JP2000166313A - Reaping harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reaping harvester capable of precisely discriminating the arrival of a mobile machine body at a position for starting turning and traveling for a group M of unreaped stems and culms in a state of the mobile machine body reaping and traveling along the outer periphery of the group M of the unreaped stems and culms. SOLUTION: This reaping harvester is capable of detecting a distance between the outer peripheral end of a group M of unreaped stems and culms located in a transverse lateral side of a mobile machine body 9 and a transverse lateral part of the mobile machine body 9 with a distance detecting means S3c for discriminating the start of turning installed at the set position in the intermediate part of the front and rear directions of the machine body in the transverse lateral part of the mobile machine body 9 and discriminating whether or not the mobile machine body 9 reaches the position for starting the turning and traveling for the group M of the unreaped stems and culms based on information from the distance detecting means S3c for discriminating the start of the turning.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mowing harvester that mowings and runs on uncut stems and culms.

[0002]

2. Description of the Related Art For example, in a combine harvester, which is an example of the above-mentioned harvesting and harvesting machine, the harvester travels along the outer periphery of a group of uncut stalk culms, such as a rectangular shape, on which rice or the like to be harvested is planted. When reaching the end position of the work stroke, the mowing travel is stopped and the traveling machine is caused to make a turning movement toward the start position of the next work stroke. For example, whether or not the turning traveling start position with respect to the culm group has been reached is determined by, for example, visually observing the position where the airframe has traveled with respect to the uncut stem group.

[0003]

Therefore, in the above-mentioned prior art, the traveling body that is cutting and traveling along the outer circumference of the uncut stems and culms stops the cutting and moves to the starting end position of the next work stroke. In determining that the vehicle has reached the turning start position to be turned, the burden on the operator increases, and there is a possibility that an accurate determination may not be made. As a result, for example, if the determination that the vehicle has reached the turning travel start position is delayed, the vehicle will turn in a larger turning state than the appropriate turning path, and the work efficiency will decrease. If the determination is made too quickly, there is a possibility that a problem may occur such as turning the vehicle while leaning closer to the uncut stem group than the appropriate turning route and stepping down the uncut stem group.

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 by allowing a traveling machine to cut and travel along the outer circumference of a group of uncut stems. An object of the present invention is to provide a harvester and a harvester that can accurately determine that the vehicle has reached a turning traveling start position with respect to an uncut stem group in a stalk group.

[0005]

According to the first aspect of the present invention, when the traveling body is mowing and traveling along the outer circumference of the uncut stems and culms, the uncut stems and culms located on the side of the traveling body are cut off. The distance between the outer peripheral end and the lateral side of the traveling body is detected by a distance detecting means provided at a middle position in the longitudinal direction of the traveling body on the lateral side of the traveling body to determine the start of the revolution, and the start of the revolution is determined. Based on the information of the distance detecting means for discrimination, whether or not the traveling aircraft has reached a turning traveling start position with respect to the uncut stem group,
It is determined by the determining means. Therefore, it is determined whether or not the traveling machine that is mowing along the outer periphery of the uncut stems and culms has reached the turning traveling position with respect to the uncut stems and culms. Is automatically determined based on the distance detection information up to the outer peripheral edge of the stalk. Is reduced, and it is possible to accurately determine that the traveling body has reached the turning travel start position with respect to the uncut stem group, for example, the determination that the turning travel start position has been reached is delayed, and The work efficiency is reduced by turning in a larger turning state than the turning path, and conversely, the judgment that the turning start position has been reached is too fast, and the leaning side is closer to the uncut stem group than the appropriate turning path. Troubles such as stepping on uncut stems by turning while turning It can be.

According to a second aspect of the present invention, in the first aspect, the traveling control means controls the steering of the traveling body so as to cut and travel along the outer periphery of the uncut stems and culms, and based on the information of the discriminating means. When it is determined that the traveling machine has reached the end position of one work stroke, the turning control for causing the traveling machine to turn toward the start position of the next work process with respect to the uncut stem group is executed. Therefore, when the traveling body cuts along the outer circumference of the uncut stems and culms by the automatic control, and reaches the end position of one work stroke, that is, the turning start position for the uncut stems and culms, the next work stroke is started. As it turns around toward the starting end position of the stalk, it is compared with the case where the traveling body is mowing along the outer periphery of the uncut stem group by manual operation, and turns from the end position to the next work start position. As a result, it is possible to reduce the driving burden on the operator, and thus the preferable means of claim 1 can be obtained.

According to a third aspect of the present invention, in the second aspect, the distance between the lateral side of the traveling body and the outer peripheral end of the uncut stem group located on the side of the traveling body is equal to the longitudinal side of the traveling body. Direction is detected by a pair of turning distance detecting means provided at a set interval in the direction, and the running control means controls the running body so that the front side of the body approaches the uncut stem group in the turning control. While the vehicle is turning, and based on the distance information of the distance detecting means on the front side or both distance detecting means of the pair of distance detecting means for the turning traveling during the turning traveling, the traveling machine body is not stalked culm. Judgment of the angle positioned with respect to the group, the turning is stopped as the angle becomes the set angle, and the direction of the traveling machine is changed from the stop position of the turning to the starting position of the next work stroke. Till you are ready to harvest Advance to travel. Therefore, when the autopilot is turned from one work stroke end position on the outer peripheral side of the uncut stems and culms to the next work stroke start position, the uncut stems and culms located on the side of the aircraft are moved to the next position. On the other hand, the vehicle travels forward and backward while maintaining the aircraft angle at the set angle, and is positioned in a reaping preparation state toward the start position of the next adjacent work process. In the case of turning, when the vehicle slips with the ground during traveling, the actual traveling trajectory deviates from the planned trajectory, and when the turning traveling is completed, the aircraft moves toward the start position of the next work process. In contrast to the possibility that the vehicle cannot be positioned in the reaping preparation state, it is possible to make the vehicle run in a state as appropriate as possible based on the determination of the body angle, so that the preferable means of claim 2 is obtained. That.

[0008] In claim 4, any one of claims 1 to 3
In the above paragraph, the distance detection means for turning start determination and turning traveling is located above the planted stem culm planted in the uncut stem group and sets the detection direction for the planted stem culm in the vertical direction. Change in cycles. Therefore, by changing the detection direction from the upper side of the planted stem culm in the vertical direction at a set cycle, for example, the distance to the upper end corner of the planted stem culm obtained by the minimum value of the distance detection signal is the uncut stalk. By detecting as the distance to the outer peripheral end of the culm group, for example, in the case of setting the detection direction horizontally and horizontally with respect to the planted stem culm, the height of the planted stem culm is reduced, or the planted stem culm is reduced. If the plant is lying down, it may not be possible to detect the proper distance when the planted stem is not present at the detection position, etc. In this case, the distance can be detected as appropriate as possible, and the preferable means according to any one of claims 1 to 3 can be obtained.

According to a fifth aspect, any one of the first to fourth aspects is provided.
In the item, the turning start determination and the distance detecting means for turning traveling emit ultrasonic waves toward the planted stem culm located on the outer periphery of the uncut stem culm group, and are reflected by the planted stem culm. It is constituted by ultrasonic distance detecting means for detecting the distance between the outer edge of the uncut stem group and the lateral side of the machine based on the time until the ultrasonic wave is received. 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. The distance detecting means can be configured as inexpensive as possible, including a transmitting unit and a receiving unit for ultrasonic waves.
The preferred means of any one of the above is obtained.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a case where an embodiment of the present invention is applied to a combine as a reaper and harvester will be described.
This will be described with reference to the drawings. As shown in FIG. 1, the combine includes a pair of left and right crawler traveling devices 1, a threshing device 2,
On the front side of the traveling body 9 provided with the control unit 4 and the like, the cutting unit 3 that cuts the planted grain culm T as the planted stem culm in the field along with the machine running is moved by the hydraulic cylinder 23 for cutting up and down. It is provided so that it can be raised and lowered.

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 for transmitting the output after shifting to the left and right crawler traveling devices. And a pair of left and right steering clutches 17L and 17R are provided. When the left steering clutch 17L is disengaged, the aircraft turns left, and when the right steering clutch 17R is disengaged, the aircraft turns right. ing.

The continuously variable transmission 10 is gear-changed by an electric motor 13 for gear shift 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 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.

The lower part of the raising device 5 of the mowing part 3 is contacted with left and right planted grain culms introduced into the mowing part 3 as the vehicle travels, and swings rightward and leftward to the rear 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 section 4 has 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 (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). Also, the control device 16
Based on the information of the load detection means 101 and the preset control information, the load of the engine E is maintained at an appropriate load (for example, level 3 in the five-stage load) based on the aforementioned information. A vehicle speed control means 100 for shifting the speed of the transmission 10 is configured.

As shown in FIG. 1, FIG. 2 and FIG. 5, the distance L to the planted grain culm T located at the front of the machine body 9 at the cut end (right side of the machine body) at the front side of the machine body 9 is shown. An ultrasonic sensor S3a for detecting the forward direction is provided in a state in which the detection direction is directed to the front of the machine body, and the planted grain culm T located on the lateral side of the machine body on the uncut side (machine body left side) of the traveling machine body 9. A pair of ultrasonic sensors S3b and S3c for detecting the distance L to the main body 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, and these ultrasonic sensors S3a and S3c are provided.
The detection information of b and S3c is input to the control device 16.

That is, in a state where the traveling machine body 9 is cutting and running along the outer periphery of the uncut stem group M (see FIG. 4),
The turning start determination distance detecting means for detecting the distance between the outer peripheral end of the uncut stem group M located on the lateral side of the traveling body 9 and the lateral side of the traveling body 9 is provided at the rear of the left side of the aircraft. The ultrasonic sensor S3c is provided at a set position on the lateral side of the traveling body 9 at an intermediate position in the longitudinal direction of the body. Here, the set position is set to a position at an appropriate distance from the front end of the aircraft according to the length of the traveling aircraft 9 in the longitudinal direction of the aircraft and the turning performance (turning locus and the like). Further, a pair is provided on the lateral side of the traveling body 9 at predetermined intervals in the longitudinal direction of the body, and is provided between the lateral side of the traveling body 9 and the outer peripheral end of the uncut stem group M located on the side. The distance detecting means for turning traveling for detecting the distance between the pair of ultrasonic sensors S3b, S3
c. That is, in this embodiment, the ultrasonic sensor S constituting the distance detection means for determining the start of turning is described.
3c is also used as one ultrasonic sensor S3c which constitutes a distance detecting means for turning.

Each of the above ultrasonic sensors S3a, S3b, S3
c is a transmitter that is located above the planted grain culm T and emits ultrasonic waves obliquely downward toward the upper part of the planted grain culm T, and a supersonic wave reflected at the upper part of the planted grain culm T A receiver for receiving a sound wave, and detecting a distance to the planted grain culm T based on a time from transmission of the ultrasonic wave to reception of the ultrasonic wave. In other words, the turning start determination and the turning traveling distance detecting means transmit ultrasonic waves toward the planted grain culm T located on the outer periphery of the uncut stem culm M, and then transmit the ultrasonic wave to the planted grain culm T. An ultrasonic distance detecting means (ultrasonic sensor S3b) for detecting the distance between the outer peripheral end of the uncut stem group M and the lateral side of the machine based on the time until the reflected ultrasonic wave is received. , S3c).

Then, as shown in FIG. 5, the traveling machine 9 is controlled by the controller 16 based on the information from the distance detecting means (ultrasonic sensor S3c) for determining the start of turning. A determining means 102 for determining whether or not the turning traveling start position for the stem / culm group M has been reached is configured. Specifically, as shown in FIG. 6, after 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, the aircraft further travels forward, and the left rear side of the aircraft When the distance detection signal of the ultrasonic sensor S3c changes from a small distance to a large distance, the turning traveling start position (FIG. 5)
It is determined that (a)) has been reached.

As shown in FIG. 4, the combine is applied to the rectangular uncut culm group M in a so-called round-cut (left-hand counterclockwise) form on each side M1 of the outer periphery of the uncut culm group M. ~ M4
(Each side corresponds to each work process), and when reaching the end position of each side, it travels forward and backward while turning left and moves to the start position of the adjacent side, and the next side The automatic traveling control is performed so that the reaper travels along the road.

That is, the control unit 16 is used to control the steering of the traveling machine body 9 so as to cut and travel along the outer periphery of the uncut stem group M, and based on the information of the discriminating means 102. Judging that the traveling machine body 9 has reached the end position of one work stroke, the turning control for turning the traveling machine body 9 toward the start end position of the next work stroke with respect to the uncut stem group M is executed. Travel control means 103 is provided. Specifically, in the steering control, the traveling control means 103 controls each side M1-M1 on the outer peripheral side of the uncut stem group M.
The direction sensor S4 is set so as to cut and travel along M4.
Based on the detected information, the traveling body 9 is steered, and in the turning control, as shown in FIGS.
The traveling body 9 is moved so that the front side of the body approaches the uncut stem group M.
Is turned (left turn in the figure), and a pair of ultrasonic sensors S3 on the left side of the machine body during the turn.
Based on the distance information of b and S3c, the angle at which the traveling machine 9 is positioned with respect to the uncut stem group M (for example, the angle θ made with the next side) is determined, and the angle is set at the set angle (for example, 4
5 degrees), the turning is stopped, and
From the stop position of the turning traveling, the traveling body 9 is caused to travel backward until the direction of the traveling body 9 is in a cutting preparation state toward the starting position of the next work process (that is, the starting position of the adjacent side).

As shown in FIG. 6, the vehicle travels backward in a straight-ahead state until the distance detection signal b of the ultrasonic sensor S3b on the left front side of the vehicle exceeds a minimum value and starts increasing. 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).

[0026]

## EQU1 ## θ = tan ^-1 ((L1-L2) / sd)

The angle θ of the traveling 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.

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 end position of the side is reached. (Turning start position), it is determined whether or not the cutting operation on the uncut stem group M has been completed. If not, the operation is directed toward the start position of the next side. The turning control for moving is executed, and thereafter, the above-described respective controls are 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 distance detecting means (ultrasonic sensors S3b, S3c) for judging the start of turning and for turning traveling is provided with the planted grain culm T set in the uncut stem group M. The direction of detection with respect to the planted grain culm T is fixed above the upper position of the cultivated culm T. In addition, as shown in FIG. The detection direction for the planted stem / culm T which is positioned higher than the above may be changed in the vertical direction at the set cycle tc. In this case, as shown in FIG. 9, the distance detection signal fluctuates at the set cycle tc. For example, under the condition that the upper end corner of the planted grain culm T is included in the fluctuation range, the minimum value of the detection signal is minimized. Since the value indicates the distance to the corner, for example, this minimum value is set as the distance between the outer peripheral end of the uncut stem group M and the lateral side of the machine body.

In the above embodiment, the distance detecting means (ultrasonic sensor S3c) for determining the start of turning is also used as one of the pair of distance detecting means (ultrasonic sensors S3b, S3c) for turning. However, instead of the dual-use configuration, each of the sensors may be configured separately.

In the above embodiment, the distance detecting means for judging the start of turning and the distance detecting means for turning are constituted by ultrasonic distance detecting means (ultrasonic sensors S3b, S3c). For example, an optical distance detecting unit that transmits and receives the detection light to the planted stem / culm T may be used.

In the above-described embodiment, the traveling control means 103 is configured to automatically make the traveling body 9 make a turning traveling based on the information of the discriminating means 102. When it is determined that the vehicle has reached the traveling start position, the worker may be notified by an alarm sound from a buzzer, a display lamp, or the like. In this case, when the worker is notified by a buzzer, a lamp, or the like that the vehicle has reached the turning start position, the operator manually performs a speed change operation or a turning operation to move the traveling machine body 9 to the next operation start position. In this case, the driver is required to run the vehicle.

In the following, as shown in FIG. 10, cutting is performed along the outer circumference of the uncut stem group M by manual operation while shifting the gear with the manual shift lever 12 without providing the traveling control means 103. Along with the steering operation for traveling, the buzzer 26 informs the user that the turning traveling start position at the end position of the outer periphery of the uncut stem group M has been reached. A control configuration for performing the turning operation will be described. That is, the steering reaping lever 24 is provided which is configured to be used both as a steering lever for manual steering and a lever for raising and lowering the reaping, and whether the steering louver 24 is operated to the left turning side or the right turning side. Operation detecting potentiometer 24a for detecting the steering and the steering reaping lever 2
A mowing lifting / lowering operation detecting potentiometer 24b for detecting whether the mower 4 has been operated on the mowing raising side or the lowering side is provided. Then, when the steering turf lever 24 is operated to the left turning side, the control device 16 disengages the left steering clutch 17L to turn the airframe to the left, and the steering turf lever 24 turns clockwise. When operated to the turning side, the right steering clutch 17R is disengaged and the aircraft is turned right.
Further, when the steering turf lever 24 is operated upward, the control device 16 raises the reaping lifting cylinder 23 to raise the reaping unit 3, and the steering louver 24 is operated downward. Then, the mowing unit 3 is lowered by operating the mowing elevating cylinder 23 downward.

In the above embodiment, the rectangular uncut stem culm group M
The reaper runs along each side, and when reaching the end position of each side, the vehicle travels forward and backward while turning 90 degrees to move to the start position of the adjacent side. Work may be performed. In particular,
For example, when the cutting traveling along one side of the rectangular uncut stem group M is completed, the head is turned around the headland portion while changing the direction by 180 degrees, and the uncut stem portion M is inverted. The harvesting operation can be performed in a reciprocating traveling mode in which the vehicle travels in the direction.

In the above embodiment, the reaper / harvester is constituted by a combine, but other than the combine, for example, a reaper reaper / harvester 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.

FIG. 8 is a side view of a combine showing a distance detecting unit according to another embodiment.

FIG. 9 is a time chart showing a time change of a distance detection signal in another embodiment.

FIG. 10 is a control block diagram of a combine according to another embodiment.

[Explanation of symbols]

 9 running body S3b distance detecting means S3c distance detecting means 102 discriminating means 103 running control means M uncut stems and culms

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B043 AA04 AB01 AB15 BA02 BA05 BB14 DA17 EA04 EB01 EB02 EB04 EB08 EB09 EB10 EB13 EB14 EB16 EB17 EB24 EC14 ED01 ED12 EE02 5H301 AA03 AA10 BB10 GG10 GG01 GG10 GG10

Claims (5)

[Claims] 1. In a state where a traveling machine body is cutting and running along the outer periphery of an uncut stem group, an outer peripheral end of the uncut stem group located on the lateral side of the traveling machine body and the traveling machine body. A turning start determining distance detecting means for detecting a distance between the turning side and the lateral side is provided at an intermediate position in the longitudinal direction of the vehicle on the lateral side of the traveling body, and the turning start determining distance detecting means is provided. Based on the information,
A harvesting and harvesting machine, comprising: a determination unit configured to determine whether the traveling body has reached a turning traveling start position with respect to the uncut stem group. 2. The vehicle according to claim 1, wherein said traveling body is steered so as to cut and run along an outer periphery of said uncut stem group, and based on information from said discriminating means, said traveling body is positioned at an end position of one work stroke. 2. A traveling control means for executing a turning control for judging that the vehicle body has reached the predetermined position, and performing a turning control for turning the traveling body toward a starting end position of a next work step on the uncut stem group. Harvester. 3. A turning traveling distance detecting means for detecting a distance between a lateral side portion of the traveling body and an outer peripheral end of an uncut stem group located on the lateral side of the traveling body. A pair is provided at a set interval in the longitudinal direction of the body in the part, the traveling control means, in the turning control, while rotating the traveling body so that the front part of the body approaches the uncut stem group, During the turning traveling, based on the distance information of the distance detecting means or both distance detecting means on the front side of the pair of distance detecting means for the turning traveling, based on the distance information, the traveling machine body with respect to the uncut shoot culm group Judging the position angle, stopping the turning travel as the angle becomes the set angle, and from the stop position of the turning travel, the direction of the traveling aircraft body to the start end position of the next work stroke Until you are ready to harvest Harvester reaper of claim 2, characterized in that is configured to reverse running. 4. The distance detecting means for discriminating turning start and turning traveling is positioned above a planted stem culm to be planted in the uncut stem group, and detects the direction of detection for the planted stem culm. The reaper according to any one of claims 1 to 3, wherein the reaper is configured to change in a vertical direction at a set cycle. 5. The method according to claim 5, wherein the distance detecting means for determining the start of turning and the turning traveling emits an ultrasonic wave toward the planted stems located on the outer periphery of the uncut stems and culms. The reaper according to any one of claims 1 to 4, comprising an ultrasonic distance detecting means for detecting the distance based on a time until the ultrasonic wave reflected by the culm is received. Machine.