim 4 , in addition to the effects of the invention described in any one of claims 1 to 3 , when the first combine (1A) and the second combine (1B) are automatically traveling, if a malfunction occurs in the first combine (1A), after stopping the automatic traveling of the second combine (1B), the first combine (1A) is moved from the first set automatic traveling route (32A) to a waiting area (34) set outside the first set automatic traveling route (32A), and then the second combine (1B) is moved from the second set automatic traveling route (32B) to the first set automatic traveling route (32A), and then a new second reset automatic traveling route (35B) for automatically traveling the second combine (1B) is set, and then the second combine (1B) is automatically traveled along the second reset automatic traveling route (35B), so that it is possible to prevent the second combine (1B) from colliding with the first combine (1A) in which a malfunction has occurred. In addition, the second combine (1B) can be made to automatically travel to harvest uncut stalks planted inside the first set automatic travel path (32A) along which the first combine (1A) in which a malfunction has occurred was automatically travelling.

According to the invention described in claim 5 , in addition to the effects of the invention described in claim 4 , a first clogging sensor (42A) for detecting clogging of stalks is attached to the first threshing device (5A) of the first combine (1A), so that it is possible to quickly grasp that the first threshing device (5A) of the first combine (1A) has become clogged with stalks and a malfunction has occurred in the first combine (1A).

According to the invention described in claim 6 , in addition to the effect of the invention described in claim 4 , when the first combine harvester (1A) and the second combine harvester (1B) are automatically traveling, if a malfunction occurs in the second combine harvester (1B), after the automatic traveling of the first combine harvester (1A) is stopped, the second combine harvester (1B) is moved from the second set automatic traveling route (32B) to a waiting area (34) set outside the first set automatic traveling route (32A), and then the automatic traveling of the first combine harvester (1A) is resumed, and the second combine harvester (1B) is moved from the second set automatic traveling route (32B) to a waiting area (34) set outside the first set automatic traveling route (32A). After the combine (1B) is automatically driven behind the defective combine, the first combine (1A) is moved from the first set automatic driving path (32A) to the second set automatic driving path (32B), and then a new first reset automatic driving path (35A) for automatically driving the first combine (1A) is set, and the first combine (1A) is automatically driven along the first reset automatic driving path (35A), so that the first combine (1A) can be prevented from colliding with the defective second combine (1B). Also, the first combine (1A) can be automatically driven to harvest uncut stalks planted inside the second set automatic driving path (32B) along which the defective second combine (1B) was automatically driving.

According to the invention described in claim 7 , in addition to the effects of the invention described in claim 6 , a second clogging sensor (42B) for detecting clogging of stalks is attached to the second threshing device (5B) of the second combine (1B), so that it is possible to quickly grasp that the second threshing device (5B) of the second combine (1B) has become clogged with stalks and a malfunction has occurred in the second combine (1B).

According to the invention described in claim 8 , in addition to the effects of the invention described in claim 1, the first cutting blade width (WA) in the left-right direction of the first cutting device (4A) of the first combine (1A) and the second cutting blade width (WB) in the left-right direction of the second cutting device (4B) of the second combine (1B) are formed to be the same width, so that the first set automatic travel path (32A) and the second set automatic travel path (32B) can be easily set.

FIG. 2 is a right side view of the first combine. FIG. 2 is a plan view of the first combine. FIG. 11 is a connection diagram of the positioning unit of the first combine. FIG. 1 is a connection diagram of the controller of the first combine harvester. FIG. 2 is a right side view of the second combine. FIG. 2 is a plan view of the second combine. FIG. 11 is a connection diagram of the positioning unit of the second combine. FIG. 11 is a connection diagram of the controller of the second combine. FIG. 11 is an explanatory diagram of the set automatic driving routes for the first and second combine harvesters. FIG. 11 is an explanatory diagram showing the second combine starting automatic running when the separation distance between the first and second combines reaches a set distance. This is an explanatory diagram showing the first and second combine harvesters automatically traveling with the separation distance between them being a set distance. 1A is an explanatory diagram of what happens when the first and second combine harvesters come abnormally close to each other; (a) is an explanatory diagram of the state when the separation distance between the first and second combine harvesters is less than the minimum set distance; (b) is an explanatory diagram of the state when the first combine harvester runs automatically and the second combine harvester is stopped, causing the separation distance between the first and second combine harvesters to become the set distance; and (c) is an explanatory diagram of the state when the first and second combine harvesters are running automatically at the set distance. 13 is an explanatory diagram of an abnormal separation between the first and second combine harvesters, in which (a) is an explanatory diagram of a state in which the separation distance between the first and second combine harvesters exceeds the maximum set distance, (b) is an explanatory diagram of a state in which the first combine harvester has stopped and the second combine harvester has started running automatically, causing the separation distance between the first and second combine harvesters to become the set distance, and (c) is an explanatory diagram of a state in which the separation distance between the first and second combine harvesters is the set distance and the first and second combine harvesters are running automatically. FIG. 11 is an explanatory diagram showing the first combine harvester starting turning travel and the second combine harvester stopping automatic travel on the set route. This is an explanatory diagram showing that the first combine has finished turning and the second combine has stopped automatic traveling on the set route. This is an explanatory diagram showing a first combine harvester automatically traveling along a set route and a second combine harvester resuming automatic traveling along the set route. This is an explanatory diagram showing the second combine harvester starting to turn and the first combine harvester automatically traveling along the set route. FIG. 11 is an explanatory diagram showing the second combine harvester completing its turning run and the first combine harvester automatically running along the first set route. This is an explanatory diagram showing the second combine automatically traveling along a set route and the first combine automatically traveling along a set route. This is an explanatory diagram showing a situation in which a malfunction occurs in the first combine harvester on the set route, and the second combine harvester automatically travels along the set route. FIG. 11 is an explanatory diagram showing a first combine harvester moving from a set route to a shelter and a second combine harvester stopping on the set route. This is an explanatory diagram showing that the first combine is stopped at a waiting area and the second combine is moving from the set route of the second combine to the set route of the first combine. FIG. 11 is an explanatory diagram of a reset automatic driving route along which the second combine harvester automatically drives. This is an explanatory diagram showing that a malfunction occurs in the second combine on the set route and the first combine automatically travels along the set route. FIG. 11 is an explanatory diagram showing the second combine moving from the set route to a shelter and the first combine stopping on the set route. This is an explanatory diagram showing that the second combine is stopped at a waiting area and the first combine is moving from the set route of the first combine to the set route of the second combine. FIG. 11 is an explanatory diagram of a reset automatic driving route along which the first combine harvester automatically drives. FIG. 2 is a right side view of the battery and the alternator attached to the engine. FIG. 2 is a plan view of the battery and the alternator mounted on the engine.

<First Combine>
As shown in Figures 1 and 2, the first combine harvester 1A is provided with a traveling device 3A consisting of a pair of left and right crawlers that travel on the soil surface on the underside of the machine frame 2A, a harvesting device (the "first harvesting device" in the claims) 4A that harvests 5 to 7 rows of stalks planted in the field is provided on the front side of the machine frame 2A, a threshing device (the "first threshing device" in the claims) 5A that threshes and sorts the harvested stalks is provided on the rear left side of the harvesting device 4A, and a control unit 6A on which an operator rides is provided on the rear right side of the harvesting device 4A. In addition, a grain tank 7A that stores the threshed and sorted grains is provided on the rear side of the control unit 6A, and a discharge auger 8A consisting of a lifting part extending in the vertical direction and a horizontal discharge part extending in the front-rear direction that discharges the grains to the outside is provided on the rear side of the grain tank 7A. The width of the harvesting device 4A and the harvesting device 4B in the left-right direction is formed to be the same.

The drive wheels of the traveling device 3A are provided with a turning sensor 40A that measures the rotational speed of a pair of left and right crawlers to detect whether the traveling device 3A is in a turning traveling state. At the base of the harvesting device 4A, a standby sensor 41A is provided to detect when the harvesting device 4A is in a standby position. At the feed chain of the threshing device 5A, a jam sensor 42A is provided to detect when the feed chain is jammed with stalks.

When the traveling device 3A is in a turning traveling state, the output signal of the turning sensor 40A is set to be ON, and when the traveling device 3A is in a straight traveling state, the output signal of the turning sensor 40A is set to be OFF. When the reaping device 4A is raised and in a waiting position, the output signal of the standby sensor 41A is set to be ON, and when the reaping device 4A is lowered and in a working position, the output signal of the standby sensor 41A is set to be OFF. When the feed chain of the threshing device 5A is clogged with stalks, the output signal of the jam sensor 42A is set to be ON, and when the feed chain of the threshing device 5A is not clogged with stalks, the output signal of the jam sensor 42A is set to be OFF.

As shown in Figure 3, the positioning unit 10A, 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 16A installed in the first combine 1A. This makes it possible to accurately obtain the position of the mobile station 16A from the position information transmitted from the positioning satellite 11 to the mobile station 16A and the correction position information transmitted from the base station 12 to the mobile station 16A.

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

As shown in FIG. 4, the controller 20A of the first combine 1A is composed of a processing unit 21A consisting of a CPU etc., a memory unit 22A consisting of a ROM, RAM, a hard disk drive, a flash memory etc., and a communication unit 23A for data communication with the outside.

The processing unit 21A sets the set automatic driving path 32A that automatically drives the first combine harvester 1A based on the manual driving path 31 described later, and calculates the distance between the driving positions of the first combine harvester 1A and the second combine harvester 1B.

The memory unit 22A stores the set distance A1, minimum set distance A2, maximum set distance A3, and cutting blade width WA in the left-right direction, which are input from the touch panel monitor (not shown) of the control unit 6A.

The communication unit 23A transmits the running position of the first combine 1A to the second combine 1B, and receives the running position of the second combine 1B transmitted from the communication unit 23B of the second combine 1B.

The input port of the controller 20A is connected to a mobile GPS antenna 18A that receives position information from the positioning satellite 11, a mobile data transmission antenna 19A that receives position information from the base station 12, a turning sensor 40A provided on the traveling device 3A, a standby sensor 41A provided on the harvesting device 4A, a jam sensor 42A provided on the threshing device 5A, and a monitor that sets the set distance A1 of the steering unit 6A, the cutting blade width WA, etc., via a specified input interface circuit.

The output port of the controller 20A is connected to a predetermined output interface circuit via an automatic travel switch 50A that causes the first combine harvester 1A to automatically travel, an automatic travel stop switch 51A that stops the automatic travel of the first combine harvester 1A, a threshing drive switch 52A that drives the threshing device 5A, a threshing stop switch 53A that stops the drive of the threshing device 5A, a waiting switch 54A that moves the first combine harvester 1A to the waiting area 34, and a set route movement switch 55A that moves the first combine harvester 1A from the set automatic travel route 32A to the set automatic travel route 32B.

<Second Combine>
As shown in Figures 5 and 6, the second combine harvester 1B is provided with a traveling device 3B consisting of a pair of left and right crawlers that travel on the soil surface on the underside of the machine frame 2B, a harvesting device ("second harvesting device" in claims) 4B that harvests 5 to 7 rows of culms planted in the field is provided on the front side of the machine frame 2B, a threshing device ("second threshing device" in claims) 5B that threshes and sorts the harvested culms is provided on the rear left side of the harvesting device 4B, and a control unit 6B on which an operator rides is provided on the rear right side of the harvesting device 4B. In addition, a grain tank 7B that stores the threshed and sorted grains is provided on the rear side of the control unit 6B, and a discharge auger 8B consisting of a grain lifting unit extending in the vertical direction and a horizontal discharge unit extending in the front-rear direction that discharges grains to the outside is provided on the rear side of the grain tank 7B.

The drive wheels of the traveling device 3B are provided with a turning sensor 40B that measures the rotational speed of a pair of left and right crawlers to detect whether the traveling device 3B is in a turning traveling state. At the base of the harvesting device 4B, a standby sensor 41B is provided to detect when the harvesting device 4B is in a standby position. At the feed chain of the threshing device 5B, a jam sensor (the "second jam sensor" in the claims) 42B is provided to detect when the feed chain is jammed with stalks.

When the traveling device 3B is in a turning traveling state, the output signal of the turning sensor 40B is set to ON, and when the traveling device 3B is in a straight traveling state, the output signal of the turning sensor 40B is set to OFF. When the reaping device 4B is raised and in a waiting position, the output signal of the standby sensor 41B is set to ON, and when the reaping device 4B is lowered and in a working position, the output signal of the standby sensor 41B is set to OFF. When the feed chain of the threshing device 5B is clogged with stalks, the output signal of the jam sensor 42B is set to ON, and when the feed chain of the threshing device 5B is not clogged with stalks, the output signal of the jam sensor 42B is set to OFF.

As shown in FIG. 7, the positioning unit 10B, 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 16B installed in the second combine 1B. This makes it possible to accurately obtain the position of the mobile station 16B from the position information transmitted from the positioning satellite 11 to the mobile station 16B and the correction position information transmitted from the base station 12 to the mobile station 16B.

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

As shown in FIG. 8, the controller 20B of the second combine 1B is composed of a processing unit 21B consisting of a CPU etc., a memory unit 22B consisting of a ROM, RAM, a hard disk drive, a flash memory etc., and a communication unit 23B for data communication with the outside.

The processing unit 21B sets the set automatic driving path 32B for automatically driving the second combine 1B based on the set automatic driving path 32A of the first combine 1A (the "first set automatic driving path" in the claims), and calculates the distance between the driving positions of the first combine 1A and the second combine 1B.

The memory unit 22B stores the left-right blade width WB and other information input from the touch panel monitor (not shown) of the control unit 6A.

The communication unit 23B transmits the running position of the second combine 1B to the first combine 1A, and receives the running position of the first combine 1A transmitted from the communication unit 23A of the first combine 1A.

The input port of the controller 20B is connected to a mobile GPS antenna 18B that receives position information from the positioning satellite 11, a mobile data transmission antenna 19B that receives position information from the base station 12, a turning sensor 40B provided on the traveling device 3B, a standby sensor 41B provided on the harvesting device 4B, a jam sensor 42B provided on the threshing device 5B, and a monitor that sets the cutting blade width WB of the steering unit 6B, etc., via a specified input interface circuit.

The output port of the controller 20B is connected to a predetermined output interface circuit via an automatic travel switch 50B that automatically travels the second combine 1B, an automatic travel stop switch 51B that stops the automatic travel of the second combine 1B, a threshing drive switch 52B that drives the threshing device 5B, a threshing stop switch 53B that stops the drive of the threshing device 5B, a waiting switch 54B that moves the second combine 1B to the waiting area 34, and a set route movement switch 55B that moves the second combine 1B from the set automatic travel route (the "second set automatic travel route" in the claims) 32B to the set automatic travel route 32A.

<Autonomous Driving>
As shown in Fig. 9, the operator manually drives the first combine harvester 1A counterclockwise along the outer periphery of the rectangular field 30. This allows the stalks planted on the outer periphery of the field to be efficiently harvested. The manual driving path 31 along which the operator manually drives the first combine harvester 1A is shown. It is preferable that the operator then board the first combine harvester 1A and monitor the state of muddy areas such as puddles in the field 30 and the state of the stalks lying down.

The controller 20A of the first combine harvester 1A sets a set automatic travel path 32A for automatically traveling the first combine harvester 1A counterclockwise inside the rectangular manual travel path 31, and then transmits position information of the set automatic travel path 32A to the second combine harvester 1B via the communication unit 23A. The set automatic travel path 32A for the first round is set at a position spaced inward from the manual travel path 31 by the blade width (the "first blade width" in the claims) WA of the harvesting device 4A in the left-right direction, and the set automatic travel path 32A for the second round is set at a position spaced inward from the set automatic travel path 32A for the first round by twice the blade width WA, i.e., 2WA.

The controller 20B of the second combine 1B sets the set automatic travel path 32B for automatically traveling the second combine 1B counterclockwise inside the rectangular set automatic travel path 32A of the first combine 1A received via the communication unit 23B, and then transmits the position information of the set automatic travel path 32A to the second combine 1B via the communication unit 23A. The set automatic travel path 32B is set at a position spaced inward from the set automatic travel path 32A of the first combine 1A by the blade width WB in the left-right direction of the harvesting device 4B. In this embodiment, the blade width WA of the first combine 1A and the blade width (the "second blade width" in the claims) WB of the second combine 1B are formed to be the same width.

As shown in Figs. 10 and 11, the controller 20A of the first combine 1A operates the automatic travel switch 50A to automatically travel the first combine 1A along the set automatic travel route 32A. After the first combine 1A automatically travels and moves away from the starting end of the set automatic travel route 32A by a preset set distance A1, the controller 20B of the second combine 1B operates the automatic travel switch 50B to automatically travel the second combine 1B along the set automatic travel route 32B. The travel position of the first combine 1A is transmitted to the second combine 1B via the communication unit 23A of the controller 20A, and the travel position of the second combine 1B is transmitted to the first combine 1A via the communication unit 23B of the controller 20B. The reference numeral 33A indicates the automatic travel route along which the first combine 1A automatically traveled, and the reference numeral 33B indicates the automatic travel route along which the second combine 1B automatically traveled.

This allows the first combine 1A and the second combine 1B to travel automatically and efficiently harvest the stalks planted on the inner periphery of the manual travel path 31 of the field 30. In addition, the operator aboard the first combine 1A can quickly detect any abnormalities in the second combine 1B, such as a blockage of stalks in the feed chain of the threshing device 5B.

<In the event of abnormal approach>
As shown in Fig. 12, when the travel speed of the first combine 1A becomes slower than that of the second combine 1B due to, for example, a puddle or other mud on the set automatic travel route 32A, and the distance in the travel direction calculated from the travel position of the first combine 1A and the travel position of the second combine 1B becomes less than the preset minimum set distance A2, the controller 20B of the second combine 1B operates the automatic travel stop switch 51B to stop the automatic travel of the second combine 1B. This suppresses abnormal approach between the first combine 1A and the second combine 1B, and prevents the first combine 1A and the second combine 1B from colliding with each other. In addition, it is preferable that the controller 20B of the second combine 1B operates the threshing stop switch 53B to stop the drive of the threshing device 5B. This reduces the load on the engine and suppresses fuel consumption. In addition, when the distance in the running direction calculated from the running position of the first combine 1A and the running position of the second combine 1B becomes equal to or greater than a preset distance A1, the controller 20B of the second combine 1B resumes the automatic running of the second combine 1B.

<When there is an abnormal separation>
As shown in Fig. 13, when the running speed of the second combine 1B becomes slower than that of the first combine 1A due to, for example, mud on the set automatic running route 32B, and the distance in the running direction calculated from the running positions of the first combine 1A and the second combine 1B exceeds the preset maximum set distance A3, the controller 20A of the first combine 1A operates the automatic running stop switch 51A to stop the automatic running of the first combine 1A. This suppresses abnormal separation between the first combine 1A and the second combine 1B, and the operator riding on the first combine 1A can efficiently grasp the abnormality of the second combine 1B. In addition, it is preferable that the controller 20A of the first combine 1A operates the threshing stop switch 53A to stop the drive of the threshing device 5A. This reduces the load on the engine and suppresses fuel consumption. In addition, when the distance in the running direction calculated from the running position of the first combine 1A and the running position of the second combine 1B becomes less than a preset distance A1, the controller 20B of the second combine 1B resumes the automatic running of the second combine 1B.

<When the first combine is turning>
As shown in Figures 14 and 15, when the first combine 1A is making a turning run (α turn) to change the direction of travel at a corner of the rectangular set automatic travel path 32A, the controller 20B of the second combine 1B operates the automatic travel stop switch 51B to stop the automatic travel of the second combine 1B. This suppresses abnormal approach between the first combine 1A and the second combine 1B during turning run, and prevents the first combine 1A and the second combine 1B from colliding. In addition, it is preferable that the controller 20B of the second combine 1B operates the threshing stop switch 53B to stop the drive of the threshing device 5B. This reduces the load on the engine and suppresses fuel consumption. It is preferable that the controller 20B of the second combine 1B stops the second combine 1B even if the distance in the running direction calculated from the running position of the first combine 1A and the running position of the second combine 1B is not less than the minimum set distance A2. This makes it possible to more effectively prevent contact between the first combine 1A and the second combine 1B during turning.

When the first combine harvester 1A is turning, an ON signal is input to the input port of the controller 20A from the turning sensor 40A provided on the traveling device 3A and the standby sensor 41A provided on the harvesting device 4A. The ON signals from the turning sensor 40A and the standby sensor 41A input to the controller 20A are also transmitted to the second combine harvester 1B via the communication unit 23A. This allows the controller 20B of the second combine harvester 1B to determine that the first combine harvester 1A is turning and to stop the automatic traveling of the second combine harvester 1B.

As shown in FIG. 16, when the first combine 1A finishes turning and resumes automatic traveling, the controller 20B of the second combine 1B operates the automatic traveling switch 50B to resume automatic traveling of the second combine 1B.

When the first combine 1A is running automatically, an OFF signal is input from the turning sensor 40A and the standby sensor 41A to the input port of the controller 20A. The OFF signals from the turning sensor 40A and the standby sensor 41A input to the controller 20A are also transmitted to the second combine 1B via the communication unit 23A. This allows the controller 20B of the second combine 1B to determine that the first combine 1A is running automatically and to resume the automatic running of the second combine 1B.

<When the second combine is turning>
As shown in Figures 17 and 18, when the second combine 1B is making a turn at a corner of the rectangular set automatic travel path 32B to change its direction of travel, the controller 20A of the first combine 1A continues to operate the automatic travel switch 50A to make the first combine 1A continue to make the first combine 1A make an automatic travel. This suppresses abnormal approach between the first combine 1A and the second combine 1B making a turn, and prevents the first combine 1A and the second combine 1B from colliding. The controller 20A of the first combine 1A also continues to operate the threshing drive switch 52A to make the threshing device 5A continue to be driven. It is preferable that the controller 20A of the first combine 1A continue to make the first combine 1A make an automatic travel even if the distance in the travel direction calculated from the travel position of the first combine 1A and the travel position of the second combine 1B exceeds the maximum set distance A3. This makes it possible to more effectively prevent contact between the first combine 1A and the second combine 1B during turning.

When the second combine harvester 1B is turning, an ON signal is input to the input port of the controller 20B from a turning sensor 40B provided on the traveling device 3B and a standby sensor 41B provided on the harvesting device 4B. The ON signals of the turning sensor 40B and the standby sensor 41B input to the controller 20B are transmitted to the first combine harvester 1A via the communication unit 23B.
As a result, the controller 20A of the first combine 1A determines that the second combine 1B is turning, and allows the first combine 1A to continue to run automatically.

As shown in FIG. 19, when the second combine 1B finishes turning and resumes automatic driving, the controller 20A of the first combine 1A causes the first combine 1A to continue automatic driving.

When the second combine 1B is running automatically, an OFF signal is input from the turning sensor 40B and the standby sensor 41B to the input port of the controller 20B. The OFF signals from the turning sensor 40B and the standby sensor 41B input to the controller 20B are also transmitted to the first combine 1A via the communication unit 23B. This allows the controller 20A of the first combine 1A to determine that the second combine 1B is running automatically, and to continue running the first combine 1A automatically.

<When a malfunction occurs in the first combine>
As shown in Figure 20, if a malfunction occurs in the first combine 1A, such as straw clogging the feed chain of the threshing device 5A, the controller 20A of the first combine 1A operates the automatic travel stop switch 51A to stop the automatic travel of the first combine 1A, and the controller 20B of the second combine 1B operates the automatic travel stop switch 51B to stop the automatic travel of the second combine 1B.

As shown in FIG. 21, the controller 20A of the first combine harvester 1A operates the waiting switch 54A to move the first combine harvester 1A from the travel position on the set automatic travel route 32A to a waiting place 34 set in advance on the outer periphery of the set automatic travel route 32A in the field 30, and then operates the automatic travel stop switch 51A to stop the automatic travel of the first combine harvester 1A and turn on the hazard lamps, etc. This allows the first combine harvester 1A in which a malfunction has occurred to be quickly moved to the waiting place 34 set on the outer periphery of the field 30. It is preferable that the first combine harvester 1A that has stopped automatic travel continues to communicate with the base station 12 and the second combine harvester 1B via the communication unit 23A.

As shown in FIG. 22, the controller 20B of the second combine 1B operates the set route movement switch 55B to move the second combine 1B from the stopping position on the set automatic travel route 32B to the set automatic travel route 32A, and then automatically travels the second combine 1B to the stopping position where the first combine 1A stopped due to a malfunction, and then operates the automatic travel stop switch 51B to stop the automatic travel of the second combine 1B.

As shown in FIG. 23, the controller 20B of the second combine harvester 1B sets a reset automatic travel path (the "second reset automatic travel path" in the claims) 35B for automatically traveling the second combine harvester 1B counterclockwise inside the rectangular set automatic travel path 32B, and then operates the automatic travel switch 50B to automatically travel the second combine harvester 1B. This allows the second combine harvester 1B to automatically travel and harvest the uncut stalks planted inside the set automatic travel path 32A along which the first combine harvester 1A was automatically traveling when the malfunction occurred.

When straw becomes clogged in the feed chain of the threshing device 5A of the first combine 1A, an ON signal from a clogging sensor (the "first clogging sensor" in the claims) 42A provided on the threshing device 5A is input to the input port of the controller 20A. In addition, the ON signal from the clogging sensor 42A input to the controller 20A is transmitted to the second combine 1B via the communication unit 23A. This allows the controller 20B of the second combine 1B to determine that a malfunction has occurred in the first combine 1A and to stop the automatic running of the second combine 1B.

In addition, the fact that the first combine 1A has moved to the waiting area 34 is transmitted to the second combine 1B via the communication unit 23A. This allows the controller 20B of the second combine 1B to prevent the second combine 1B from colliding with the first combine 1A when the second combine 1B is moved from a stopping position on the set automatic travel route 32B to the set automatic travel route 32A.

<When a malfunction occurs in the second combine>
As shown in Figure 24, if a malfunction occurs in the second combine 1B, such as a blockage of the feed chain of the threshing device 5B by grain straw, the controller 20B of the second combine 1B operates the automatic travel stop switch 51B to stop the automatic travel of the second combine 1B, and the controller 20A of the first combine 1A operates the automatic travel stop switch 51A to stop the automatic travel of the first combine 1A.

As shown in FIG. 25, the controller 20B of the second combine 1B operates the waiting switch 54B to move the second combine 1B from its travel position on the set automatic travel route 32B to a waiting place 34 set in advance on the outer periphery of the set automatic travel route 32A in the field 30, and then operates the automatic travel stop switch 51B to stop the automatic travel of the second combine 1B and turn on the hazard lights, etc. This allows the second combine 1B in which a malfunction has occurred to be quickly moved to the waiting place 34 set on the outer periphery of the field 30. It is preferable that the second combine 1B that has stopped automatic travel continues to communicate with the base station 12 and the first combine 1A via the communication unit 23B.

As shown in FIG. 26, the controller 20A of the first combine 1A operates the automatic travel switch 50A to automatically travel the first combine 1A on the set automatic travel route 32A, moves the second combine 1B backward in the travel direction of the travel position where the malfunction occurred, and then operates the automatic travel stop switch 51A to stop the automatic travel of the first combine 1A. After that, the controller 20A of the first combine 1A operates the set route movement switch 55A to move the first combine 1A from the stop position on the set automatic travel route 32A to the set automatic travel route 32B, and then automatically travels to the stop position where the malfunction occurred and the second combine 1B stopped, and then operates the automatic travel stop switch 51A to stop the automatic travel of the first combine 1A.

As shown in FIG. 27, the controller 20A of the first combine harvester 1A sets a reset automatic travel route (the "first reset automatic travel route" in the claims) 35A for automatically traveling the first combine harvester 1A counterclockwise inside the rectangular set automatic travel route 32A, and then operates the automatic travel switch 50A to automatically travel the first combine harvester 1A. This allows the first combine harvester 1A to automatically travel and harvest the uncut stalks planted inside the set automatic travel route 32B along which the second combine harvester 1B was automatically traveling when the malfunction occurred.

When straw becomes clogged in the feed chain of the threshing device 5B of the second combine 1B, an ON signal from the clog sensor 42B provided on the threshing device 5B is input to the input port of the controller 20B. The ON signal from the clog sensor 42B input to the controller 20B is also transmitted to the first combine 1A via the communication unit 23B. This allows the controller 20A of the first combine 1A to determine that a malfunction has occurred in the second combine 1B and to stop the automatic running of the first combine 1A.

In addition, the fact that the second combine 1B has moved to the waiting area 34 is transmitted to the first combine 1A via the communication unit 23B. This allows the controller 20A of the first combine 1A to prevent the first combine 1A from colliding with the second combine 1B when the first combine 1A is moved from a stopping position on the set automatic travel route 32A to the set automatic travel route 32B.

As shown in Figures 28 and 29, a battery 60 that supplies electricity to the controller 20A is provided at the rear of the body frame 2A of the first combine harvester 1A, and an alternator 61 that generates AC voltage by transmitting the output rotation of the engine mounted on the front of the body frame 2A is provided at the vertical middle of the front of the engine. This allows the battery 60 to be charged by connecting the battery 60 and alternator 61 via a converter (not shown) that converts AC to DC. The second combine harvester 1B is also provided with a similar battery 60 and alternator 61.

1A First combine harvester 1B Second combine harvester 4A Harvesting device (first harvesting device)
4B Reaping device (second reaping device)
5A Threshing device (first threshing device)
5B Threshing device (second threshing device)
32A Set automatic driving route (first set automatic driving route)
32B Set automatic driving route (second set automatic driving route)
34 Waiting area 35A Reset automatic driving route (first reset automatic driving route)
35B Reset automatic driving route (second reset automatic driving route)
42A Clogging sensor (first clogging sensor)
42B Clogging sensor (second clogging sensor)
A1 Set distance A2 Minimum set distance A3 Maximum set distance WA Cutting blade width (first cutting blade width)
WB Blade width (second blade width)

Claims (8)

A method for harvesting culms planted in a field using a plurality of combine harvesters, comprising:
A first combine harvester (1A) is automatically driven along a rectangular first set automatic driving route (32A) that is set in a farm field and goes around in a counterclockwise direction;
The second combine (1B) is automatically driven along a rectangular second set automatic driving route (32B) that is set in the field and goes around in a counterclockwise direction;
setting the second set automatic travel route (32B) between the first set automatic travel route (32A) and a next first set automatic travel route (32A);
The first combine (1A) is automatically traveled ahead of the second combine (1B) in a traveling direction;
When the first combine (1A) and the second combine (1B) are traveling automatically, the separation distance between the first combine (1A) and the second combine (1B) in the traveling direction is maintained at a preset distance (A1) ;
When the first combine harvester (1A) is turning around a corner of the first set automatic travel route (32A), the automatic travel of the second combine harvester (1B) is stopped, and when the first combine harvester (1A) subsequently resumes the automatic travel, the automatic travel of the second combine harvester (1B) is resumed;
A method for harvesting stalks, characterized in that when the second combine (1B) is turning around a corner of the second set automatic travel path (32B), maintaining the separation distance between the first combine (1A) and the second combine (1B) at a set distance (A1) is stopped, and the first combine (1A) continues to travel automatically . 2. The method for harvesting stumps according to claim 1, wherein, when the first combine (1A) and the second combine (1B) are running automatically, if the distance between the first combine (1A) and the second combine (1B) becomes less than a predetermined minimum set distance (A2) that is shorter than the set distance (A1), the automatic running of the second combine (1B) is stopped, and thereafter, if the distance between the first combine (1A) and the second combine (1B) becomes equal to or greater than the set distance (A1), the automatic running of the second combine (1B) is resumed. 2. A method for harvesting stumps as described in claim 1, wherein, when the first combine (1A) and the second combine (1B) are running automatically, if the distance between the first combine (1A) and the second combine (1B) exceeds a preset maximum set distance (A3) that is longer than the set distance (A1), the automatic running of the first combine (1A) is stopped, and thereafter, if the distance between the first combine (1A) and the second combine (1B) becomes equal to or less than the set distance (A1), the automatic running of the first combine (1A) is resumed. 4. The method for harvesting grain stalks according to claim 1, wherein, when the first combine (1A) and the second combine (1B) are automatically traveling, if a malfunction occurs in the first combine (1A), the automatic traveling of the second combine (1B) is stopped, and then the first combine (1A) is moved from a first set automatic traveling route (32A) to a waiting area (34) set outside the first set automatic traveling route (32A), and then the second combine (1B) is moved from the second set automatic traveling route (32B) to the first set automatic traveling route (32A), and then a new second reset automatic traveling route (35B) for automatically traveling the second combine (1B) is set, and then the second combine (1B) is automatically traveled along the second reset automatic traveling route ( 35B). 5. The method for harvesting stumps according to claim 4 , wherein a first jamming sensor (42A) for detecting jamming of stumps is attached to the first threshing device (5A) of the first combine (1A). 5. The method for harvesting stalks according to claim 4, wherein, when the first combine (1A) and the second combine (1B) are automatically traveling, if a malfunction occurs in the second combine (1B), the automatic traveling of the first combine (1A) is stopped, and then the second combine (1B) is moved from a second set automatic traveling route (32B) to a waiting area (34) set outside the first set automatic traveling route (32A), and then the automatic traveling of the first combine (1A) is resumed to cause the second combine (1B) to automatically travel behind the area where the malfunction has occurred, and then the first combine (1A) is moved from the first set automatic traveling route (32A) to the second set automatic traveling route (32B), and then a new first reset automatic traveling route (35A) for automatically traveling the first combine (1A) is set, and then the first combine (1A) is automatically traveled along the first reset automatic traveling route (35A). 7. The method for harvesting stumps according to claim 6 , wherein a second jamming sensor (42B) for detecting jamming of stumps is attached to the second threshing device (5B) of the second combine (1B). The method for harvesting culms according to claim 1, wherein the first blade width (WA) in the left-right direction of the first harvester (4A) of the first combine (1A) and the second blade width (WB) in the left-right direction of the second harvester (4B) of the second combine (1B) are formed to be the same width.

Images