JP2000270611A - Reaping harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reaping harvester enabling the position of a traveling machine body relative to the outer periphery of a group of unreaped grain culms to be properly judged through avoiding the misdetection by a distance detective means. SOLUTION: This reaping harvester has such a scheme that one side of a traveling machine body 9 is disposed, at intervals, with a plurality of distance detective means S3b, S3c which execute operations for detecting the distance to the outer periphery of a group of unreaped grain culms based on the period of time from dispatching a detection signal to receiving the corresponding signal reflected at an object to be detected, and there is provided a position judging means for judging the position of the traveling machine body 9 relative to the outer periphery of the group of unreaped grain culms based on the information thus detected by the respective means S3b, S3c; wherein the respective means S3b and S3c execute distance detective operations at temporally different timings.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring the distance from the transmission of a detection signal to the side of a traveling body to the outer periphery of an uncut shoot culm based on the time from when a detection signal is transmitted to when a reflection signal from a detection target is received. A plurality of distance detecting means for performing a distance detecting operation for detecting a distance are arranged at intervals, and position determining means for determining a position of the traveling body with respect to the outer periphery of the uncut stem based on detection information of each distance detecting means. The present invention relates to a reaper and harvester provided with.

[0002]

2. Description of the Related Art A reaper and harvester having the above-described structure is provided with a distance detecting means for detecting a distance based on a time from when a detection signal such as an ultrasonic wave is transmitted to when a reflection signal from a detection target is received. In some cases, the distance to the outer periphery of the uncut stalk culm is directly detected at a plurality of spaced locations on the traveling body to determine the position of the traveling body with respect to the outer periphery of the uncut stalk culm ( For example, JP-A-63-269910
Reference). The distance detecting means, the time from transmitting the ultrasonic wave to receiving the reflected signal reflected by the detection target, since it corresponds to the separation distance from the distance detection means to the detection target, Although it is configured such that the distance can be detected based on the elapsed time, in the above-described conventional configuration, the plurality of distance detection units repeat the above-described distance detection operation without considering the timing. .

[0003]

According to the above-mentioned structure, the traveling body is provided with a plurality of the above-mentioned distance detecting means.
Compared to a configuration in which only one distance detecting means detects the position of the traveling body with respect to the uncut stems and culms, the traveling body can be accurately detected. When a plurality of means are provided, in order to prevent the ultrasonic waves transmitted from each of the distance detecting means from interfering with each other and adversely affecting the distance detecting operation, the distance detecting direction (ultra It is necessary to make the sound wave transmission directions different, or to provide them at a distance.

[0004] For example, the distance detecting means avoids erroneous detection by shielding processing such as ignoring received information or not performing a receiving operation while a set time elapses after transmitting the detection signal by itself. The reception state is set after the set time has elapsed. However, if a plurality of distance detection means are close to each other, the ultrasonic wave transmitted from one of them will wrap around and the other distance in the reception enabled state There is also a disadvantage that the detecting means may receive the signal as it is, or the ultrasonic wave transmitted by one of the distance detecting means is reflected by the object and received by the other distance detecting means. There is a fear. In addition, even when the ultrasonic wave transmission directions of the respective distance detecting means are different, if they are provided close to each other, a signal due to the above-mentioned wraparound may be directly received.

However, in order to more accurately detect the position of the traveling body with respect to the outer periphery of the uncut stem, the traveling body is provided at a position close to one side of the traveling body and their distance detection direction (ultrasonic transmission direction). Direction) may need to be set in the same direction. However, in the above-described conventional configuration, in the case of such a close arrangement, it is necessary to reduce the output of the detection signal in order to avoid the above-described inconvenience. However, there is a disadvantage that the detection function is deteriorated, for example, the detectable distance is shortened.

The present invention has been made in view of such a point, and an object of the invention is to avoid the above-mentioned disadvantages,
In the state where disadvantage such as lowering the distance detection function does not occur,
Another object of the present invention is to provide a reaper and harvester in which a plurality of distance detecting means are arranged close to each other so that the position of the traveling machine body with respect to the outer periphery of the uncut stem can be accurately determined.

[0007]

According to the first aspect of the present invention, each of the distance detecting means executes the distance detecting operation at a different timing.
That is, the distance to the outer periphery of the uncut stem is detected based on the time from when the detection signal is transmitted to when the reflection signal from the detection target is received.

[0008] Even if the detection signal transmitted by one of the distance detecting means is reflected by the object to be detected and reaches the place where the other distance detecting means is present, at this time, the other signal is detected. Since the distance detecting means does not execute the distance detecting operation, there is no possibility of erroneous detection as erroneous distance information. Moreover, even if the detection signal of the distance detecting means is transmitted with a sufficiently large output, there is no disadvantage such that the signal is directly received by the other distance detecting means due to the sneaking around and erroneously detected.

Therefore, the distance to the outer periphery of the uncut stem can be directly detected at a plurality of spaced locations on one side of the traveling body to accurately detect the position of the body relative to the uncut stem group. In order to properly determine the position of the traveling machine body with respect to the outer periphery of the uncut stem, for example, a plurality of distance detection means are installed as close as possible, and the detection signal transmission direction is set to the same direction. Even in such a case, it is possible to avoid improper distance detection operation such as erroneous detection of a reflected signal or direct reception of a transmitted signal by wraparound.

As a result, it is possible to accurately determine the position of the traveling machine body with respect to the outer periphery of the uncut shoot culm by arranging a plurality of distance detecting means close to each other without disadvantage such as lowering the distance detecting function. It has become possible to provide a possible harvester.

[0011] According to the characteristic configuration of the second aspect, each of the distance detecting means is configured to transmit an ultrasonic wave as the detection signal.

In a reaper, when a reaping operation is performed, a large amount of dust such as fine straw chips and dust may be generated. For example, an optical signal may be used as a detection signal. If an optical signal is used, the above-described dust may adhere to the light emitting portion and the light receiving portion of the reflection signal, and may not be able to perform distance detection properly.
The use of ultrasonic waves makes it difficult to be affected by such dust and makes it possible to continue an appropriate distance detection operation for a long period of time.

According to a third aspect of the present invention, at least one of the respective distance detecting means scans the distance detection direction in a vertical direction over a set angle range, and detects the object to be detected in the detection direction. It is configured to sequentially detect the separation distance to the object in a state corresponding to the vertical scanning position at that time, and during one of the moving operations during the upward movement or the downward movement Only the distance detection operation is performed.

Therefore, while at least one of the distance detection means scans the distance detection direction in the vertical direction over the set angle range, the distance between the object and the detection object in the detection direction is determined by the vertical scanning at that time. Detection is performed sequentially in a state corresponding to the position. That is, the distance information to the detection target when the detection direction changes up and down is sequentially detected. That is, as described above, the detection direction is configured to scan in the vertical direction over the set angle range. For example, even when the traveling body is inclined from the horizontal posture, the detection direction is made to correspond to the vertical scanning position. By sequentially detecting the separation distance to the detection target in the state, the position of the traveling body with respect to the outer periphery of the uncut stem group is properly determined.

By utilizing such a scanning configuration, the distance detection operation is executed only during one of the movement operations during the upward movement and the downward movement. While it is possible to sequentially detect the separation distance to the detection target in a state corresponding to the vertical scanning position, the detection operation of the other distance detection means is performed at a reasonable timing using the free time. be able to.

According to a fourth aspect of the present invention, based on the information of the position discriminating means, as the non-cutting culm reaches the end position of one work stroke along the outer periphery of the uncut culm group, In order to perform forward turning and running toward the side approaching the stem and stem group, and then to perform turning and running for switching the working process in which the backward turning and running is performed at a position just before the next working process intersecting with the one working process. And a turning control means for controlling the operation of the traveling device.

Therefore, as described above, the turning travel for switching the work process is performed while directly detecting the distance to the outer periphery of the uncut stems and accurately determining the position of the machine body with respect to the uncut stems. It is. That is, as it reaches the end position of one work stroke along the outer circumference of the uncut stems and culms, it is made to turn forward toward the side approaching the uncut stems and culms, and then
The vehicle is caused to make a reverse turning movement to a position just before the next work process crossing the one work process.

At this time, the distance to the outer periphery of the uncut stem group is directly detected at a plurality of spaced locations on one side of the traveling body, and the position of the body relative to the uncut stem group is determined. The turning travel for switching the work process as described above
It can be performed properly.

[0019]

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 1R and 1L, a threshing device 2, a front side of a traveling machine 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 comprises a raising device 5 for causing the falling grain culm, a cutting blade 6 for cutting the root of the raised planted grain culm, and a rear part of the machine body while changing the cut grain culm 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 ground height of the cutting unit 3 is provided at a lower rear side of the cutting unit. A stock sensor S0 is provided which is activated and is turned off when the stock of the harvested grain culm does not 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.

The continuously variable transmission 10 is gear-changed by an electric motor 13 for gear-shifting operation, is linked to 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 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 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.
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 harvesting operation, and the upper limit vehicle speed setting unit 22 provided in the aircraft operating unit 4 controls the engine load. Vehicle speed control for automatically adjusting the vehicle speed (specifically, the operating 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 set upper limit vehicle speed. ing.

A lower part of the raising device 5 of the cutting unit 3 is provided with a detection bar which swings toward the rear side of the machine body in contact with the planted grain culm introduced into the cutting unit 3 as the vehicle runs. Further, a contact type direction sensor S4 for detecting the position of the planted grain culm in the lateral direction of the machine based on the swinging state of the detection bar 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.

As shown in FIGS. 1, 2 and 4, a distance L to a planted grain culm T located in front of the running machine 9 at a cut side (right side of the machine) at the front side of the running machine 9 is detected. A pair of ultrasonic sensors S3a1 and S3a2 are provided side by side in the left-right direction with the detection direction facing the front of the machine body. In addition, a pair of ultrasonic sensors S3b and S3c for detecting a distance L to a planted grain culm T located on the lateral side of the aircraft are provided on a lateral side of the traveling aircraft 9 on the uncut side (the aircraft left side). It is provided at a set interval in the longitudinal direction of the fuselage in a state where the direction is directed to the lateral side of the fuselage. The ultrasonic sensors S3a1, S3a2, S
Each of 3b and S3c includes a transmitter for transmitting an ultrasonic wave toward the outside of the fuselage and a receiver for receiving the ultrasonic wave reflected by the detection target, and transmits the ultrasonic wave. It is configured to detect a distance to an object to be detected (planted grain culm T or ground) based on the time until reception. still,
Ultrasonic sensors S3a1 and S3a2 located at the front of the fuselage and ultrasonic sensors S3b located at the front side lateral to the fuselage
Is located above the planted grain culm T, is configured to measure the distance by transmitting ultrasonic waves in a state where the detection direction is on the outside of the body and diagonally downward, and The ultrasonic sensor S3c located on the rear side is provided at a low position on the lateral side of the body. Specifically, the ultrasonic sensors S3a1 and S3a2 located at the front of the fuselage are provided on the control cylinder 45 of the aircraft, and the ultrasonic sensors S3 located at the front side of the lateral side of the aircraft.
b is mounted and supported on a stay 46 extending from the body fixing portion.

As shown in FIG. 9, the ultrasonic sensor S3b (an example of a measuring means) located on the front side of the fuselage is capable of swinging up and down around a horizontal axis X along the longitudinal direction of the fuselage. Scanning mechanism 47 supported and scanning means
The ultrasonic transmission direction (distance detection direction) is configured to be scanned in the vertical direction over a set angle range. The scanning mechanism 47 includes an electric motor 48 serving as a driving actuator, and a rotational power of the electric motor 48 for decelerating the ultrasonic sensor S3b to perform a vertical swing operation (scan) around the horizontal axis X. Reduction gear mechanism 4
9 and the like, and a potentiometer type angle detection sensor S6 (up and down) for detecting a vertical swing operation position in the ultrasonic wave transmission direction (distance detection direction) of the ultrasonic sensor S3b, which is changed by the operation of the scanning mechanism 47. An example of a position detecting means) is provided.

Then, as described later, the ultrasonic sensor S3b uses the scanning mechanism 47 to vertically oscillate the ultrasonic wave transmitting direction over a set angle range, and outputs the detection information of the separation distance to the object to be detected. The detection is sequentially performed in a state corresponding to the vertical position information (detected value of the vertical position sensor) at the time.

As shown in FIG. 2, a control device 16 using a microcomputer is provided.
Stock sensor S0, rotation number detection sensor S1, rotary encoder S2, direction sensor S4, cutting height sensor S5, ultrasonic sensors S3a1, S3a2, S3b, S3c, angle detection sensor S6, threshing switch SW2 and cutting switch SW1, upper limit Each piece of detection information of the vehicle speed setting device 22 is input. On the other hand, the control device 16 outputs drive signals for the electric motor 13 for the speed change operation, the electric motor 48 for the rocking operation, the solenoid valve 25 for cutting and lifting, and the solenoid valve 19 for steering. I have.

As shown in FIG. 3, the combine is performed on the uncut stem culm group M in a so-called round-cut manner with respect to the rectangular uncut stem culm M along each side M1-M4 of the outer periphery of the uncut stem culm group M. The traveling process is performed such that the reaping travel is performed in sequence, and when reaching the end position of each work process, the process moves to the next adjacent work process.
In other words, by using the control device 16, as the vehicle reaches the end position of one work stroke along the outer circumference of the uncut stem group M, the vehicle turns forward toward the side approaching the uncut stem group M. Then, the turning control means 100 for controlling the operation of the crawler traveling device 1 is configured so as to make the vehicle reversely turn and travel to a position just before the next work stroke crossing the one work stroke. Then, the turning control means 100 stops the forward turning traveling, and then stops the ultrasonic sensor S3.
b, Based on the position detection information of the traveling body with respect to the outer periphery of the uncut stems and culms detected in S3c, the control information in the reverse turning travel is set so that the traveling body is properly positioned at a position before the next work stroke. The correction is performed, and based on the corrected control information, the left and right crawler traveling devices 1 </ b> R and 1 </ b> L in the reverse turning traveling are controlled.

When performing the forward turning travel, the control device 16 changes the ultrasonic transmission direction of the ultrasonic sensor S3b over a set angle range (for example, about 30 degrees) as shown in FIG. The operation of the scanning mechanism 47, specifically, the operation of the electric motor 48 for swinging operation is controlled so as to scan in the vertical direction, and the measurement information of the separation distance to the detection target detected by the ultrasonic sensor S3b. Are sequentially taken in a state corresponding to the vertical position information (the detection value of the angle detection sensor S6) at that time, and a change point at which the measured distance changes extreme according to the change in the vertical position, that is,
A change point where the measurement distance changes so as to gradually decrease from a state in which the measurement distance gradually increases according to a change in the vertical position (or a measurement distance changes so as to gradually increase from a state in which the measurement distance sequentially decreases in accordance with a change in the vertical swing angle). Based on the measured distance at the change point, the position information of the traveling machine 9 with respect to the outer periphery of the uncut stem group (specifically, as shown in FIG. The position of the body is determined, and based on the determination result, the operation of the crawler traveling devices 1R and 1L is controlled to stop the forward turning travel. Accordingly, the position determining means 101 for determining the position of the traveling machine body with respect to the outer periphery of the uncut stem group using the control device 16 is configured.

Further, the control device 16 controls the ultrasonic sensor S
The vertical movement speed of the ultrasonic sensor S3b is changed and adjusted so that the ultrasonic wave transmission direction (distance detection direction) by the sub sensor 3b is faster as it is located on the lower side and slower as it is located on the upper side. In accordance with the detection operation, the moving operation area is configured to be repositioned and adjusted such that the smaller the detected value of the distance to the outer periphery of the uncut stem group is, the lower the detected value is. Accordingly, a scanning control unit 102 that controls the operation of the scanning mechanism 47 by using the control device 16 is configured. In other words, when the ultrasonic wave transmission direction (detection direction) is located on the lower side, the separation distance to the detection target becomes shorter, and when it is located on the lower side, the separation distance becomes longer. By reducing the moving speed, it is easy to detect a change in the measured distance data with respect to a change in the detected value of the vertical position, and it is easy to accurately detect the distance to the outer periphery of the uncut stem. In addition, as the detection value of the distance to the outer periphery of the uncut stem group as the detection target becomes smaller, the position of the moving operation area is changed downward so that the detection point with respect to the outer periphery of the uncut stem group (the change point). Is located from the center of the movement operation area,
The change point can be detected at an appropriate detection timing.

Hereinafter, the traveling control by the control device 16 will be specifically described with reference to the flowcharts of FIGS. As shown in FIG. 7, when running starts from the starting position of one work process along the outer periphery of the uncut stem group M,
On the basis of the detection information of the direction sensor S4, steering control for controlling the electromagnetic valve 19 for steering so that the traveling body 9 moves straight while cutting along the work path, and the detection information of the cutting height sensor S5. The cutting height control that controls the solenoid valve 25 for raising and lowering the cutting so that the ground height of the cutting unit 3 is maintained at an appropriate height based on the cutting load, and the engine load is maintained at the target load within a range that does not exceed the upper limit vehicle speed. The vehicle speed control for controlling the vehicle speed is executed until it is determined that the stock sensor S0 is turned off and reaches the end position of the work stroke. When it is determined that the end position of the work process has been reached, it is determined whether or not the mowing work on the uncut stem group M has been completed. If the work has not been completed, the work is moved to the next adjacent work process. Control for turning. On the other hand, if the work is completed, the traveling is stopped and the control is ended.

In the turning control, 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. 6, 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 move forward and revolve to the left so that the front part of the body approaches the uncut stem group M. Based on the detection distance information of the ultrasonic sensor S3b located on the left front side, basically, the angle at which the traveling body 9 is positioned with respect to the uncut stem group M (for example, the angle formed with respect to the next side). When the angle θ) becomes a set angle (for example, 45 degrees) (becomes a target position), the forward left turning travel is stopped. Specifically, the detection distance information of the ultrasonic sensor S3b is detected. When the detected position of the traveling body with respect to the outer periphery of the uncut stem group approaches a predetermined range with respect to the target position (when the distance from the target position becomes equal to or less than a set value), the target Drive to reach position Seeking can target travel distance, the after travel by the target travel distance, exit the forward turning traveling stopped by, to release the braking of the left crawler traveling device 1L.

The operation of detecting the distance by the ultrasonic sensor S3b will be described with reference to the flowchart of FIG. The operation of the electric motor 48 for rocking operation is controlled so that the ultrasonic wave transmitting direction by the ultrasonic sensor S3b is scanned in the vertical direction over the set angle range, and the ultrasonic sensor is operated during the upward moving operation. The measurement information of the separation distance to the detection target detected in S3b is sequentially detected in a state corresponding to the vertical position information (the detection value of the angle detection sensor S6) at that time. The set angle range is shown in FIG.
As shown in FIG. 3, the relative position with respect to the traveling machine body 9 is set in advance, and the measurement information detected by the ultrasonic sensor S3b is detected in accordance with the detection value (vertical position information) of the angle detection sensor S6. . Then, as shown in FIG. 12, the distance at the changing point Q where the measurement distance extremally changes from a state in which the measurement distance gradually increases as the vertical position changes to the large side, and then gradually decreases, is set as the distance of the uncut stem. As the distance information to the outer periphery, the angle at which the traveling machine 9 is positioned with respect to the uncut stem group M (for example, the angle θ formed with the next side) is determined based on the distance information.

That is, as shown in FIG. 13, when the ultrasonic wave transmission direction of the ultrasonic sensor S3b is swung upward, for example, from below, the ground is detected while reaching the outer periphery of the uncut stem, and the detection distance is increased. Gradually changes to the large side. When the uncut stem is reached, the detection distance shortens along the outer surface of the uncut stem, and when it reaches the upper side of the uncut stem, the detection distance changes to the large side again. Therefore, the change point Q can be obtained as the distance to the outer periphery of the uncut stem. At this time, the vertical movement speed of the ultrasonic sensor S3b is changed and adjusted so that the ultrasonic wave transmission direction (detection direction) by the ultrasonic sensor S3b is higher as the position is lower and lower as the position is higher. By the distance detection operation, the position of the movement operation area is adjusted so as to be located on the lower side as the detection value of the distance to the outer periphery of the uncut stem group decreases,
The operation of the electric motor 48 for swing operation is controlled based on the detection information of the angle detection sensor S6 (see FIG. 13C). In this way, the transmission direction of the ultrasonic wave swings up and down, so that, for example, as shown in FIG. The distance can be accurately detected.

Next, after stopping the forward turning travel,
With the traveling body stopped running, the ultrasonic sensor S3b again performs the above-described distance detection operation to the outer periphery of the uncut stem group, and the ultrasonic sensor S3c on the left rear side of the body does not perform cutting. The distance detection operation to the outer periphery of the stem / culm group is also executed. However, the ultrasonic sensor S3c has a fixed ultrasonic transmission direction, and detects the distance based on the time until the ultrasonic wave is reflected. At this time, the ultrasonic sensors S3b and S3c are configured to execute the distance detection operation at different timings. In this way, it is possible to avoid the possibility that the other sensor erroneously receives the ultrasonic waves transmitted from each other and detects an inappropriate distance. More specifically, as described above, the ultrasonic sensor S3b on the left front side of the aircraft performs the distance detection operation only during the operation of moving upward when scanning up and down. The rear ultrasonic sensor S3c is shown in FIG.
As shown in FIG. 1, only when the ultrasonic sensor S3b on the left front side of the fuselage performs the downward movement operation, the distance detection operation is performed, and the ultrasonic sensor S3b on the left front side of the fuselage performs the upward movement operation. During this time, it waits without executing the detection operation. To further explain the distance detection operation by the ultrasonic sensor, when an ultrasonic wave is transmitted from the transmitter, the receiver performs a reception process so that the looping wave is not erroneously detected during a set time from the transmitter. Do not execute. Then, when the set time has elapsed, it is determined that the reflection signal due to the detection target has been received, based on whether or not the level of the received reflection signal exceeds the threshold value. Since the ultrasonic wave is attenuated as the distance over which the ultrasonic wave propagates, the threshold value is set to decrease with time.

Based on the pair of distance information (Lb, Lc) detected in this manner, the turning direction and the turning amount for correcting the attitude of the traveling body 9 (these correspond to the correction information in the reverse turning traveling). To do). That is, as shown in FIG. 14, the stop position of the traveling machine 9 is within a permissible range close to a preset target position of the traveling machine 9 with respect to the outer circumference of the unshrewed culm group. It is determined whether the vehicle has turned too far to the left or the amount of left turning is insufficient, and if it is within the allowable range (see FIG. 14 (a)), the process proceeds to straight-ahead traveling of the subsequent process without correcting the direction. I do. If the traveling machine body 9 has turned too far to the left (see FIG. 14B), the turning direction is set to “left” and the turning amount necessary to correct the positional deviation is set. When the left turning amount of the traveling body 9 is insufficient (see FIG. 14C), the turning direction is set to “right” and the turning amount necessary to correct the positional deviation is set. .

Then, the operation for correcting the position of the machine body is executed in the turning direction and the turning amount determined as described above. In other words, after the vehicle is turned while traveling backward by the set amount of turning in the set turning direction, the traveling is stopped to correct the position of the body.

Next, as shown in FIG. 4 (c), the vehicle is caused to travel backward from the above-mentioned turning traveling stop position to a turning traveling start position in a 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. Also at this time, the distance measurement by the ultrasonic sensor S3b as described above is sequentially performed, and as the detection value of the distance to the outer periphery of the uncut stem group detected by the distance detection operation decreases, the distance decreases toward the lower side. The operation of the electric motor 48 for rocking operation is controlled based on the detection information of the angle detection sensor S6 so as to be positioned (see FIG. 13C) so as to change the position of the moving operation area.

When the vehicle reaches the turning start position, FIG.
(C) As shown in (d), the steering clutch brake 17R on the right side is turned off to cause the traveling body 9 to make a reverse left turning travel. Then, as the traveling body 9 is located in front of the next adjacent work stroke, the reverse left turning traveling is stopped. Here, the fact that the traveling machine body 9 is located at a position short of the next work process means that the distance detection signal a of the ultrasonic sensor S3a1 located on the left side of the pair of left and right ultrasonic sensors S3a1 and S3a2 on the front side of the machine body. The determination is made based on the fact that the state has changed from the large distance state to the state of detecting the planted grain culm T on the front side of the aircraft. Next, a pair of left and right ultrasonic sensors S on the front side of the fuselage from a position just before the next work process.
Ultrasonic sensor S located on the left of 3a1 and S3a2
Steering is performed so that the distance detection signal a of 3a1 maintains the state of detecting the planted grain culm T on the front side of the fuselage, and the distance detection signal a of the ultrasonic sensor S3a2 on the other side maintains the state of detecting a large distance. While traveling forward while controlling the solenoid valve for
After the reaping unit 3 is lowered, the reaping operation in the next operation step is started. As the harvesting operation is started and the stock sensor S0 is turned on, the process shifts to the steering control, the cutting height control, and the vehicle speed control.

In this embodiment, the position determining means 10
As the position of the traveling machine body 9 with respect to the outer periphery of the uncut stem group M determined in step 1, specifically, the stop position of the forward left turning travel (FIG. 4B) is used. Therefore, the ultrasonic sensor S3b on the front side of the fuselage and the ultrasonic sensor S3 on the rear side of the fuselage
3c corresponds to a distance detecting means, and the scanning mechanism 47 and the scanning control means 102 constitute a scanning means IS.

[Other Embodiments] (1) In the above embodiment, the ultrasonic sensors S3b and S3c are used after the forward turning traveling is completed and the traveling is stopped.
On the basis of the position detection information of the traveling body detected at, the turning direction and the traveling movement amount when performing the backward turning traveling are changed and set, and the traveling traveling backward in the turning direction by the traveling traveling amount is performed. In order to correct the position, the operation of the traveling device in the reverse traveling stroke is controlled, but instead of such a configuration, the following configuration may be adopted.

In the reverse turning traveling, the traveling body is configured to travel backward by a set distance in a straight traveling state, and then to travel backward while turning in a predetermined direction so as to be located at a position just before a next work stroke. Based on the position detection information of the traveling body detected by the position detection means after the forward turning traveling is completed and the traveling is stopped, the set distance when the vehicle travels backward in the straight traveling direction is changed and set. May be configured. More specifically, FIG.
As shown in FIG. 16, after the forward turning traveling is stopped, in a state where the traveling body has stopped traveling, the ultrasonic sensor S3b again performs the distance detection operation to the outer periphery of the uncut shoot culm group as described above. At the same time, the operation of detecting the distance to the outer periphery of the uncut stem group by the ultrasonic sensor S3c on the rear left side of the machine is also executed. However, this ultrasonic sensor S3
In the case of c, the ultrasonic wave transmission direction is fixed, and the distance is detected by the time until the ultrasonic wave is reflected. At this time, similarly to the above-described embodiment, the ultrasonic sensor S3b on the left front side of the body performs the distance detection operation only during the operation of moving upward when scanning up and down. As shown in FIG. 11, the left rear ultrasonic sensor S3c performs the distance detection operation only when the front left ultrasonic sensor S3b is moving downward, and the front left ultrasonic sensor S3b. While the sensor S3b is performing the upward movement operation, it waits without executing the detection operation. Then, a pair of distance information (Lb, L
Based on c), the set distance (retreat amount) when the vehicle travels straight backward is changed and set, and after the vehicle travels straight backward by the set distance, the vehicle turns left.

For example, as shown in FIG. 18A, when the forward turning traveling is completed and stopped, the traveling body 9 has an insufficient left turning amount (when the angle θ is large). After the set distance (retreat amount) is set to a small value, the vehicle travels straight back by the set amount, and then makes a left turn toward a position just before the next work stroke as in the above embodiment (FIG. 18).
(B), (c)), and as shown in FIG. 19 (a), when the traveling body 9 has turned too far to the left when the forward turning traveling is completed and stopped, ( If the angle θ is small), the set distance (retreat amount) is set to a large value, and the vehicle is moved straight back by the set amount. Then, the vehicle turns left (FIG. 19 (b), (c)).

In this way, when the reverse turning travel is completed, the position of the traveling machine body can be adjusted to a position as close as possible to a position before the next work stroke.

In this configuration, the ultrasonic sensors S3 provided at intervals in the front-rear direction of the traveling body.
The apparatus is configured to measure the actual travel movement amount (retreat amount) of the body in the straight-ahead and reverse travel using the detection information of b and S3c. With reference to FIG. 17, for example, a description will be given of a distance detection method when the traveling body has moved from the position shown in FIG. 17A to the position shown in FIG. 17B. Assuming a virtual point G where a virtual line along the outer circumference of the cut stem group intersects, the detection value Lb1 of the ultrasonic sensor S3b at the position shown in FIG.
From the detection value Lc1 of the ultrasonic sensor S3c and the separation distance D between the sensors, a distance Q1 between the virtual point G and the ultrasonic sensor S3c is obtained from the following [Equation 1].

[0048]

## EQU1 ## Q1 = (Lc1.D) / (Lc1-Lb1)

Similarly, the detection value Lb2 of the ultrasonic sensor S3b at the position shown in FIG.
From the detection value Lc2 of c and the separation distance D between the sensors, the virtual point G and the ultrasonic sensor S3 are obtained from the following [Equation 2].
The distance Q2 to c is obtained.

[0050]

## EQU2 ## Q2 = (Lc2.D) / (Lc2-Lb2)

As a result, the travel distance of the traveling body during that time is obtained by (Q2-Q1). That is, by repeating such calculations sequentially, it is possible to measure the travel distance of the traveling body using the detection information of the ultrasonic sensors S3b and S3c.

Instead of such a method, it is also possible to carry out the present invention in various forms, such as obtaining the travel distance based on the rotation speed of the drive shaft of the travel device.

As described above, instead of detecting the actual movement amount in the reverse running in the straight running in the reverse turning travel, for example, the reverse travel time is limited to a set time. The vehicle speed at that time may be changed to change the movement amount.

(2) In the above-described embodiment, a configuration in which the ultrasonic sensor S3b scans vertically and the vertical position is detected by the angle detection sensor s6 is exemplified as the distance detecting means. And the ultrasonic sensor S
While swinging 3b up and down at a predetermined set speed,
By substituting the elapsed time as information on the vertical position, the position determination processing may be executed based on the measurement result of the ultrasonic sensor S3b with the lapse of time.

(3) In the above embodiment, the distance detection directions (ultrasonic transmission directions) of the plurality of distance detection means (each of the ultrasonic sensors S3b and S3c) are directed outward in one horizontal direction and are in the same direction (parallel). ) Is exemplified, but the present invention is not limited to such a configuration, and a configuration in which they are both transmitted toward the front of the fuselage may be adopted, or they may be set in different directions. For example, the present invention may be embodied in various forms, for example, one is directed toward the front of the fuselage and the other is directed outward on one side.

(4) In the above embodiment, the scanning means is provided only for the ultrasonic sensor S3b on the left front side of the body, but the scanning means is also provided for the other sensors in the vertical direction. It may be configured to vibrate and measure by associating the vertical position information with the measurement information. For example, as shown in FIG. 20, the ultrasonic sensor S3c on the left rear side of the fuselage
May be located above the planted grain culm, similarly to the ultrasonic sensor S3b on the left front side of the machine. or,
The scanning means may be provided so as to be freely scanable in the vertical direction, or may be provided at a fixed position.

(5) In the above embodiment, when the turning control means 100 controls the operation of the traveling device based on the discrimination information of the position discriminating means 101, the position of the traveling machine body 9 is set to the forward left turning traveling. Although the stop position (FIG. 4B) is used, a configuration may be adopted in which other body positions are determined.

(6) In the above embodiment, the traveling machine 9 is provided with the ultrasonic distance detecting means as the distance detecting means for detecting the distance to the outer periphery of the uncut stem group M. For example, an optical distance detecting unit that transmits and receives the detection light to the planted stem / culm 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, the reaper and harvester is constituted by a combine.
A rush harvester or the like 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.

FIG. 5 is a plan view showing a distance measurement operation in a traveling stop state.

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 flowchart showing a control operation.

FIG. 9 is a flowchart showing a control operation.

FIG. 10 is a flowchart showing a control operation.

FIG. 11 is a flowchart showing a control operation.

FIG. 12 is a diagram showing distance measurement information.

FIG. 13 is a rear view showing a distance measurement state.

FIG. 14 is a diagram showing a body correcting operation.

FIG. 15 is a flowchart illustrating a control operation according to another embodiment.

FIG. 16 is a flowchart showing a control operation according to another embodiment.

FIG. 17 is an explanatory diagram showing a measurement operation of a traveling movement amount.

FIG. 18 is a diagram showing reverse turning travel of another embodiment.

FIG. 19 is a diagram showing reverse turning travel of another embodiment.

FIG. 20 is a side view of a combine according to another embodiment.

[Explanation of symbols]

 1L, 1R traveling device 9 traveling body 100 turning control means 101 position discriminating means S3b, S3c distance detecting means

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Sora Aida 64 Ishizu-Kitacho, Sakai-shi, Osaka F-term in Kubota Sakai Works Co., Ltd. (Reference) 2B043 AA04 AB20 BA02 BA05 BA09 BB14 DA17 EA22 EB04 EB08 EB09 EB17 EB24 EB25 EC14 ED02 2B076 AA03 EC12 ED27 5H301 AA03 AA10 BB01 GG11

Claims (4)

[Claims] 1. A distance detecting device for detecting a distance to an outer periphery of an uncut shoot culm based on a time from when a detection signal is transmitted to one side of a traveling body to when a reflected signal from a detection target is received. A plurality of distance detecting means for performing the operation are arranged at intervals, and a mowing harvester provided with position determining means for determining the position of the traveling machine body with respect to the outer periphery of the uncut shoot culm based on the detection information of each distance detecting means. The harvester and harvester, wherein each of the distance detecting means is configured to execute the distance detecting operation at a timing different from time to time. 2. The harvester and harvester according to claim 1, wherein each of said distance detecting means is configured to transmit an ultrasonic wave as said detection signal. 3. While at least one of the distance detection means scans the distance detection direction in the vertical direction over a set angle range, the separation distance to the detection target in the detection direction is determined by the vertical The distance detection operation is configured to be sequentially performed in a state corresponding to the scanning position, and the distance detection operation is performed only during one of the movement operations during the upward movement or the downward movement. The reaper according to claim 1 or 2, wherein 4. Based on the information from the position discriminating means, as it reaches the end position of one work stroke along the outer periphery of the uncut stems and culms, it moves toward the side approaching the uncut stems and culms. Turning control for controlling the operation of the traveling device so as to perform forward turning traveling, and then perform turning traveling for switching a work process in which a reverse turning travel is performed at a location just before the next work process intersecting with the one work process. The reaper according to any one of claims 1 to 3, further comprising means.