JP2000166312A - Working car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase the travel speed at the time of turning and traveling and improve the operating efficiency to the utmost while turning and traveling a mobile machine body in a proper state according to a road surface state, etc., of a site for turning when repetitively carrying out the turning control for turning and traveling the mobile machine body at the site of turning for each arrival of the mobile machine body traveling along the set route at the site for turning where the mobile machine body is to turn. SOLUTION: This working car is capable of carrying out the turning control for turning and traveling a mobile machine body based on information from a positional detecting means 102 capable of detecting the position of the mobile machine body when the mobile machine body reaches a site for turning, storing a control state when carrying out the turning control based on the detected positional information as turning control information in a turning information storing means 104 corresponding to the site for turning and performing the turning control for turning and traveling the mobile machine body using the turning control information stored in the turning information storing means 104 corresponding to the site for turning.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a revolving control in which the traveling body is turned at the turning point every time the traveling body traveling along the set path reaches a turning point to be turned on the set path. The present invention relates to a work vehicle provided with turning control means for performing the operation.

[0002]

2. Description of the Related Art For example, a combine for harvesting and harvesting, which is an example of the above-mentioned work vehicle, has an outer peripheral surface in order to perform a harvesting operation on a group of uncut stalk culms in a rectangular shape or the like in which rice or the like to be harvested is planted. When the harvesting travel is performed with the work process along each side of the side as a set route and the terminal position is reached, for example, the position information of the traveling aircraft obtained by processing the azimuth information of the geomagnetic azimuth sensor and the distance information of the mileage sensor is obtained. Based on the above, drive a traveling device such as a crawler type provided in the aircraft, and change the orientation of the aircraft, for example, by 90 degrees, and make the aircraft travel forward and backward while turning to face a work process along the next adjacent side, The turning control is performed such that the traveling body turns and travels to the start position of the next side.

[0003]

However, in the above-mentioned prior art, every time the aircraft turns a predetermined distance, the output data of the sensors such as the aircraft orientation and the traveling distance are processed to determine the position of the traveling aircraft. However, since the process requires a predetermined time, in order to perform the turning control using the position information obtained in the process, the traveling speed is faster than the traveling speed corresponding to the processing speed of the position detection process. There was a problem that it was not possible to make a turn at a speed, and it was difficult to improve work efficiency. Here, when the traveling body repeatedly turns, there is no significant change in the road surface state at the same turning point and the vicinity thereof. As a result, when executing the turning control, for example, a pair of left and right crawler driving devices is used. It is considered that the data indicating the control state at the time of turning such as each of the driving speed, the driving direction (forward or backward), the driving time, etc. are the same at the same turning point and the vicinity thereof.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to solve the above-mentioned disadvantages of the prior art when the traveling body is turned at or near the turning point. An object of the present invention is to improve the working efficiency as much as possible by increasing the traveling speed at the time of turning while performing turning in an appropriate state in accordance with the state of the road on which the turning is performed.

[0005]

According to a first aspect of the present invention, a turning control for turning the traveling body at the turning point every time the traveling body traveling along the setting path reaches a turning point to be turned on the set path is provided. In the case of repeatedly executing, when the traveling body reaches the turning point, a turning control for turning the traveling body based on the information of the position detecting means for detecting the position of the traveling body is executed, and the turning control of the position detecting means is performed. The control state at the time of execution of the turning control based on the information is stored as turning control information in the turning information storage means in association with the turning point, and then stored in the turning information storage means in correspondence with the turning point. Using the turning control information, it is possible to execute turning control for turning the traveling body at the turning point or at a point near the turning point.

Therefore, when turning control is executed at or near the turning point using the turning control information stored in association with the turning point as described above, the road surface condition at the point where the vehicle is to be turned. Since the vehicle does not change significantly, the vehicle travels in an appropriate state according to the road surface state, and at the same time, performs the vehicle traveling quickly using the control control information read from the storage unit without the need for the position detection processing of the traveling body. This makes it impossible to turn the aircraft at a speed higher than the traveling speed according to the processing time of the aircraft position detection processing as in the related art, and it is difficult to improve work efficiency. The traveling speed during the turning traveling can be increased to improve the working efficiency as much as possible.

According to a second aspect of the present invention, in the first aspect, the traveling body provided with a cutting work section for cutting the planted stem culm of the uncut stem culm as the machine travels, the uncut stem culm group serving as the set route. A plurality of work steps set along the outer circumference of the work and adjacent work steps intersect with each other, and when the traveling body reaches an end position of one of the plurality of work steps, the end of the stroke The turning control is executed so that the traveling body is turned toward the start end position of the next adjacent work stroke with the location as the turning point. Therefore, when the traveling machine reaches the end position of each work stroke while reaping and traveling along each work process on the outer peripheral side of the uncut stem and culm group, it turns like a field in which stems and culms are planted. Even when the road surface condition at the end portion of each work process to be turned is greatly different depending on the position in the field, the turning control information stored in association with each end portion as described above is used. Based on the turning control based on the above, the vehicle can be turned in an optimum state as much as possible, so that the preferable means of claim 1 can be obtained.

According to a third aspect of the present invention, in the second aspect, the stem and culm distance detecting means provided on the lateral side of the traveling body is used to detect a distance between the outer edge of the uncut stem and culm group located on the lateral side of the traveling body. A distance is detected, and the position detecting means obtains a body position with respect to the uncut stem group as the position of the traveling body, based on the information of the stem and culm distance detecting means, and the turning control means performs the turning control in the turning control. And turning the traveling body so that the front side approaches the uncut stems and culms, and during the turning, the turning operation is stopped as the body position with respect to the uncut stems and culms reaches the set position, and the turning is performed. From the stop position, the traveling body travels backward until it reaches a state in which the traveling body is directed to the start end position of the next work stroke. Therefore, based on the position information of the traveling body with respect to the uncut culm group located on the lateral side of the machine, while maintaining the body position with respect to the outer peripheral side of the uncut culm group in an appropriate state, Thus, a proper turning travel can be performed up to the start position of the vehicle, and the preferable means of the second aspect can be obtained.

According to a fourth aspect of the present invention, in accordance with the third aspect, based on the information of the traveling distance detecting means for detecting the traveling distance of the traveling body and the stem / culm distance detecting means, the uncut stems located on the lateral sides of the traveling body. The stem culm width along the body longitudinal direction of the culm group is detected, and the turning control means is configured such that the stem culm width along the machine longitudinal direction of the uncut stem culm group is shorter than the set width based on the stem culm width detection information. When it is detected, at the turning point where the work process corresponding to the short stem / culm width becomes the next work process after the turning travel, the turning process is performed using the storage information of the turning information storage unit. Execute turning control. Therefore, when the work path corresponding to the short stem culm width is turned so that the next work step becomes the next work step after turning, when the front side of the traveling machine is turned so as to approach the uncut stem culm group. In the case where the width of the uncut stem group located on the lateral side of the aircraft is narrow, the aircraft position cannot be determined with respect to the uncut stem group based on the stem distance detection information. Thus, the vehicle can be appropriately turned and traveled, so that the preferable means of claim 3 can be obtained.

According to a fifth aspect of the present invention, the end position of the cutting operation on the uncut stem group is determined based on the information of the stem width detecting means. Therefore, when the stem width detected during mowing traveling is smaller than, for example, a set value for work completion determination, the end position of the next work process after the currently performing mowing process is determined as the end of the work. The cutting operation can be terminated in an appropriate state by judging that the cutting position has been reached, so that the preferable means of claim 4 can be obtained.

According to claim 6, any one of claims 3 to 5 is provided.
In the paragraph, after transmitting the ultrasonic wave toward the planted stem culm located on the outer periphery of the uncut stem group, the distance based on the time until the ultrasonic wave reflected by the planted stem culm is received, The distance to the outer edge of the uncut stem group is detected by the ultrasonic distance detecting means for detection. Therefore, for example, in the optical distance detecting means, dust generated due to traveling adheres to the light emitting / receiving part of the detection light, and the distance may not be appropriately detected. In doing so, it is possible to configure the stem / culm distance detecting means as inexpensively as possible with an ultrasonic distance detecting means provided with a transmitting part and a receiving part of ultrasonic waves, and thus any one of claims 3 to 5 The preferred means of paragraph 1 is obtained.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A case where an embodiment of the present invention is applied to a combine for harvesting and harvesting as a working vehicle will be described below with reference to the drawings. As shown in FIG.
The combine includes, on the front side of a traveling machine body 9 including a pair of left and right crawler traveling devices 1, a threshing device 2, a maneuvering unit 4, etc., along with the traveling of the aircraft, uncut stems M in the field (see FIG. 4). Cutting section 3 for cutting planted grain culm T as planted stem culm planted in)
(Corresponding to a mowing work section) is provided in a state in which the mower can be raised and lowered by a hydraulic cylinder 23 for raising and lowering the mowing.

The cutting unit 3 is a device for raising the planted grain culm T.
5 、 Cutting blade 6, which cuts the stem of the planted grain stem
A transport device 7 and the like for transporting the harvested culm to a feed chain 8 for threshing on the rear side of the machine body while changing the cut culm to a sideways posture are provided. An ultrasonic cutting height sensor S5 that detects the height of the cutting unit 3 with respect to the ground is provided at a lower rear portion of the raising device 5, and at the starting position of the conveying device 7 at the starting end of the cutting culm. A stock sensor S0 that comes into contact with and operates ON is provided.

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 after the transmission of the transmission 10 is transmitted to the pair of left and right crawler traveling devices 1 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 transmits the output after shifting to the left and right crawler traveling devices 1. A pair of left and right steering clutches 17L and 17R are provided, and the body turns left when the left steering clutch 17L is turned off, and turns right when the right steering clutch 17R is turned off. Have been.

The continuously variable transmission 10 is gear-changed by an electric motor 13 for gear-shifting operation, is interlocked with a gear-shift lever 12 provided on the control unit 4, and has an artificial gear-shift by the gear-shift lever 12. 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 a steering electromagnetic valve 19 for controlling the supply of pressure oil to the left and right steering clutches 17L and 17R to perform an on / off operation of each clutch.

The engine E, the threshing device 2 and the cutting unit 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. 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. In other words, the traveling body 9 is
Travel distance detecting means for detecting the travel distance of the vehicle.

Also, the lower part of the raising device 5 of the cutting unit 3 is contacted with the left and right planted cereal stems introduced into the cutting unit 3 as the vehicle travels, and the left and right swinging rearward of the machine. A pair of detection bars are provided, and a direction sensor S4 for detecting the position of the planted grain culm in the machine lateral direction based on the swing angle of the detection bar toward the rear of the machine is provided. Note that the detection information of the direction sensor S4 is used as control information for steering control of the traveling machine 9 when cutting and traveling along the outer periphery of the uncut stem group M.

Control device 16 using microcomputer
Is provided to the control device 16, and the detection information of the stock sensor S 0, the rotation speed detection sensor S 1, the rotary encoder S 2, the direction sensor S 4, the cutting height sensor S 5, the threshing switch SW 2, and the cutting switch SW 1 are input. . On the other hand, from the control device 16, the electric motor 1
3. The solenoid valve 25 for raising and lowering the reaping, and the solenoid valve 19 for steering
Are output.

The control unit 4 includes an upper limit vehicle speed setting means 21 for setting an upper limit vehicle speed, and a vehicle speed auto switch 22.
The input information is also input to the control device 16. Here, the upper limit vehicle speed setting means 21 is a variable resistor for manually adjusting the upper limit vehicle speed according to field conditions or the like.
It is set in the range of 2.0 m / sec. The vehicle speed auto switch 22 is an illuminated push button switch that switches whether to execute vehicle speed control described below.

After the engine 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 high rotation position for work. Since the engine speed decreases as the load on the engine E increases and increases as the load on the engine E decreases, the load on the engine E is detected using the control device 16 and the rotation speed detection sensor S1. The load detecting means 101 is configured. Specifically, the stock sensor S0 and the threshing switch SW
2 is in the ON state, and the engine speed RX (rpm) when the vehicle speed is 0.1 m / sec or more is defined as the reference speed R.
Stored as S. However, when the above condition is satisfied, if an engine speed RX higher than the stored value of the reference speed RS is detected, the reference speed RS is updated to that value. Then, the engine speed R from the reference speed RS
In accordance with the X down amount (rpm), the engine load is detected as a five-stage load of, for example, level 1 to level 5 (the load increases as the number increases).

Further, using the control device 16, based on the information of the load detecting means 101 and the preset control information, the load of the engine E is adjusted to an appropriate load (for example, level 3 in the five-stage load). The vehicle speed control means 100 for shifting the speed of the transmission 10 is maintained so as to be maintained at a predetermined speed. That is, if the engine load is larger than the proper load, the deceleration operation is performed, and if the engine load is smaller than the proper load, the speed increase operation is performed only when the traveling speed at that time is equal to or less than the set upper limit vehicle speed, When the engine load is an appropriate load, the gear change operation is not performed.

As shown in FIG. 1, FIG. 2 and FIG. 5, the distance L to the planted grain culm T on the front side of the machine body 9 is provided at the end of the cut side (right side of the machine body) at the front side of the running machine body 9. An ultrasonic sensor S3a to be detected is provided in a state where the detection direction is directed to the front of the vehicle body, and a planted grain located on the lateral side of the traveling vehicle body 9 on the uncut side (left side of the vehicle body) of the traveling vehicle body 9. A pair of ultrasonic sensors S3b and S3c for detecting the distance L to the culm T are provided at a set interval in the longitudinal direction of the fuselage in a state where the detection direction is directed to the lateral side of the fuselage. S
The detection information of 3b and S3c is input to the control device 16. Each of the ultrasonic sensors S3a, S3b, S3c is located above the planted grain culm T and emits ultrasonic waves obliquely downward toward the upper part of the planted grain culm T; T
And a receiver for receiving the ultrasonic wave reflected at the upper part of the frame, and detects the distance to the planted grain culm T based on the time from transmitting the ultrasonic wave to receiving the ultrasonic wave.

That is, a stem / culm distance detecting means for detecting a distance to the outer peripheral end of the uncut stem / culm group M located on the lateral side of the traveling machine body 9 is provided on a pair of the lateral sides on the left side of the machine body. It is composed of ultrasonic sensors S3b and S3c. And
The above-mentioned stem culm distance detecting means emits an ultrasonic wave toward the planted grain culm T located on the outer periphery of the uncut stem culm group M, and then receives the ultrasonic wave reflected by the planted grain culm T. Based on the time until the outermost end of the uncut stem group M is detected by ultrasonic distance detecting means (ultrasonic sensors S3b and S3c).

As shown in FIG. 4, the combine is a so-called round-cut (counterclockwise in the figure) form of the rectangular uncut culm group M. Reaping along each side M1 to M4, and when reaching the end position of each side, traveling forward and backward while turning left, moving to the starting position of the adjacent side, and reaping along the next side. Automatic traveling control is performed as follows. Here, each of the sides M1 to M4 is
The set routes along which the traveling body 9 travels correspond to a plurality of work steps set along the outer periphery of the uncut stem group M and adjacent work steps intersect. As shown in FIG. 4 (b), the outer circumference of the uncut stem group M is cut by the cutting width W by the above cutting and running, so that the positions of the respective work steps are sequentially moved inward, and the machine body is angled. The vehicle travels on a spiral path.

Hereinafter, this automatic traveling control will be specifically described. The control device 16 controls the steering of the traveling body 9 so that the traveling body 9 cuts and runs along the outer periphery of the uncut stem group M, and determines that the traveling body 9 has reached the end position of one work stroke. Then, the turning control for turning the traveling machine body 9 toward the starting end position of the next work process with respect to the uncut stem group M is executed. Incidentally, the fact that the traveling aircraft 9 has reached the end position of one work stroke means that the distance detection signal b of the ultrasonic sensor S3b on the left front side of the aircraft changes from a small distance to a large distance first as shown in FIG. Then, the aircraft further moves forward, and the distance detection signal c of the ultrasonic sensor S3c on the left rear side of the aircraft
When the distance changes from a small distance to a large distance, it is determined that the vehicle has reached the turning traveling start position (FIG. 5A).

In the steering control, the traveling machine body 9 is steered based on the detection information of the direction sensor S4 so as to cut and travel along the outer sides M1 to M4 of the uncut stem group M. In the turning control, as shown in FIGS. 5 (b) to (d), the traveling machine 9 is caused to turn (turn left in the figure) and travel so that the front portion of the machine approaches the uncut stem group M. ,
During the turning traveling, the traveling body 9 is determined based on the distance information of the pair of ultrasonic sensors S3b and S3c on the left side of the body.
Determines the angle (eg, the angle θ made with the next side) with respect to the uncut shoot culm group M, and stops the turning when the angle reaches a set angle (eg, 45 degrees). The traveling machine 9 is caused to travel backward from the stop position of the turning traveling until the direction of the traveling machine body 9 is in a harvesting ready state toward the starting position of the next work stroke (that is, the starting end of an adjacent side).

As shown in FIG. 6, the vehicle travels backward in the straight traveling state until the distance detection signal b of the ultrasonic sensor S3b on the left front side of the vehicle body exceeds a minimum value and starts to increase. The vehicle travels backward while turning left until it is ready to be harvested toward the start position of the next work stroke. Then, the fact that the traveling body 9 is in the cutting preparation state has changed from a large distance to a state where the distance detection signal a of the ultrasonic sensor S3a on the front side of the body detects the planted grain culm T on the front side of the body. It is determined by The angle θ of the traveling machine body 9 with respect to the uncut stem group M is determined by the difference between the distances L1 and L2 to the outer peripheral edge of the next side detected by the pair of ultrasonic sensors S3b and S3c, respectively. Installation interval s
d and is calculated by the following equation (see FIG. 5B).

[0028]

## EQU1 ## θ = tan ^-1 ((L1-L2) / sd)

The angle θ of the traveling machine body 9 may be determined based on the distance information L1 of the front ultrasonic sensor S3b instead of the pair of ultrasonic sensors S3b and S3c. For example, at the time of the above-mentioned left turning travel, the distance in the longitudinal direction of the aircraft from the corner of the uncut stem group M to the ultrasonic sensor S3b on the front side has substantially the same value, and this value is replaced with sd in the above equation, and , L2 as 0, the angle θ is calculated.

As described above, using the control device 16,
Position detecting means 102 for detecting the position of the traveling body 9 is configured. The position detecting means 102 detects the position of the traveling body 9 based on detection information of a pair of ultrasonic sensors S3b and S3c provided on the lateral side of the body. The position of the traveling machine body 9 with respect to the uncut stem group M is determined. Specifically, the angle θ of the traveling machine body 9 with respect to the uncut stem group M described above.
And the detection distances L1 and L2 to the uncut stem group M,
The position of the traveling machine body 9 with respect to the uncut stem group M is obtained.

Using the control device 16, the traveling body 9 traveling along the set route (outside periphery of the uncut culm group M) should turn on the set route (uncut culm culm). The turning control means 103 is configured to repeatedly execute turning control for causing the traveling body 9 to turn at the turning point each time the vehicle reaches each corner of the group M). The turning control means 103 is configured to execute the turning control based on the information of the position detecting means 102.
That is, in the turning control, the turning control means 103 determines that the traveling body 9 is at the end position (one side of the outer periphery of the uncut stem group M) of the plurality of working steps. (Each corner of M), the traveling machine body 9 is caused to turn toward the start position of the next adjacent work stroke, using the end of the stroke as a turning point. Specifically, the traveling body 9 is turned so that the front side thereof approaches the uncut shoot culm group M, and the turning is performed as the body position with respect to the uncut shoot culm group M becomes the set position during the turn. The operation is stopped, and the traveling body 9 is caused to travel backward from the turning stop position until the traveling machine body 9 is oriented to the start end position of the next work stroke.

Further, the control state at the time of executing the turning control of the turning control means 103 based on the information 102 of the position detecting means is stored as the turning control information using the control device 16 in association with the turning point. Turning information storage means 104 is configured. Specifically, as described above,
When the traveling body 9 is rotated forward and backward to the position toward the starting end of the next work stroke, the control state of the left and right crawler traveling devices such as the driving speeds, the driving directions (forward or backward), the driving time, etc. Is stored as turning control information. Then, the turning control means 10
3 is configured to be able to execute the turning control at the turning point or at a location near the turning point using the turning control information stored in the turning information storage unit 104 in association with the turning point. In this embodiment, the uncut stem group M
The above-mentioned turning control information is stored when the vehicle is turned at each corner, and the vehicle goes around the uncut stem group M once, then travels to the same corner, and turns at a position slightly inside (nearby). When traveling (see FIG. 4B), the turning control is performed using the turning control information stored during the previous turning traveling.

The travel distance detecting means (rotary encoder S2) and the stem / culm distance detecting means (ultrasonic sensor S)
3b, S3c), a stem / culm width detecting unit 105 configured to detect the stem / culm width of the uncut stem / culm group M located on the lateral side of the traveling machine 9 along the longitudinal direction of the machine. And the turning control means 103 is provided with the stem / culm width detecting means 1.
If it is detected that the stem stalk width along the body front-rear direction is shorter than the set width based on the information of 05, the work process corresponding to the short stem stalk width is the next work process after the turning travel. At such a turning point, the turning control is executed using the information stored in the turning information storage means 104.

Specifically, as shown in FIG. 4 (b), the remaining area of the uncut stem group M is reduced, and the stem width of the stem C along the longitudinal direction of the machine in the currently traveling work process K1 is reduced. Δ
If it is detected that M is shorter than the set width 2W (twice the cutting width W), the vehicle turns at the end point and turns to the next work step K.
2 with a cutting width W, the remaining stem and stem width becomes smaller than the cutting width W, and when turning from the end portion of the work stroke K2 to the next work stroke K3, the ultrasonic sensor Since there is a possibility that the position of the traveling machine 9 cannot be detected based on the information of S3b and S3c, this work process K2
At the time of turning from step to the work step K3, turning control using the information stored in the turning information storage means 104 is executed. Therefore, the work process K3 is a work process corresponding to the short stem width.

Further, an operation end discriminating means 106 for judging the end position of the cutting operation for the uncut stem culm group M based on the information of the stem and culm width detecting means 105 using the control device 16 is constituted. ing. Specifically, FIG.
As shown in the figure, the stalk culm width ΔM along the longitudinal direction of the machine which is detected during the cutting and traveling in the work process K3 is the cutting width W.
Since it is narrower than that, it is known that the next work step K4 after the work step K3 is the last work step, and the end of the work step K3 is determined as the end position of the mowing work.

Next, the control operation of the control device 16 will be described with reference to the flowchart shown in FIG. Running starts from the beginning of one side of the uncut stem group M, and when the control is started, the steering control for running along the side of the uncut stem group M and the engine load are adjusted to an appropriate value. And the cutting height control for maintaining the ground height of the cutting unit 3 at an appropriate value until the vehicle reaches the end position of the side. When it is determined that the end position of each side has been reached, it is determined whether or not the work end determination means 106 has determined to end the cutting operation on the uncut stem group M in the operation on that side. If the work has not been completed, the turning control for moving to the start position of the next side is executed. Here, as described above, the stem and stem width detecting means 1
05, the turning control using the information stored in the turning information storage means 104 is performed, and the turning control using the stored information is executed in other places. The turning control based on is executed.
Thereafter, each of the above controls is repeated until the work is completed. If the work is completed, the traveling is stopped to end the control.

[Alternative Embodiment] In the above-described embodiment, the combine turns the previous route while sequentially moving the set route along the outer peripheral side of the rectangular uncut stem group M to the inside of the uncut stem group M. Although the case where the vehicle turns around near the inside of the location has been described, the present invention is also applicable to the case where the vehicle travels around the same location on the same set route.

In the above embodiment, the turning information storage means 10
Although the turning control using the stored information of No. 4 is performed only in a portion where the stem and stem width becomes short, the turning control can be appropriately performed in other turning portions. In the turning control using the information stored in the turning information storage means 104, the turning control information at the time of the previous (immediate) turning travel is used. May be weighted and averaged. Further, in the above-described embodiment, as the turning control information, data such as the respective driving speeds, driving directions (forward or backward), and driving times of the left and right crawler traveling devices are stored. However, data indicating other control states are stored. May be stored.

In the above embodiment, the stem / culm distance detecting means is
Ultrasonic distance detecting means (ultrasonic sensors S3b, S3
Although configured in c), in addition to this, for example, it may be configured by an optical distance detecting unit that transmits and receives the detection light to the plant stem T.

In the above embodiment, the reaper and harvester is constituted by a combine. However, other than the combine, for example, a reaper reaper and the like may be used.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a rear view of the combine.

FIG. 3 is a block diagram of a control configuration of the combine.

FIG. 4 is a plan view showing a path of a cutting run by a combine.

FIG. 5 is a plan view showing turning traveling at the end of the working stroke of the uncut stem group.

FIG. 6 is a time chart showing a time change of a distance detection signal.

FIG. 7 is a flowchart showing a control operation.

[Explanation of symbols]

 Reference Signs List 3 reaping work part 9 traveling body 102 position detecting means 103 turning control means 104 turning information storage means 105 stem / culm width detecting means 106 work end determining means S2 running distance detecting means S3b stem / culm distance detecting means S3c stem / culm distance detecting means

Claims (6)

[Claims] Each time a traveling body traveling along a set route reaches a turning point to be turned on the set route,
A work vehicle provided with turning control means for repeatedly executing turning control for causing the traveling body to make a turning run at the turning point, wherein the turning control means includes information on position detecting means for detecting a position of the traveling body. And a turning information storage means for storing the control state at the time of executing the turning control based on the information of the position detecting means as turning control information corresponding to the turning point. The turning control means is configured to be able to execute the turning control at the turning point or at a point near the turning point using the turning control information stored in the turning information storage means in association with the turning point. Working vehicle. 2. A cutting section for cutting the planted stems of the uncut stems and culms along with the running of the machine is provided on the traveling machine, and the traveling machine is configured as an outer periphery of the uncut stems and culms as the set route. And a plurality of work strokes set in a state in which adjacent work strokes intersect with each other, are configured to sequentially perform reaping travel. The turning control means includes: in the turning control, the traveling body is in the plurality of working strokes. When the end position of one work stroke is reached, the end of the stroke is set as the turning point, and the traveling machine body is turned toward the start position of the next adjacent work stroke.
The working vehicle described. 3. A stem / culm distance detecting means for detecting a distance to an outer peripheral end of the uncut stem group located on a lateral side of the traveling body is provided on a lateral side of the traveling body. The detecting means is configured to obtain a body position with respect to the uncut stem group as the position of the traveling machine based on the information of the stem and culm distance detecting means.The turning control means includes: While turning the front side of the traveling body so as to approach the uncut stem group, the turning operation is stopped along with the body position with respect to the uncut stem group during the turning, The work vehicle according to claim 2, wherein the work vehicle is configured to travel backward from the turning stop position until the traveling machine body is directed to a start end position of a next work stroke. 4. The front and rear of the uncut stem group located on the lateral side of the traveling body based on information of a traveling distance detecting means for detecting a traveling distance of the traveling body and a stem and culm distance detecting means. Stalk width detection means for detecting the stalk width along the direction is provided, the turning control means, based on the information of the stalk stalk width detection means, the stalk stalk width along the machine front and rear direction of the uncut stem culm group When it is detected that is shorter than the set width, at the turning point where the work process corresponding to the short stem / culm width becomes the next work process after the turning travel, the turning information storage means The work vehicle according to claim 3, wherein the work vehicle is configured to execute the turning control using stored information. 5. On the basis of information of said stem / culm width detecting means,
The work vehicle according to claim 4, further comprising a work end determination unit configured to determine an end position of the cutting operation on the uncut stem group. 6. An ultrasonic wave reflected by the planted stem culm after the stem culm distance detecting means transmits an ultrasonic wave toward the planted stem culm located on the outer periphery of the uncut stem culm group. 6. An ultrasonic distance detecting means for detecting the distance based on a time until a signal is received.
The work vehicle described in the section.