JP2000270613A - Reaping harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reaping harvester designed to properly conduct a turning travel for the changeover of working stroke through detecting the position of a traveling machine body relative to the outer periphery of a group of unreaped culms by properly detecting the distance to the outer periphery of the group of unreaped culms even in case the traveling machine body is inclined concomitantly with its working travel. SOLUTION: This reaping harvester is such one as to be equipped with distance detective means S3b, IS and S6 successively detecting the distance to an object in such a mode as to correspond to the information of its vertical position at that time while the detection direction is vertically swung over a set angle range, and a position judging means 101 for judging the position of a traveling machine body relative to the outer periphery of the group of unreaped culms based on the detected distance information at a point where the distance thus detected varies from such a state as to become longer successively to such a state as to become shorter successively, and based on the information thus judged, the respective operations of travel units 1R and 1L are controlled to perform a turning travel of the machine body.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an uncut culm group which, when it reaches an end position of one work stroke along the outer periphery thereof, makes a forward turning movement toward a side approaching the uncut culm group. ,
Next, a turning control for executing a turning control for controlling the operation of the traveling device so as to perform a turning process for switching a work process in which a reverse turning process is performed at a position before a next work process intersecting with the one work process. The present invention relates to a reaper equipped with a means.

[0002]

2. Description of the Related Art A combine, which is an example of the above-mentioned reaper, is equipped with an azimuth detecting means such as a geomagnetic azimuth sensor as disclosed in Japanese Patent Application Laid-Open No. 62-163117.
In addition to detecting the azimuth of the traveling body and detecting the traveling distance of the traveling body by a traveling distance sensor that accumulates rotation pulses of a traveling drive shaft, detection information of the azimuth detecting means, and distance detection of the traveling distance sensor are provided. Based on the information and the like, the vehicle travels forward and turns toward the side approaching the uncut stems and culms, and then travels along a preset route so as to perform reverse rotation and travels to a location before the next work process. There has been a configuration in which turning control is performed to make it possible.

[0003]

In the above prior art, since the turning control is performed so as to travel along the set route based on the detection information of the geomagnetic azimuth sensor and the traveling distance sensor, the uncut shoot culm group It is difficult to accurately detect the position of the body with respect to the stalks, and as a result, there is a problem that it is not possible to accurately perform the turning travel for switching the work process on the uncut stem group. By the way, in the above-mentioned conventional technology, the reason why it is difficult to accurately detect the body position with respect to the uncut stem group is that, for example, when a slip occurs between the traveling device and the ground, the detection value of the traveling distance sensor indicates that the actual traveling An error occurs in the distance. Further, in the above-described conventional technique, the turning angle when moving to the next adjacent stroke is set in advance based on the shape of the uncut stem culm group, for example, 90 degrees for the rectangular uncut stem group. Therefore, in the case where the outer shape of the group of uncut stems and culms at a place where the vehicle is actually turned is slightly deformed, for example, so as to form an obtuse angle or an acute angle with respect to the above 90 degrees, the set angle is used. When the vehicle is turned, there is a possibility that the traveling body may not be properly located at a position short of the next work step.

Therefore, in order to avoid the disadvantages described above, a detecting means (for example, an ultrasonic sensor or the like) for detecting a separation distance to the outer periphery of the uncut stem group is provided on the outer peripheral portion of the traveling machine body. Then, it is conceivable that the position of the traveling body with respect to the outer periphery of the uncut stem group is detected based on the detection information of the detection means. At this time, as the detection means, for example, it is installed at a position lower than the upper end of the uncut stem culm group and the detection direction for the uncut stem culm group is set in the horizontal direction, It is conceivable to configure so as to detect the horizontal separation distance to the outer periphery.

[0005] However, in this type of reaper, when the traveling machine body is traveling, the traveling road surface is soft and the traveling device sinks, or the traveling device climbs on a stump or a protrusion on the ground. As a result, the traveling body may be inclined in the left-right direction or the front-back direction from the horizontal reference posture. When the traveling body is tilted in this way, the detection direction of the detection means is also inclined in the same manner, for example, not the separation distance to the outer periphery of the uncut stem group, but the separation to the ground near the traveling body. Incorrectly detecting the distance or the separation distance to a distant object through the upper part of the stem and stem, etc.
There was a possibility that an appropriate detection operation could not be performed.

The present invention has been made in view of such a point, and an object of the present invention is to make it possible to reach the outer periphery of the uncut stems and culms even if the traveling machine body runs while inclining with the work traveling. An object of the present invention is to accurately detect the separation distance to detect the position of the traveling body with respect to the outer periphery of the uncut stem group, so that the turning travel for switching the work process can be appropriately performed.

[0007]

According to the characteristic configuration of the present invention, a distance to the outer periphery of the uncut stem group is detected, and the uncut stem is calculated based on the detected distance information. Position detecting means for detecting the position of the traveling body with respect to the outer periphery of the vehicle is provided, and the turning control means is configured to execute the turning control based on the detection information of the position detecting means. The position detecting means sequentially scans the distance detection direction in the vertical direction over the set angle range, and sequentially associates the detection distance as the separation distance to the detection target with the vertical scanning position at that time. Non-contact type distance detecting means for detecting, based on detection information of the distance detecting means, based on detection distance information at a change point where the detection distance changes extremally according to the change of the vertical scanning position. Position determining means for determining the position of the traveling machine body with respect to the outer periphery of the uncut stem group.

That is, the distance to the outer periphery of the uncut stem group is detected, the position of the traveling machine body with respect to the outer periphery of the uncut stem is detected based on the detected distance information, and the position of the traveling machine is determined based on the information. The operation of the traveling device is controlled so that the vehicle travels forward toward the side approaching the stalk culm group, and then travels backward to a position just before the next work process that intersects one work process. At this time, the distance detecting means sequentially detects the distance to the object to be detected in a state corresponding to the vertical scanning position at that time while scanning the distance detecting direction in the vertical direction over the set angle range. become. That is, the distance information to the detection target when the detection direction changes up and down is sequentially detected. Here, if the detection target is only the ground, and if the detection direction swings upward, the separation distance changes so as to gradually increase. Conversely, if the detection direction swings downward, the separation distance will change so as to be sequentially reduced, but when the uncut shoot culm group exists within the set angle range. If the distance detection direction is scanned toward the upper side, when the ground is being detected, the separation distance is gradually increased, but once the uncut shoot culm group starts to be detected, the separation distance is sequentially changed. Since the extreme value changes so as to be shorter (see, for example, FIG. 10), it is possible to detect the distance to the outer periphery of the uncut stem group based on the distance information of such an extreme change point. Become. Therefore, the position of the traveling body with respect to the outer periphery of the uncut stem group is determined as little as possible using the detected distance information at the changing point where the detected distance changes extremally in accordance with the change in the vertical scanning position, with a minimum detection error. You can do it.

As a result, even when the traveling machine body is inclined with the work traveling, the traveling distance to the outer periphery of the uncut stem group is accurately detected by accurately detecting the separation distance to the outer periphery of the uncut stem group. The harvester can detect the position of the reaper and can appropriately perform the turning travel for switching the work process as described above.

According to a second aspect of the present invention, in the first aspect, the distance detecting means is a non-contact type measuring means for measuring a separation distance to an object to be detected, and the detecting means detects the distance. Scanning means for scanning the direction in the vertical direction over the set angle range, and vertical position detecting means for detecting the vertical scanning position in the detection direction are provided.

While the scanning means scans the distance detection direction of the measurement means in the vertical direction over the set angle range, the vertical scanning position detected by the vertical position detection means, the distance information measured by the measurement means, Is output in a corresponding state, so that the correspondence between the distance measurement result and the vertical scanning position can be obtained with high accuracy. May be used as the information of the vertical position,
Compared with such a configuration, the position information of the traveling machine body with respect to the outer periphery of the uncut stem group can be obtained with higher accuracy.

According to a third aspect of the present invention, in the second aspect, the scanning unit is configured to increase the speed as the distance detection direction is located on the lower side and to be slower as the distance detection direction is located on the upper side. The vertical movement speed of the measuring means is changed and adjusted.

That is, when the measuring means measures the separation distance to the detection target while scanning the distance detection direction up and down, the distance to the detection target decreases as the position moves downward, and the position moves upward. The longer the distance, the greater the ratio of the change in the detected distance to the change in the vertical position of the measuring means when swinging at a higher position on the upper side than when swinging at a lower position on the lower side (for example, , FIG.
Therefore, if the vertical movement speed of the measuring means is set to the same speed over the entire range of the set angle range, the speed is relatively slow in order to secure detection accuracy when swinging at a high position on the upper side. Need to set to speed,
In this case, when the camera shakes at a lower position on the lower side, the processing is delayed, and there is a disadvantage that the work efficiency of distance detection is reduced as a whole.

Therefore, the vertical movement speed is changed and adjusted so that the distance detection direction is higher as the position is lower and lower as the position is higher. , The detection accuracy when swinging at a high position on the upper side can be ensured.

According to a fourth aspect of the present invention, in the second or third aspect, the scanning means is located at a lower position as the detected value of the distance to the outer periphery of the uncut stem group decreases. The measuring means is configured to change and adjust a scanning area in which the scanning means moves up and down.

That is, when the distance to the outer periphery of the uncut stem group is detected along with execution of the distance detecting operation by the distance detecting means, in the subsequent detecting operation, the distance to the outer periphery of the uncut stem portion is increased. The scanning area in which the detection direction of the measuring means is vertically shifted is changed so that the smaller the detection value of the distance becomes, the lower the position becomes. As a result, if the detection value of the distance to the outer circumference of the uncut stem group is small, the traveling body is closer to the outer circumference of the uncut stem group, so the scanning area is repositioned downward, and conversely, the detected value is reduced. If it is large, the traveling body is far from the outer circumference of the uncut stems, so the scanning area is repositioned upward, so that the outer circumference of the uncut stems to be detected is located within the set angle range and the distance is appropriate. The detection operation can be easily performed.

According to the characteristic configuration of the fifth aspect, in any one of the second to fourth aspects, the scanning unit may be configured such that the change point detected as a distance to the outer periphery of the uncut stem group is: The scanning area is configured to be changed and adjusted so as to be located at the center side of the scanning area.

Therefore, when the distance to the outer periphery of the uncut stem group is detected along with the execution of the distance detecting operation by the distance detecting means, the distance to the outer periphery of the uncut stem group is detected in the subsequent detecting operation. Since the scan area is changed and adjusted so that the change point detected as is located at the center side of the scan area, the change point is detected at an appropriate interval from once detected to next detected. Thus, the time required for the discrimination processing by the position discrimination means can be lengthened, and the position discrimination processing can be performed properly.

According to the characteristic configuration of the sixth aspect, in any one of the second to fifth aspects, the position determining means determines that the change point detected as a distance to the outer periphery of the uncut stem group is not changed. In the case where the scanning area is biased toward one end, based on one of the measurement information during the upward movement by the measurement means, or the measurement information during the downward movement, the outer periphery of the uncut stem group is And the vibration operation means is configured to perform the movement operation of the measurement means when not used for the position determination processing at a higher speed than other movement operations. Have been.

Therefore, when the change point is deviated to one end of the scanning area, the position determining means uses the measurement result of the measuring means during the upward movement or the downward movement of the measuring means. The time interval between the detection of the change point and the detection of the next change point is detected by increasing the time interval, so that the time required for the determination processing by the position determination means can be extended, and the position determination processing can be performed properly. Can be done. In addition, since the moving operation of the measuring means when not used for the position determination processing is performed at high speed, wasted time not involved in distance measurement can be reduced as much as possible, and a reduction in the work efficiency of distance detection can be avoided.

According to a seventh aspect of the present invention, in any one of the first to sixth aspects, the distance detecting means transmits an ultrasonic wave in the detection direction and then reflects the ultrasonic wave on the detection target. Based on the time until the received ultrasound
It is constituted by an ultrasonic sensor for detecting a separation distance to the detection target.

When an optical sensor, for example, is used as the distance detecting means, dust such as fine straw chips and dust generated during the reaping operation adheres to the light emitting / receiving portion of the detection light and is appropriately applied. In contrast to the disadvantage that the distance may not be detected, the above configuration allows the distance to be detected appropriately without being affected by dust or the like.
It is possible to cope with a configuration as simple as possible including a transmitting unit and a receiving unit for ultrasonic waves.

According to a characteristic configuration of the present invention, in any one of the first to seventh aspects, the position determining means determines the position of the traveling body with respect to the outer periphery of the uncut stem group as the uncut stem. It is configured to determine a stop position of a traveling process of traveling forward toward the side approaching the culm group.

In the above-described traveling process, when the cutting operation of one working process is completed and the turning operation is performed toward the side approaching the uncut stem group as the reaping position is reached, for example, the traveling operation is performed in the middle of the operation. Even if the device slips, etc., it is possible to accurately detect whether or not the vehicle has reached a target turning position at which the turning operation should be stopped based on the distance detection information. Can be done.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A combine as an example of a reaper according to the present invention will be described below with reference to the drawings. As shown in FIG. 1, the combine includes a pair of left and right crawler traveling devices 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 includes 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 and is interlocked with a gear-shift lever 12 provided on the control unit 4. Operation of electric motor 1
An electric motor 13 is linked via a friction type transmission mechanism 14 in a linking path between the shift lever 12 and the transmission 10 in order to give priority to the shift operation by the shift gear 3. Also, an electromagnetic valve 25 for controlling the supply of pressure oil to the mowing elevating cylinder 23 and operating the mowing unit 3 up and down.
And the left and right steering clutch brakes 17L, 17R.
And a solenoid valve 19 for steering for controlling the supply of pressure oil to the clutch to turn on / off each clutch and perform a brake operation.

The engine E, the threshing device 2 and the reaper 3
Are interlocked and connected via a belt tension type threshing clutch 33 and a reaping clutch 34, respectively. And
A threshing clutch lever 32 and a reaping clutch lever 31 for manually turning on and off the threshing clutch 33 and the reaping clutch 34, respectively, are provided in the control section 4. 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.

Further, a detection bar is provided at the lower side of the raising device 5 of the reaping unit 3 and swings toward the rear side of the machine body in contact with the planted grain culm introduced into the reaping unit 3 as the vehicle travels. 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 vehicle body 9 at a cut side (right side of the vehicle body) on the front side of the vehicle body 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 lateral side of the fuselage can swing up and down around a horizontal axis X along the longitudinal direction of the fuselage. While being supported, the scanning mechanism 47 swings the ultrasonic wave transmission direction (distance detection direction) in the vertical direction over a set angle range. The scanning mechanism 47 includes an electric motor 48 as a driving actuator.
And a speed reduction gear mechanism 49 for decelerating the rotational power of the electric motor 48 and vertically operating (scanning) the ultrasonic sensor S3b around the horizontal axis X. A potentiometer type angle detection sensor S6 (an example of a vertical position detecting means) 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 47 is provided. .

Then, as described later, the ultrasonic sensor S3b uses the scanning mechanism 47 to scan the ultrasonic wave transmitting direction in the vertical direction over a set angle range, and obtains 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 scanning position (detected value of the angle detection sensor) at that 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 group M in a so-called round-cutting manner with respect to the rectangular uncut stem group M along each side M1 to M4 on the outer periphery of the uncut stem 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 crawler traveling devices 1R and 1R are moved so as to perform a reversing traveling for a reversing traveling at a position just before the next operation crossing the one operation.
Turning control means 100 for controlling the operation of L is configured.

The controller 16 causes the ultrasonic wave transmitting direction of the ultrasonic sensor S3b to scan up and down over a set angle range (for example, about 30 degrees) when performing the forward turning travel. Electric motor 4 for swing operation
8, and sequentially captures the measurement information of the separation distance to the detection target detected by the ultrasonic sensor S3b in a state corresponding to the vertical scanning position (detected value of the vertical position sensor) at that time, A change point where the measurement distance changes extremally according to the change in the vertical scanning position, specifically,
A changing point that changes from a state of gradually increasing to a state of gradually decreasing (or a changing point of a measurement distance that changes from a state of sequentially decreasing to a state of gradually increasing according to a change in the vertical swing angle)
Based on the measured distance in the above, the position information of the traveling machine 9 with respect to the outer periphery of the uncut stem group (specifically, FIG.
As shown in (1), it is configured to determine the inclination state of the traveling body with respect to the outer periphery of the uncut stems and culms, and based on the determination result, the operation of the crawler traveling devices 1R and 1L to stop the forward turning traveling. Is controlled. 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 unit 16 controls the ultrasonic sensor S
The vertical movement speed of the ultrasonic sensor S3b is changed and adjusted so that the ultrasonic transmission direction (detection direction) of the ultrasonic sensor 3b is lower when positioned on the lower side and lower when positioned on the upper side. With the operation, the scan 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. Therefore, the scanning control means 102 for controlling the operation of the scanning mechanism 47 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, by changing the position of the scanning area downward as the detection value of the distance to the outer periphery of the uncut stem group as the detection target decreases, the detection point (the change point) with respect to the outer periphery of the uncut stem group is reduced. The change point is located at a position from the center of the scanning area, and the change point can be detected at an appropriate detection timing.

Hereinafter, the running control by the control device 16 will be specifically described with reference to the flowcharts of FIGS. As shown in FIG. 6, when the vehicle starts traveling from the start position of one work process along the outer periphery of the uncut stem group M, the traveling machine 9 travels straight along the work process based on the detection information of the direction sensor S4. Steering control for controlling the electromagnetic valve 19 for steering so as to make the harvesting run, and the cutting height sensor S
5. The cutting height control for controlling the solenoid valve 25 for raising and lowering the cutting so as to maintain the ground height of the cutting unit 3 at an appropriate height based on the detection information of 5, and the engine load is set within a range not exceeding the upper limit vehicle speed. The vehicle speed control for controlling the vehicle speed is maintained until the stock sensor S0 turns 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, the vehicle speed is adjusted so that the vehicle travels forward or backward while traveling at a preset traveling speed. The control is executed as shown in FIGS. Is done. 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 means that the distance detection signal b of the ultrasonic sensor S3b on the left front side of the body first changes from the small distance to the large distance as shown in FIG. Further, the determination is made based on that the distance detection signal c of the ultrasonic sensor S3c on the left rear side of the body has changed from a small distance to a large distance when the body further travels forward.

When the vehicle reaches the turning start position, FIG.
As shown in the figure, the left crawler traveling device 1L is operated by a brake to cause the traveling body 9 to turn left so that the front side of the fuselage approaches the uncut stem group M, and the left side of the body during the turning traveling. Based on the detection distance information of the ultrasonic sensor S3b located on the front side, the angle at which the traveling body 9 is positioned with respect to the uncut stem group M (for example, the angle θ made with the next side) is determined. (This operation corresponds to the position determination process.) When the angle reaches a set angle (for example, 45 degrees), the left turning traveling of the forward traveling is stopped, and the brake operation of the left crawler traveling device 1L is released.

When executing the forward left turning travel,
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 vertically swung over the set angle range, and the ultrasonic sensor S
The measurement information of the separation distance to the detection target detected by 3b is sequentially detected in a state corresponding to the vertical position information (the detection value of the angle detection sensor S6) at that time. As shown in FIG. 9, the set angle range has a relative position with respect to the traveling body 9 set in advance, and is detected by the ultrasonic sensor S3b in accordance with the detection value (vertical position information) of the angle detection sensor S6. It detects measurement information. And
As shown in FIG. 10, the distance at the changing point Q where the measured distance changes from a state where the measurement distance is gradually increased to a gradually shortened state as the vertical position changes to the large side as distance information to the outer periphery of the uncut stem. Based on the distance information, an angle at which the traveling machine body 9 is positioned with respect to the uncut stem group M (for example, an angle θ formed with the next side) is determined. Then, as the angle becomes a set angle (for example, 45 degrees), the forward left turning traveling is stopped (see FIG. 4B).

That is, as shown in FIG. 10, when the ultrasonic wave transmission direction of the ultrasonic sensor S3b is swung upward, for example, from below, the detection distance is detected while the ground is detected before reaching the outer periphery of the uncut stem. 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) of the ultrasonic sensor S3b is faster as it is located on the lower side and becomes slower as it is located on the upper side. The detection information of the angle detection sensor S6 is used to adjust the position of the scanning area 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 by the distance detection operation. The operation of the electric motor 48 for swinging operation is controlled based on (see FIG. 9C). By scanning the transmission direction of the ultrasonic wave in the vertical direction in this way, for example, as shown in FIG. Can be accurately detected.

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. At this time, the measurement by the ultrasonic sensor S3b is sequentially performed in association with the detection information of the angle detection sensor S6 in the same manner as in the above-described control, and the distance detection operation detects the value of the distance to the outer periphery of the uncut stem group. As shown in FIG. 9 (c), the electric motor 48 for the swing operation is controlled based on the detection information of the angle detection sensor S6 so that the scanning area is changed in position so as to be positioned lower as the distance becomes smaller. Control the operation.

When the vehicle reaches the turning start position, FIG.
(D), the right steering clutch brake 1
7R is turned off to cause the traveling body 9 to make a reverse left turn traveling. 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 S3a on the front side of the fuselage from a position just before the next work process.
1, S3a2, the ultrasonic sensor S3a located on the left side
Steering so that the distance detection signal a of 1 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 straight ahead while controlling the solenoid valve 19 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 state shifts to a state in which the steering control, the cutting height control, and the vehicle speed control are executed.

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, a measuring unit is constituted by the ultrasonic sensor S3b on the front side of the fuselage, and a scanning unit IS is constituted by the scanning mechanism 47 and the scanning control unit 102.
, And each of the ultrasonic sensor S3b, the scanning means IS, and the angle detection sensor S6 constitutes a non-contact type distance detecting means. Then, the distance detecting means and the position determining means 101 detect the distance to the outer periphery of the uncut stems and culms, and based on the information of the detected distance, determine the position of the traveling machine body with respect to the outer periphery of the uncut stems and culms. The position detecting means for detecting is constituted.

[Another Embodiment] (1) In the above-described embodiment, the direction of ultrasonic transmission (detection direction) by the ultrasonic sensor S3b is higher as the position is lower and lower as the position is higher. With the configuration for changing and adjusting the vertical movement speed of the ultrasonic sensor S3b, and with the distance detection operation, the lower the detected value of the distance to the outer periphery of the uncut stem group, the lower the position, the lower the position. Although the configuration is such that the scanning area is adjusted to change the position, the configuration includes both the configuration in which the moving speed is adjusted so that the ultrasonic wave transmission direction (detection direction) of the ultrasonic sensor S3b is lower as the position is lower. However, a configuration including only one of these configurations or a configuration not including both of them may be used.

The following configuration may be employed instead of or in addition to the above configuration. In this case, the other configuration is the same as that of the above-described embodiment, and the description is omitted.

The scanning is performed such that the change point detected as the distance to the outer periphery of the uncut stem group (that is, distance information to the outer periphery of the uncut stem) is always located at the center of the scanning area. It is good also as composition which adjusts position change of a field. That is,
As shown in FIG. 9D, when the change point detected as the distance to the outer periphery of the uncut stem group is biased toward one upper end of the scanning area, the scanning area is shifted to the upper side. By adjusting the position, the position is set at the center of the scanning area.

When the change point detected as the distance to the outer periphery of the uncut stem group is biased toward one end of the scanning area, the change point during the upward movement by the ultrasonic sensor (measurement means) is detected. Based on one of the measurement information, or the measurement information during the downward movement, the position of the traveling body with respect to the outer periphery of the uncut stem group is configured to be determined, and when not used for the position determination process. The moving operation of the ultrasonic sensor is performed at a higher speed than other moving operations. For example, when the position of the traveling body with respect to the outer periphery of the uncut stem group is determined based on the measurement information during the upward movement by the ultrasonic sensor (measuring means), the ultrasonic sensor (measuring means) The measurement information during the downward movement is not used for the control, but this downward movement is performed at a higher speed than at the time of the upward movement operation.

(2) In the above embodiment, the case where the distance detecting means is constituted by a measuring means (ultrasonic sensor S3b), a scanning means, and a vertical position detecting means has been exemplified. Alternatively, while the measuring means is swung in the vertical direction at a predetermined set speed, the elapsed time is substituted for the information on the vertical position, thereby obtaining the measurement result of the measuring means (ultrasonic sensor S3b) over time. The position determination process may be executed based on the position determination process.

(3) In the above embodiment, the swing operation means is provided only for the ultrasonic sensor S3b on the left front side of the body, but the swing operation means is also provided for the other sensors. Vibration in the vertical direction may be used to measure the vertical position information and the measurement information in association with each other. For example, as shown in FIG. 11, the ultrasonic sensor S3c on the left rear side of the fuselage is positioned above the planted grain culm similarly to the ultrasonic sensor S3b on the left front side of the fuselage, and the swing operation means is used. 12, and is configured to measure the distance in accordance with the vertical position. As shown in FIG. 12, when determining the stop position of the forward left turning travel, the ultrasonic sensor S3b on the left front side of the fuselage is used. The separation distance sd between them is determined in advance using the detection information L1 of the ultrasonic sensor S3c on the left rear side of the aircraft and the detection information L1 of the ultrasonic sensor S3c. An accurate position of the traveling body with respect to the culm may be determined.

(4) In the above embodiment, the ultrasonic sensor S3c on the left rear side of the fuselage reliably detects the presence or absence of a stem / culm group in order to detect the turning start position after one work stroke is completed. Therefore, instead of such a configuration, this sensor is also installed at a high position like the ultrasonic sensor S3b on the left front side of the fuselage so that the angle can be changed. It may be implemented in various forms.

(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 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 an 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-described 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 time chart showing a time change of a distance detection signal.

FIG. 6 is a flowchart showing a control operation.

FIG. 7 is a flowchart showing a control operation.

FIG. 8 is a flowchart showing a control operation.

FIG. 9 is a rear view showing a state of distance detection.

FIG. 10 is a diagram showing distance measurement information.

FIG. 11 is a side view of a combine according to another embodiment.

FIG. 12 is a plan view showing a turning operation of another embodiment.

[Explanation of symbols]

 1L, 1R traveling apparatus 9 traveling body 100 turning control means 101 position discriminating means IS scanning means S3b measuring means S6 vertical position detecting means

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Sora Aida 64 Ishizukita-cho, Sakai City, Osaka Prefecture Inside the Kubota Sakai Plant (72) Inventor Hiroshi Ikeda 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Manufacturing Co., Ltd. In-house F-term (reference) 2B043 AA04 AB02 AB06 AB19 BA02 BA05 BB14 EA02 EA14 EB01 EB02 EB04 EB07 EB08 EB10 EB13 EB17 EB27 EC12 EC14 EC18 EC19 ED12

Claims (8)

[Claims] Claims: 1. Along with reaching an end position of one working stroke along the outer periphery of a group of uncut stems and culms, the uncut stems and culms are advanced toward a side approaching the group of uncut stems and culms. Mowing and harvesting provided with turning control means for executing turning control for controlling the operation of the traveling device so as to perform turning for switching of a work process in which the vehicle travels backward at a position before the next work process intersecting with the work process. Position detecting means for detecting the distance to the outer periphery of the uncut stem group and detecting the position of the traveling body with respect to the outer periphery of the uncut stem based on information on the detected distance. The turning control means is configured to execute the turning control based on the detection information of the position detecting means, and the position detecting means scans a distance detection direction in a vertical direction over a set angle range. , Separation distance to the detection target Non-contact type distance detecting means for sequentially detecting the detection distance as corresponding to the vertical scanning position at that time, based on the detection information of the distance detecting means, the detection distance changes the vertical scanning position And a position determining unit configured to determine a position of the traveling machine body with respect to the outer periphery of the uncut stem group based on detected distance information at a change point that extremely changes according to the harvester. 2. The non-contact type measuring means for measuring a separation distance to an object to be detected, and a scanning means for scanning the detecting direction of the measuring means in a vertical direction over a set angle range. The harvester and harvester according to claim 1, further comprising: a vertical position detecting unit configured to detect the vertical scanning position in the distance detection direction. 3. The scanning means is configured to change and adjust the vertical movement speed of the measuring means so that the distance detection direction is faster as it is located on the lower side and becomes slower as it is located on the upper side. 3. The harvester and harvester according to claim 2, wherein 4. The scanning unit according to claim 1, wherein the measuring unit adjusts a scanning area in which the measuring unit moves up and down so 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. The reaper according to claim 2 or 3, wherein 5. The scanning means adjusts the position of the scanning area so that the change point detected as the distance to the outer periphery of the uncut stem group is located at the center of the scanning area. The reaper according to claim 2 or 3, wherein the reaper is constructed as follows. 6. The position determination unit, wherein the change point detected as a distance to an outer periphery of the uncut stem group is biased toward one end of the scanning area.
It is configured to determine the position of the traveling body with respect to the outer periphery of the uncut shoot culm group, based on one of the measurement information during the upward movement by the measurement unit, or the measurement information during the downward movement, and 4. The harvester and harvester according to claim 2, wherein the scanning unit is configured to perform scanning of the measuring unit when not used for position determination processing at a higher speed than when performing another moving operation. 7. The method according to claim 7, wherein the measuring unit is configured to transmit the ultrasonic wave in the direction of the distance detection and receive the ultrasonic wave reflected by the detection target based on a time from the transmission of the ultrasonic wave to the detection target. The reaper and harvester according to any one of claims 2 to 6, comprising an ultrasonic sensor for detecting a separation distance. 8. The position judging means judges a stop position of a traveling process of traveling forward toward a side approaching the uncut stem group as the position of the traveling body with respect to the outer periphery of the uncut stem group. The reaper according to any one of claims 1 to 7, which is configured as follows.