JP2000342013A - Reaper harvester - Google Patents

Abstract

(57) [Summary] [Problem] A mowing that can efficiently detect the distribution state of planted stem culm in the front side of the fuselage with a rational configuration and perform running for mowing and harvesting as properly as possible. Provide harvester. SOLUTION: The distance detection sensors Sa1 and Sa2 are provided so that the distance detection direction is directed forward and downward, and the cut areas of the planted stem and culm on the front side of the fuselage are detected by the distance detection sensors Sa1 and Sa2. Distribution state detecting means BK for detecting a boundary with the cutting area is provided, and the travel is controlled to travel along the boundary based on the detection information of the distribution state detecting means BK.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a harvesting and harvesting machine which is configured to harvest and harvest planted stem culms while traveling.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned reaper, as disclosed in, for example, JP-A-1-206906,
An ultrasonic distance sensor for detecting the distance to the planted stem / culm on the front side of the fuselage; scanning means for horizontally scanning the distance sensor around a vertical axis; detection information of the distance sensor and a scanning angle of the scanning means Control means for controlling travel for cutting and harvesting based on the information, and the outer peripheral portion of the uncut area of the planted stem culm based on the detection information of the distance sensor and the scanning angle information of the scanning means. And an approximate straight line is obtained. Based on the result of the detection of the approximate straight line, a corner of the uncut area corresponding to the start end of the next work process is determined, and the aircraft is driven toward the corner, or the approximate straight line is obtained. Based on the detected information, the traveling is controlled such that the orientation of the aircraft and the position in the width direction with respect to the approximate straight line are maintained within a set range, and the reaping traveling in the work process, that is, the outer periphery of the uncut area Part (already cut Had those configured to perform traveling cutting along the boundary) between the band.

[0003]

In the above-described conventional configuration, for example, when the mowing travel is performed along the outer peripheral portion of the uncut area (boundary with the already-cut area) based on the above-described detection information, In this configuration, the travel is controlled so that the orientation of the aircraft and the position in the width direction with respect to the approximate straight line are maintained within a set range, and the distance detection direction of the distance sensor is horizontally scanned around the vertical axis. Had the following disadvantages: In other words, it is necessary to perform a complicated calculation for obtaining an approximate straight line by measuring a lot of distance information by the distance sensor for each set unit time, and furthermore, since the distance sensor is scanned in the horizontal direction, the detection signal is transmitted. Scanning is performed over a predetermined angle from the time to the reception of the reflected wave, and an error occurs between the scanning angle at the time of transmitting the detection signal and the scanning angle at the time of receiving the reflected wave. Also requires complicated processing such as sequentially correcting the distance according to the distance detection data, which is disadvantageous in that the computational processing is cumbersome and the processing takes a long time, and the running for harvesting and harvesting may not be properly controlled. is there.

The present invention has been made in view of such a point, and an object of the present invention is to efficiently detect a distribution state of planted stem culms on the front side of the fuselage and to perform running for harvesting and harvesting as efficiently as possible. Another object of the present invention is to provide a harvester and a harvester that can perform the harvesting.

[0005]

According to the first aspect of the present invention, there is provided a distance detecting sensor for detecting a distance in a forward direction and a downward direction in the body, and the distance detecting sensor uses the distance detecting sensor to detect a forward direction in the body. Distribution state detecting means for detecting the distribution state of the planted stem culm in the body width direction is provided, and traveling control means for controlling traveling for harvesting based on detection information of the distribution state detecting means is provided. ing.

[0006] The distribution state detecting means detects the distance in a state where the distance detection sensor provided in the distribution direction sensor is directed forward and downward of the fuselage, and the lateral width of the planted stem and stem on the forward side of the fuselage. The distribution state in the direction will be detected. Then, the travel control means controls the travel for cutting and harvesting based on the detection information (distribution state) of the distribution state detection means thus detected.

Therefore, since the distance detection information from the distance detection sensor is always distance information along the longitudinal direction of the machine, the distance detection information is, for example, compared to a conventional configuration in which the distance detection direction is scanned in the horizontal direction. Efficient distribution of planted stems in the lateral direction of the machine without the need for complicated processing such as correcting information according to changes in the horizontal scanning direction or finding approximate straight lines corresponding to changes in the scanning direction. Can be detected, and a reaper / harvester can be provided which can perform running for reaper harvesting as properly as possible.

[0008] According to the characteristic configuration of the second aspect, the distribution state detecting means is configured to detect, as the distribution state, a boundary between a cut area and an uncut area of the planted stem. The travel control means is configured to control travel so as to travel along the boundary.

The boundary between the cut area and the uncut area of the planted stem is detected by the distribution state detecting means based on the distance detection information from the distance detection sensor, and travel is controlled to travel along the boundary. Will be. Therefore, while efficiently detecting the boundary between the already-cut area and the un-cut area of the planted stem, the running for cutting and harvesting performed along the boundary as much as possible can be performed appropriately. .

[0010] According to the characteristic configuration of the third aspect, the travel control means moves to the side approaching the uncut area as it reaches the end of one work process along the outer circumference of the uncut area. Forward turn, and then start reverse turn toward a point before the next work intersecting with the one work, and during the backward turn, the distribution state detecting means Along with detecting the start end in the work process, the reverse turning travel is ended, and subsequently, the vehicle is caused to travel forward toward the start end in the next work process based on the detection information of the distribution state detecting means. It is configured to execute a turning traveling control for switching a stroke.

That is, as it reaches the end of the one work stroke, it is made to make a forward turning movement toward the side approaching the uncut area, and then, a portion before the next work stroke crossing the work stroke. In this case, the start end in the next work process is detected based on the distribution state detection information detected by the distribution state detection means during the reverse turn traveling. Then, the reverse turning travel ends. Subsequently, based on the detection information of the distribution state detected by the distribution state detecting means, the vehicle travels forward toward the start end in the next work stroke.

Therefore, as described above, when turning from the end of one work process to the start of the next work process that intersects the work process, the distribution of planted stems can be efficiently detected. However, it is possible to appropriately perform the end of the reverse turning travel and the subsequent travel toward the start end of the next work process.

According to a fourth aspect of the present invention, there is provided an inclination angle detecting means for detecting an aircraft longitudinal inclination angle with respect to a horizontal reference posture, and the distribution state detecting means includes a detection information of the inclination angle detecting means. Based on the correction value, the detection value of the distance detection sensor is corrected, and the distribution state is detected from the correction value.

The distance detecting sensor detects a distance whose direction of distance detection is forward and downward of the fuselage. When the detecting operation is being performed, for example, the inclination of the running surface is detected. If the inclination angle of the fuselage changes due to irregularities or irregularities, the distance detection direction will also change accordingly, so if the distribution state is detected using the detected distance information as it is, the actual distribution There is a possibility that the information may be detected as incorrect information different from the state. Therefore, the inclination angle detecting means detects the inclination angle of the fuselage with respect to the horizontal reference attitude, corrects the detection value of the distance detection sensor based on the detection information, and detects the distribution state from the correction value.

As a result, even if the attitude of the machine body is inclined forward and backward as a result of the reaping operation, the distance can be detected as far forward and downward as possible with high accuracy. The state can be detected properly.

According to a fifth aspect of the present invention, the distribution state detecting means includes a plurality of the distance detection sensors juxtaposed in the lateral width direction of the fuselage, and a detection value of each distance detection sensor is provided. Is configured to detect the distribution state based on the difference between.

A plurality of distance detection sensors juxtaposed along the lateral width direction of the fuselage detect the distances in the forward and downward directions of the distance detection direction of the fuselage, respectively, and determine the difference between the detection values of the respective distance detection sensors. The distribution state is detected based on. For example, in the configuration for detecting the boundary between the cut area and the uncut area of the planted stem and culm as the distribution state, the cut area of the planted stem and culm among multiple distance detection sensors is to be detected. Means that the detection distance is short due to the presence of the planted stem culm, and the target of detection of the cut area of the planted stem culm measures the distance to the ground without the planted stem culm. The detection distance becomes longer. The distribution state can be detected based on the difference between the distance detection values.

With this configuration, there is no need to provide a complicated mechanism such as moving the distance detection sensor, and the configuration for installing these components is simple. Since the distribution state is detected based on the difference between the detected distance values, arithmetic processing for detecting the distribution state based on the distance detection information can be simplified, and the configuration is simplified. There is an advantage that can be made.

According to a sixth aspect of the present invention, the distribution state detecting means includes the distance detection sensor operable to reciprocate in the lateral width direction of the fuselage, and determines the movement position of the distance detection sensor. And a position detecting means for detecting the distribution state based on information detected by the distance detecting sensor and information detected by the position detecting means.

That is, as the distance detection sensor is reciprocated along the width of the fuselage with the distance detection direction directed forward and downward, the distance is detected by the distance detection sensor. While being detected, the movement position of the distance detection sensor is detected by the position detection means, and based on the detection information of the distance detection sensor and the detection information of the position detection means, in the body width direction of the planted stem culm on the front side of the body. Is detected.

As the distribution state, for example, in the case of detecting the boundary between the cut area and the uncut area of the planted stem, the location where the detection information (detection distance) by the distance detection sensor greatly changes is detected. Since it corresponds to the boundary, the moving position of the distance detection sensor detected by the position detection means at that time corresponds to the boundary, and a plurality of distance detection sensors are juxtaposed in a fixed position and each distance is detected. The boundary can be detected more accurately than a configuration in which the boundary (distribution state) is detected based on the difference between the detection values of the detection sensors.

As a result, compared to a configuration in which a plurality of distance detection sensors are juxtaposed along the lateral width of the machine and the distribution state is detected based on the difference between the detection values of the distance detection sensors, the distribution state is more accurate. Can be detected, and a reaper / harvester capable of more appropriately running for reaper harvesting can be provided.

According to the characteristic configuration of the present invention, the distance detection sensor transmits an ultrasonic wave in the distance detection direction and then receives a reflected wave reflected by the detection target. The ultrasonic sensor detects the distance to the detection target based on the time.

As the distance detecting sensor, for example, an optical distance detecting sensor may be used. However, in the case of such an optical distance detecting sensor, dust generated as the vehicle travels becomes less sensitive to the detection light. In contrast to the possibility that the sensor may not be able to detect the distance properly due to the attachment to the light emitting and receiving unit, it is possible to appropriately avoid such problems by using an ultrasonic sensor, and furthermore, the optical distance detection sensor is used. The distance detection sensor can be configured as a relatively inexpensive device.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A combine as an example of a reaper according to the present invention will be described below with reference to the drawings. As shown in FIG. 1, the combine includes a pair of left and right crawler traveling devices 1 </ b> R and 1 </ b> L, a threshing device 2, a front side of a traveling body 9 including a control unit 4, and the like. A cutting section 3 for cutting the culm T is provided so as to be able to move up and down by a hydraulic cylinder 23 for cutting and raising and lowering.

The cutting unit 3 includes a raising device 5 for causing the stalks to fall down, a cutting blade 6 for cutting the root of the raised planted stalks, and a rear portion of the body while changing the stalks to the sideways posture. And a transport device 7 for transporting the material to a threshing feed chain 8 on the side. Raising device 5
An ultrasonic cutting height sensor S5 for detecting the height of the cutting unit 3 with respect to the ground is provided at a lower rear portion of the cutting device, and is turned on when the root of the cutting stem is brought into contact with the transfer start end of the transfer device 7. A stock sensor S0 is provided which is activated and is turned off when the stock of the cutting stem is not in contact. That is, based on the detection information of the stock sensor S0, it is determined whether or not the harvesting operation is being performed.

Next, a power transmission system of the combine and a control configuration will be described with reference to FIG. The power of the engine E is transmitted to the hydraulic continuously variable transmission 10, and the output of the transmission 10 after shifting is transmitted to the crawler traveling devices 1 </ b> R and 1 </ b> L via the transmission case 11. The transmission case 11 includes a forward / reverse switching mechanism (not shown) for switching the output of the transmission 10 after shifting to a forward or reverse state, and separately outputs the output after shifting to the left and right crawler traveling devices 1L and 1R. A pair of left and right steering clutch brakes 17L and 17R are provided for intermittently transmitting the information and for individually braking each of the crawler traveling devices 1L and 1R. Then, when the left steering clutch brake 17L is turned or braked, the aircraft turns left, and when the right steering clutch brake 17R is turned or braked, the aircraft turns right.

The continuously variable transmission 10 is gear-changed by an electric motor 13 for gear-shifting operation and is interlocked with a gear-shift lever 12 provided on the control unit 4. Operation of electric motor 1
An electric motor 13 is linked via a friction type transmission mechanism 14 in a linking path between the shift lever 12 and the transmission 10 in order to give priority to the shift operation by the shift gear 3. Also, an electromagnetic valve 25 for controlling the supply of pressure oil to the mowing elevating cylinder 23 and operating the mowing unit 3 up and down.
And the left and right steering clutch brakes 17L, 17R.
And a steering solenoid valve 19 for controlling the supply of pressure oil to the clutch to perform on / off and braking operations of each clutch.

The engine E, the threshing device 2 and the reaper 3
Are interlocked and connected via a belt tension type threshing clutch 33 and a reaping clutch 34, respectively. And
A threshing clutch lever 32 and a reaping clutch lever 31 for manually turning on and off the threshing clutch 33 and the reaping clutch 34, respectively, are provided in the control section 4, and a threshing switch SW2 and a reaping switch SW1 that are turned on in accordance with the on-off operation thereof are provided. Is provided. A rotation speed detection sensor S1 for detecting the rotation speed of the engine E;
A rotary encoder S2 for counting the number of pulses transmitted to one input shaft and proportional to the output rotation speed of the transmission 10 and detecting the traveling distance and the vehicle speed is provided.
After the engine E is started, the output of the engine E is raised by an accelerator lever or the like (not shown) or the like, and is set to a working speed. Using the detected information such as the engine speed and the vehicle speed, the engine load is detected by the difference from the no-load speed of the engine E during the mowing operation, and the upper limit vehicle speed setting device (see FIG. (Not shown), a vehicle speed control for automatically adjusting the vehicle speed (specifically, the operation state of the electric motor 13 for shifting) so that the engine load is maintained at the set load within a range not exceeding the upper limit vehicle speed. Configuration.

As shown in FIGS. 1, 2 and 4, a distance L to a planted stem culm T located in front of the vehicle body 9 is detected at a cut side (right side of the vehicle body) at the front side of the traveling vehicle body 9. A pair of ultrasonic sensors S3a1 and S3a2 as distance detection sensors are provided side by side in the left-right direction with the detection direction directed forward of the body. The uncut side of the traveling body 9 (left side of the body)
A pair of ultrasonic sensors S3b and S3c for detecting a distance L to a planted stem culm T located on the lateral side of the fuselage are provided on the lateral side of the body.
Are provided at predetermined intervals in the longitudinal direction of the fuselage in a state where the detection direction is directed to the lateral side of the fuselage. Each of the ultrasonic sensors S3a1, S3a2, S3b, and S3c includes a transmitter that transmits an ultrasonic wave toward the outside of the fuselage and a receiver that receives the ultrasonic wave reflected by the detection target. In addition, the distance to the detection target (the plant stem T or the ground) is detected based on the time from transmission of the ultrasonic wave to reception of the ultrasonic wave. The ultrasonic sensors S3a1 and S3a2 located at the front of the fuselage and the ultrasonic sensor S3b located at the front of the lateral side of the fuselage are located above the planted stem culm T, and the detection direction is outside the fuselage. The ultrasonic sensor S3c is configured to measure the distance by transmitting an ultrasonic wave in a state in which the ultrasonic wave is directed toward the obliquely downward direction, and is located on the rear side of the side of the aircraft.
Is provided at a low position on the side of the fuselage.

More specifically, as shown in FIG. 11, the ultrasonic sensors S3a1 and S3a2 located at the front of the body are positioned at the right end of the area to be cut by the cutting section 3 and are arranged along the width of the body. The control cylinder 45 is provided in a fixed state in a state where the ultrasonic transmission direction (distance detection direction) is directed forward and downward with respect to the fuselage in a state in which the ultrasonic transmission directions (distance detection directions) are directed side by side at set intervals. Each ultrasonic sensor S3a1,
The ultrasonic wave transmission direction of S3a2 is set so as to be directed in the same direction in parallel. Further, a longitudinal inclination sensor S7 is provided as inclination angle detecting means for detecting a longitudinal inclination angle of the traveling body 9 with respect to a horizontal reference plane, and the ultrasonic sensors S3
The detection values (distance information) of a1 and S3a2 are corrected based on the detection information of the front-rear inclination sensor S7. For example, as shown in FIG. 11, when the body is in a horizontal posture, the ultrasonic sensors S3a1 and S3a2 can perform distance detection in an appropriate state, but as shown in FIG.
An error occurs in the distance detection value when the front body is tilted back and forth from a horizontal posture, such as when the front part of the body is lifted due to unevenness on the ground. It is. The front-rear inclination sensor S7 stores a liquid having a relatively high viscosity such as silicon oil in a container, and electrically detects a relative inclination angle between the liquid surface and the container, for example, in accordance with the body inclination. A configuration is used.

As shown in FIG. 10, the ultrasonic sensor S3b located on the front side of the lateral side of the fuselage extends from the fuselage fixing portion so as to be vertically swingable around a horizontal axis X along the longitudinal direction of the fuselage. It is supported by a stay 46 provided, and is configured so that the transmission direction of the ultrasonic wave can be changed and adjusted along the vertical direction by an angle adjusting mechanism 47. Although not described in detail, the angle adjustment mechanism 47 includes an electric motor and a gear-type operation mechanism. As described above, the ultrasonic sensor S3b is configured to be capable of changing and adjusting the relative angle along the vertical direction between the detection direction and the traveling body. The actual vertical swing adjustment position of the ultrasonic sensor S3b is determined by the angle detection sensor S3.
6 is detected. Further, a left-right tilt angle sensor S8 for detecting a right-left tilt angle of the traveling body 9 with respect to a horizontal reference plane is provided, and an ultrasonic wave transmission direction (distance detection direction) by the ultrasonic sensor S3b regardless of the left-right inclination of the traveling body 9 is provided. The angle adjusting mechanism 47 is controlled so that the angle is always in a fixed direction.

As shown in FIG. 2, a control device 16 using a microcomputer is provided.
Stock sensor S0, rotation speed detection sensor S1, rotary encoder S2, cutting height sensor S5, each ultrasonic sensor S3a
1, S3a2, S3b, S3c, an angle detection sensor S6,
Each detection information of the front-rear inclination sensor S7, the left-right inclination sensor S8, the threshing switch SW2, the reaper switch SW1, and the like is input. On the other hand, the control device 16 outputs respective drive signals to the electric motor 13 for the speed change operation, the angle adjusting mechanism 47, the solenoid valve 25 for cutting and raising and lowering, and the solenoid valve 19 for steering.

As shown in FIG. 3, the control device 16
With respect to the rectangular uncut area M, each work process along each side M1 to M4 on the outer periphery of the uncut area M is sequentially cut in a counterclockwise direction in a so-called rotary cut form, and is moved to the end position of each work process. When the vehicle reaches the position, the vehicle is provided with traveling control means 100 for controlling traveling so as to move to the next adjacent work step. Specifically, the traveling control means 100 drives the electromagnetic valve 19 for steering to operate the left and right crawler traveling device 1.
It is configured to control the operation of R and 1L.

Further, when cutting and running each work process, the control device 16 uses the detection information of the ultrasonic sensors S3a1 and S3a2 located at the front part of the body to detect the planted stem culm in the body width direction on the front side of the body. As the distribution state, it is configured to determine the boundary between the already-cut area and the un-cut area of the planted stem, and the travel control means 100 is configured to perform travel control so as to travel along the boundary. ing. At this time, a time when the traveling body is in the front-rear horizontal reference posture is set as a reference state, and the distance detection values of the ultrasonic sensors S3a1 and S3a2 are corrected based on detection information of the front-rear inclination sensor S7, Based on the distance detection values of the ultrasonic sensors S3a1 and S3a2 after the correction, a boundary between the already-cut area and the uncut area is determined as the distribution state.

Accordingly, the control device 16 is provided with a discriminating means 101 for discriminating the distribution state, and the discrimination means 101 and the ultrasonic sensors S3a1 and S3a2 constitute a distribution state detecting means BK.

To explain the boundary detection, as described above, the ultrasonic sensors S3a1 and S3a2 are provided in a position fixed state with the ultrasonic wave transmission direction (distance detection direction) directed forward and downward. Therefore, if the aircraft is in the reference horizontal attitude, the detection distance corresponding to the cut area (state where ultrasonic waves are reflected on the ground) has a predetermined value (see FIG. 11). The distance will change (see FIG. 12). Therefore, the body inclination angle is detected by the front-rear inclination angle sensor S7, and the detection values of the ultrasonic sensors S3a1 and S3a2 are corrected so as to correspond to the values when the body is in the reference horizontal posture. Can be detected as an appropriate detection distance corresponding to the already cut area. Then, a detection distance corresponding to a cut area (a state in which ultrasonic waves are reflected on the ground) when the aircraft is in the reference horizontal posture is set in advance as a reference value, and the detection distance of each of the ultrasonic sensors S3a1 and S3a2 is set. The detected value is compared with the reference value. If the difference from the reference value is large, it is determined that the planted stem / culm (uncut area) has been detected. If the difference is small, it is determined that the cut area has been detected. Will do. For example, the right ultrasonic sensor S3a2 detects the cut area,
If the left ultrasonic sensor S3a1 detects the uncut area, the boundary between the uncut area and the already-cut area is located therebetween, and the boundary is detected. State. That is, as a result, each of the ultrasonic sensors S
If the difference between the detection values 3a1 and S3a2 is large, the boundary is detected, and if the difference is small, the boundary is not detected.

When the traveling control means 100 performs the reaping traveling in each work stroke, the ultrasonic sensor S
Based on the detection information of 3a1 and S3a2, the operation of the left and right crawler traveling devices 1R and 1L is controlled by driving the solenoid valve 19 for steering so as to maintain the state of detecting the boundary. is there.

Further, as the travel control means 100 reaches the end of one work stroke along the outer periphery of the uncut area, the travel control means 100 makes the vehicle turn forward toward the side approaching the uncut area M. Then, the vehicle starts reverse turning traveling toward a point before the next work process intersecting with the one work process, and during the backward turning travel, the distribution state detecting means BK detects the start end in the next work process. With the detection, the reverse turning travel is terminated, and subsequently, based on the detection information of the distribution state detecting means BK, the turning travel for switching the work process is performed to advance toward the start end in the next work process. It is configured to execute control.

The following describes the end of the reverse turning travel and the forward travel toward the starting end in the next work process. During the reverse turning travel, both the ultrasonic sensors S3a1 and S3a2 located at the front of the fuselage are used. By switching from the state in which the cut area is detected to the state in which only the left ultrasonic sensor S3a1 detects the uncut area, when the start end portion in the next work process is detected, the vehicle turns reversely at that time. Terminate. Then, the left ultrasonic sensor S3a1 detects the uncut area, and the right ultrasonic sensor S3
The steering control is executed by controlling the operations of the left and right crawler traveling devices 1R and 1L so that a2 maintains the boundary detection state of detecting the already cut area. Then, when the stem reaches the start end in the next work process and the stem / culm acts on the stock sensor S0 to turn on the stock sensor S0, thereafter, the left and right crawler traveling devices 1R, 1R, so as to maintain the boundary detection state. 1L
And the steering control is continuously executed, and the execution of the cutting height control and the vehicle speed control is started. The cutting height sensor and the vehicle speed control are started until the machine reaches the end of the work stroke and the stock sensor S0 is turned off. Execute each control.

The control unit 16 controls the ultrasonic sensor S
3b, detection distance information, and an ultrasonic transmission direction (distance detection direction) by the ultrasonic sensor S3b.
Is configured to determine the position of the traveling body with respect to the outer periphery of the uncut stem group based on the relative angle information along the vertical direction between the crawler and the body. The operation of the devices 1R and 1L is controlled.

Hereinafter, the traveling control by the control device 16 will be specifically described with reference to the flowcharts of FIGS. As shown in FIG. 6, when traveling starts from the start end of one work stroke along the outer periphery of the uncut area M, steering control based on detection information of the ultrasonic sensors S3a1 and S3a2, detection of the cutting height sensor S5 Reaper 3 based on information
The cutting source sensor S0 turns off the cutting height control that maintains the ground height of the vehicle at an appropriate height, and the vehicle speed control that controls the vehicle speed so that the engine load is maintained at the target load within a range that does not exceed the upper limit vehicle speed. The process is executed until it is determined that the end position of the work process has been reached. When it is determined that the end position of the work process has been reached, it is determined whether or not the mowing operation on the uncut area M has been completed. Execute turning control. On the other hand, if the work is completed, the traveling is stopped and the control is ended.

In the steering control, the control is executed as shown in FIG. That is, the distance detection operation is executed by the ultrasonic sensors S3a1 and S3a2 located at the front of the fuselage, and the detection value of the front-back tilt angle sensor S7 is read.
If, for example, the vehicle speed rapidly changes (increases or decelerates) based on the detection information of the rotary encoder S2, the front-rear inclination angle sensor S7 detects the vehicle speed from the time when the vehicle speed changes until the set time elapses. The reading error is reduced by not reading the value. That is, the front-rear tilt angle sensor S7 may erroneously detect the above-described silicone oil as an excessively higher tilt angle than the actual aircraft tilt state because the silicon oil changes excessively due to the acceleration immediately after a sudden change in the vehicle speed. Such a detection error is minimized. Then, based on the detection value of the front-back tilt angle sensor S7, the distance detection values of the respective ultrasonic sensors S3a1 and S3a2 are corrected, and the left ultrasonic sensor S3a1 is corrected.
Detects the uncut area and the right ultrasonic sensor S3a
If 2 is the boundary detection state for detecting the already cut area, the aircraft is in a proper mowing position, and the aircraft is caused to travel straight. If the boundary is not in the boundary detection state, it is determined based on the detection information of each of the ultrasonic sensors S3a1 and S3a2 whether the body is displaced to the right or left with respect to the boundary. That is, the left and right ultrasonic sensors S3a1,
If both S3a2 have detected the uncut area, it is determined that the aircraft is displaced to the left with respect to the appropriate cutting work position, and the left and right ultrasonic sensors S3a1, S3
If both 3a2 have already detected the cut area, it is determined that the machine is displaced to the right with respect to the appropriate cutting work position. If it is determined that the aircraft is displaced to the left, the aircraft steers to the right by the set amount, and if it is determined that the aircraft is displaced to the right, the aircraft is steered to the left by the set amount The right and left crawler traveling devices 1R, 1
It controls the operation of L. By repeatedly performing such control, the traveling of the aircraft is controlled so as to travel along the boundary for cutting and harvesting so as to maintain the boundary detection state.

The turning control is executed as shown in FIGS. In other words, the mowing unit 3 is raised, and at the same time, as shown in FIG. Here, the fact that the traveling body 9 has reached the turning traveling start position is, as shown in FIG. 5, a distance detection signal b of the ultrasonic sensor S3b on the left front side of the body.
Is first changed from a small distance to a large distance, then the aircraft further travels forward, and the determination is made based on the fact that the distance detection signal c of the ultrasonic sensor S3c on the left rear side of the aircraft has changed from a small distance to a large distance.

When the vehicle reaches the turning start position, FIG.
As shown in the figure, the left crawler traveling device 1L is operated by a brake to cause the traveling body 9 to turn left so that the front side of the body approaches the uncut area M, and the left front side of the body during the turning traveling. Based on the detection distance information of the ultrasonic sensor S3b, the position of the traveling machine body 9 with respect to the uncut area M (for example, an angle θ with respect to the next side) is determined, and the position is determined as a set position (for example, the angle θ). (At 45 °), the forward left turning travel is stopped, and the brake operation of the left crawler travel device 1L is released.

When the left turning travel is executed, the angle adjusting mechanism 47 is controlled so that the ultrasonic wave transmitting direction (distance detecting direction) of the ultrasonic sensor S3b always faces an appropriate direction regardless of the right and left inclination of the traveling body. The angle correction control for controlling the operation is executed. That is, when the traveling body 9 is in the horizontal reference posture, the ultrasonic sensor S3b detects the presence of the outer periphery of the uncut area M at the turning position where the angle θ corresponds to the set angle (for example, 45 degrees). Orientation (Fig. 10
(See (a) and (b)) are set in advance as reference postures in the angle adjusting mechanism 47. Then, the operation of the angle adjusting mechanism 47 is controlled based on the detection information of the tilt angle sensor S7 so that the detection direction is maintained even if the body is tilted left and right (see FIG. 10C).

Then, while the ultrasonic sensor S3b performs distance detection in the predetermined detection direction, the vehicle travels while turning,
When the detection distance of the ultrasonic sensor S3b becomes shorter than the set value and the presence of the outer periphery of the uncut area M is detected (FIG. 10)
(See (b).) Then, the left turning travel is stopped.

Next, as shown in FIG. 4C, the vehicle is caused to travel backward from the stop position of the turning traveling to the turning traveling start position in the straight traveling state. Here, the fact that the traveling aircraft 9 has reached the turning traveling start position is determined by the fact that the distance detection signal b of the ultrasonic sensor S3b on the left front side of the aircraft has exceeded the minimum value and has started increasing as shown in FIG. Is done.

At this time, as shown in FIG. 10 (d), the reference posture of the angle adjusting mechanism 47 is changed to be lower (angle α2) than when the left turn is performed (angle α1). By executing the correction control, the distance to the outer periphery of the uncut area M can be effectively detected even when the traveling body passes near the outer periphery (corner) of the uncut area M.

When the vehicle reaches the turning start position, FIG.
(D), the right steering clutch brake 1
By turning off 7R, the traveling body 9 is caused to make a reverse left turn while traveling slowly. Then, the traveling machine body 9 is positioned in front of the next adjacent work stroke, and the reverse left turning travel is stopped as the start end in the next work stroke is detected. Here, the detection of the start end in the next work process is performed by a pair of left and right ultrasonic sensors S3a1, S3 on the front side of the fuselage.
The determination is made based on the fact that the distance detection signal a of the ultrasonic sensor S3a1 located on the left side of 3a2 has changed from a state where the distance is large to a state where the planted stem culm T on the front side of the fuselage is detected. That is, from the state where both the ultrasonic sensors S3a1 and S3a2 detect the cut area, the ultrasonic sensor S3a on the left side
Only 1 is determined by switching to a state in which the uncut area is detected.

Next, the vehicle is caused to travel straight forward from the position immediately before the next work stroke toward the start end of the next work stroke. At this time, the steering control as described above is executed.
In other words, the state where the distance detection signal a of the ultrasonic sensor S3a1 detects the planted stem culm T on the front side of the body (the state where the uncut area is detected) is maintained, and the ultrasonic sensor S3a2 on the other side is maintained.
In which the distance detection signal a detects a large distance (a state in which the cut area is detected), that is, the start of the next work stroke while controlling the steering electromagnetic valve 19 so as to maintain the boundary detection state. The vehicle travels straight ahead toward the section. And the reaper 3
Is started, and the harvesting work in the next work process is started. As the harvesting operation is started and the stock sensor S0 is turned on, the state shifts to a state in which the cutting height control and the vehicle speed control are executed, and the steering control is continuously executed. Thereafter, the above-described control is repeated.

[Another Embodiment] (1) In the above embodiment,
Two ultrasonic sensors (distance detection sensors) S3a1, S3
The configuration is such that a2 is arranged side by side at intervals in the body width direction, but three or more ultrasonic sensors (distance detection sensors) may be arranged side by side at intervals in the body width direction. It may be configured as follows. As shown in FIG. 13, one ultrasonic sensor (distance detection sensor) S3a0 whose distance detection direction is directed forward and downward is provided slidably in a reciprocating manner over a set range in the lateral direction of the fuselage. A movement driving device 30 including an electric motor and a movement mechanism for reciprocatingly sliding the acoustic wave sensor S3a0, and a position detecting sensor 3 as position detecting means for detecting a sliding movement position of the ultrasonic sensor S3a0.
0a and the like are provided. Then, the ultrasonic sensor S3a0 is reciprocated by the movement driving device 30, and the distance is sequentially detected along the distance detection direction with the movement operation. Then, the ultrasonic sensor S3a0
The distribution state of the planted grain culm T on the front side is detected on the basis of the distance detection information obtained by the above and the information on the lateral movement position detected by the position detection sensor 30a. With reference to FIG. 14, a specific operation of the distance detection and the boundary determination processing by the slide type ultrasonic sensor S3a0 will be described. First, if the planted grain culm T is detected, the ultrasonic sensor S3
a0 is slid to the right, and when the planted cereal culm T is no longer detected, the movement is stopped. Conversely, if the planted cereal culm T is not detected, the ultrasonic sensor S3a0 is slid to the left. When the planted grain culm T is detected, the movement is stopped, and the slide position at which the movement is stopped is stored. When the stored position data reaches a predetermined number, for example, a slide position obtained by averaging the data is determined as a boundary position between the uncut area M and the already-cut area. Then, as shown in FIGS. 13 (a) to 13 (d), the steering is controlled so that the mowing operation can be appropriately performed along the boundary of the uncut stem group M.

As the distance detection and the boundary discrimination processing by the slide type ultrasonic sensor (distance sensor), the reciprocating movement without stopping is performed instead of the structure in which the movement is stopped when the stem / culm detection state changes as described above. For example, as shown in FIG. 15, the distance detection value greatly changes by detecting the distance detection value of the distance sensor and the detection value of the position detection sensor corresponding to the distance detection value as shown in FIG. The boundary position between the uncut area M and the already-cut area may be determined based on the detection value of the position detection sensor at that time.

(2) In the above embodiment, the boundary between the already-cut area and the un-cut area is detected as the distribution state of the planted stems and culms on the front side of the fuselage in the lateral direction of the fuselage. Instead of or in addition to the above configuration, for example, when the ultrasonic sensor (distance sensor) detects an uncut area based on the detection information, Alternatively, the degree of lodging of the planted stem / culm may be determined as the distribution state of the planted stem / culm. For example, when the degree of lodging is large, the vehicle speed is automatically decelerated by a set amount, or the control content in the vehicle speed control is changed. You may make it control.

(3) In the above embodiment, the ultrasonic wave transmission direction (distance detection direction) of the ultrasonic sensor (distance sensor) is
Although the position is fixed forward and downward, the distance detection value is corrected based on the detection information of the forward / backward tilt angle of the aircraft, but instead of such a configuration, the ultrasonic wave transmission direction (distance detection) is used. Direction) while scanning in the vertical direction at a set cycle while maintaining the state toward the front side and the downward side of the aircraft, the ultrasonic sensor sequentially moves with the vertical movement,
A configuration may be adopted in which the distance detection operation is repeated and the distribution state is determined using an average value, a minimum value, or the like of the plurality of detection values.

(4) In the above-mentioned embodiment, the ultrasonic sensors S3a1, S3a1,
Based on the detection information in S3a2, the boundary between the cut and uncut areas of the planted stem / culm is determined, and the running is controlled to run along the boundary. Instead, the following configuration may be used.

That is, the raising device 5 of the reaper 3
Is provided with a pair of left and right detection bars that contact the left and right planted stems introduced into the mowing part 3 as the vehicle travels and swing to the rear of the body. A direction sensor for detecting the position of the planted stem in the lateral direction of the machine based on the swinging angle to the rear side is provided, and in each of the work steps, along a planting line planted by a rice transplanter. In the form of the mowing operation in which the cutting operation is performed, the left and right crawler traveling devices 1 are controlled based on the detection information of the direction sensor so that the position of the planted stem can be maintained at the set position in the lateral direction of the body.
R and 1L are controlled to perform steering control, and in a form of a cutting operation in a direction orthogonal to the planting streak, that is, a so-called side cutting operation, the ultrasonic sensors S3a1 and S3a2 in the above embodiment are used. The steering control based on the detection information may be executed.

(5) In the above-described embodiment, the stalks M run along each side of the rectangular uncut stem group M, and when they reach the end positions of the sides, they run forward and backward while turning 90 degrees to be adjacent to each other. Although the mowing operation is performed to the starting end position of the side to be cut, the mowing operation may be performed in other running modes. Specifically, for example, when cutting and running along one side of the rectangular uncut stem culm M is completed, the head is turned around the headland while changing the orientation by 180 degrees, and the uncut stem and culm group M is turned. The mowing operation can be performed in a reciprocating traveling mode in which the vehicle travels in the opposite direction to M. In the above-mentioned cutting operation, the cutting unit 3 is lifted up and turned around as the cutting operation on one side of the uncut stem group M is completed, and is detected by the distance detecting means S3a at the next operation start position. As the distance to the uncut shoot culm group M falls within the set distance, the cutting unit 3 can be lowered.

(6) In the above embodiment, the traveling machine 9 is provided with an ultrasonic distance detecting means as the distance detecting means for detecting the distance to the outer periphery of the uncut area M. Alternatively, an optical distance detecting unit that transmits and receives the detection light to the plant stem T may be used.

(7) In the above embodiment, each traveling device 1
Although a pair of left and right steering clutch brakes for separately performing the braking operation of the left and right L and 1R are provided, the invention is not limited to such a configuration. The present invention may be implemented in various driving modes such as a configuration capable of changing the speed or a speed change mechanism of a planetary gear type.

(8) In the above embodiment, a combine harvester that cuts a planted stem culm as an example of a planted stem culm was illustrated as a mowing harvester. However, other than the combine, for example, rush is cut as a planted stem culm. A reamer may be used.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a block diagram of a control configuration of the combine.

FIG. 3 is a plan view showing a path of a cutting run by a combine.

FIG. 4 is a plan view showing turning traveling at the end of the working stroke of the uncut stem group.

FIG. 5 is a time chart showing a time change of a distance detection signal.

FIG. 6 is a flowchart showing a control operation.

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 rear view showing a state of distance detection.

FIG. 11 is a diagram showing a boundary detection state.

FIG. 12 is a side view showing a distance detection state when the body is tilted.

FIG. 13 is a plan view showing a steering control state according to another embodiment.

FIG. 14 is a flowchart of a control operation according to another embodiment.

FIG. 15 is a diagram showing distance detection information according to another embodiment.

[Explanation of symbols]

 30a position detecting means 100 running control means BK distribution state detecting means Sa0, Sa1, Sa2 distance detecting sensor S7 inclination angle detecting means

Claims (7)

[Claims] 1. A distance detection sensor having a distance detection direction directed forward and downward of the fuselage, and detects a distribution state of planted stems and culms in the width direction of the fuselage at the forward side of the fuselage by the distance detection sensor. A reaper / harvester including a distribution state detecting means, and a traveling control means for controlling traveling for reaping and harvesting based on detection information of the distribution state detecting means. 2. The distribution state detection means is configured to detect, as the distribution state, a boundary between a cut area and a non-cut area of the planted stem, and the traveling control means includes: 2. The harvester and harvester according to claim 1, wherein the harvester is configured to control travel to travel along. 3. The traveling control means, as it reaches the end of one work stroke along the outer periphery of the uncut area, makes the vehicle turn forward toward the side approaching the uncut area, The backward turning traveling is started toward a point before the next working stroke that intersects with the one working stroke. During the backward turning traveling, the distribution state detecting means may detect a start end in the next working stroke. At the same time, the reverse turning travel is finished, and subsequently, based on the detection information of the distribution state detecting means, the turning travel control for switching the work process for performing the forward travel toward the starting end in the next work process is executed. The reaper according to claim 1 or 2, wherein the reaper is constructed as follows. 4. An inclination angle detecting means for detecting a longitudinal inclination angle of the body with respect to a horizontal reference attitude, wherein the distribution state detecting means detects a value detected by the distance detection sensor based on information detected by the inclination angle detecting means. The reaper according to any one of claims 1 to 3, wherein the harvesting and harvesting machine is configured to correct the distribution and detect the distribution state from the correction value. 5. The distribution state detecting means includes a plurality of the distance detection sensors juxtaposed in the lateral width direction of the vehicle, and based on a difference between detection values of the respective distance detection sensors.
2. The apparatus according to claim 1, wherein the distribution state is detected.
The reaper / harvester according to any one of items 1 to 4, above. 6. The distribution state detecting means includes: the distance detecting sensor operable to reciprocate in a machine body width direction; and position detecting means for detecting a moving position of the distance detecting sensor. The reaper according to any one of claims 1 to 4, wherein the distribution state is detected based on detection information of a distance detection sensor and detection information of the position detection unit. 7. A method according to claim 1, wherein the distance detection sensor transmits an ultrasonic wave in the distance detection direction and receives a reflected wave reflected by the detection target. The harvester and harvester according to any one of claims 1 to 6, comprising an ultrasonic sensor that detects a distance of the harvester.