JP2001269014A - Steering controller of reaping harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the steering controller of a reaping harvester, which can precisely detect whether the lateral position of the travel machine frame from the outer peripheral edge of a standing stem culm group is proper or not and then execute a proper steering control without causing the complication of the structure. SOLUTION: This steering controller of the reaping harvester is characterized by disposing a position detection means and controlling the operation of a steering operation means on the basis of the detection information of the position detection means so that a proper state is maintained. The position detection means is formed by disposing a pair of distance sensors S3a1 and S3a2 having distance detection directions directed forward and downward from the machine frame at higher places than the standing stem culm group in parallel along the lateral direction of the machine frame, judges the proper position or not of the machine frame on the basis of the ratio of the detection distance of the already reaped side distance sensor S3a2 to the detection distance of the non-reaped side distance sensor S3a1, and judges whether the direction of dislocation is placed on the right side or the left side in the non-proper state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering operation means for changing a traveling direction of a traveling body provided with a mowing portion at a front portion thereof, and a lateral width of the traveling body relative to an outer peripheral edge of a group of planted stems of the traveling body. Position detecting means for detecting whether the position in the direction is in a proper state, is displaced to the right side of the proper state, or is displaced to the left side of the proper state; and And a steering control means for controlling the operation of the steering operation means based on the detection information of the means so as to maintain the proper state.

[0002]

2. Description of the Related Art In a steering control device for a reaper having the above structure, conventionally, as the position detecting means, for example,
A state in which a plurality of distance detecting means, such as ultrasonic sensors, are juxtaposed along the lateral width direction of the fuselage, with the distance detection direction directed forward and downward, and positioned above the planted stem / culm group. If the measured value of the distance to the detection target detected by each distance detecting means is larger than a preset threshold, the ground of the already cut area is detected, and the measured value is set in advance. If it is smaller than the threshold value, it is determined that the upper side of the planted stem culm is detected, for example, the distance detecting means located on the cut side detects the ground of the cut area, and
There has been a configuration in which the distance detecting means located on the uncut side detects that the state of detecting the upper side of the planted stem / culm group is an appropriate state. The steering control means controls the operation of the steering operation means so that the proper state is maintained. If the plurality of distance detection means have their respective measured values larger than the preset threshold, the traveling body is displaced to the cut side, that is, the right side, and the measured values are respectively set to the preset threshold. If it is smaller, it is determined that the traveling body is displaced to the uncut side, that is, to the left side.

[0003]

For example, as shown in FIG. 12, if the object to be detected by each of the distance detecting means is on the upper side of the plant stem group as shown in FIG. If the object is the ground after mowing, the point at which the detection distance becomes longer, and the height from the ground contact surface of each of the distance detection means is always the same, so that the detection distance to the upper side of the planted stem culm group or Focusing on the fact that the detection distance to the ground always has substantially the same value, the judgment is made by comparing the thresholds as described above.

The above-mentioned conventional configuration has the following disadvantages, and there is room for improvement. In other words, a field scene in which this type of reaper harvests and runs, the running surface is not always flat, and irregularities are often present on the ground. When the traveling body travels in such a field scene, Due to such unevenness, the posture of the traveling body along the front-rear direction may be inclined in the front-rear direction from the horizontal reference posture. If the posture is inclined in the front-rear direction, for example, FIG.
As shown in 2 (a) and (b), even when each of the distance detecting means detects the distance to the same detection target,
The detection distances are different. However, in the above-described conventional configuration, if the measured value of the distance to the detection target detected by each distance detecting unit is larger than a preset threshold, the ground of the already cut area is detected, and the measured value is If it is smaller than a preset threshold value, it is determined that the upper side of the planted stem / culm group is detected, and it is configured to determine whether the state is the appropriate state based on the determination result. From
In the case where the operation of the steering operation means is controlled so that the proper state is maintained, the measured value of the distance of each distance detection means is caused by the inclination of the traveling body in the front-rear direction as described above. The value is different from the value set in advance, and as described above, an error occurs in determining whether the detection target is the upper part of the planted stem culm group or the ground, and whether the detection target is in an appropriate state. Erroneous judgment may be made as if the judgment was different from the actual state, and there was a possibility that appropriate steering control could not be performed, such as unnecessary steering operation performed by the steering operation means. .

Incidentally, as a configuration for eliminating the influence of the change in the front-rear posture of the traveling body as described above, for example,
Detecting the front-back inclination angle with respect to the horizontal reference posture of the traveling body, for example, provided with a gravity type inclination angle sensor, based on the detection result of this inclination angle sensor, the measured value of the distance detecting means is a value corresponding to the horizontal reference posture It is also conceivable to adopt a configuration in which the above-described determination processing is executed based on the corrected measurement value. It is difficult to respond to the aircraft, but it is configured to detect the large inclination of the aircraft with high accuracy.Therefore, there is a disadvantage that the response speed is slow, and it is necessary to respond quickly as the aircraft travels. There is a disadvantage that it is not possible to sufficiently follow a certain steering control, and it is not possible to properly correct the measurement value of the distance detecting means due to a response delay, and this has not been a sufficient measure.

As another configuration for eliminating the influence of the change in the front-rear attitude of the traveling body as described above, for example, the distance detection direction of each of the distance detection means is scanned over a predetermined range in the vertical direction. It is also possible to configure so as to determine whether the area is the uncut area or the already-cut area by performing data processing by associating the detected value of the scanning angle with the detected distance value. In this case, a special device such as a driving mechanism for scanning each of the distance detecting means and sensors for detecting the scanning angle is required, and there is a disadvantage that the control configuration is complicated and the cost is increased.

The present invention has been made in view of such a point, and an object of the present invention is to reduce the position of the traveling body in the lateral direction of the body relative to the outer periphery of the planted stem culm group without complicating the structure. It is an object of the present invention to provide a steering control device for a reaper that can accurately detect whether or not the harvester is in an appropriate state and perform appropriate steering control.

[0008]

According to the first aspect of the present invention, there is provided a steering operation means for changing a traveling direction of a traveling body provided with a mowing portion at a front portion, and erection of the traveling body. Whether the position in the body width direction with respect to the outer peripheral edge of the stem / culm group is in a proper state, is shifted to the right side from the proper state, or is shifted to the left side from the proper state A harvesting and harvesting machine provided with a position detecting means for detecting, and a steering control means for controlling the operation of the steering operation means so as to maintain the proper state based on the detection information of the position detecting means. In the steering control device, the position detecting means includes a pair of distance detecting means having a distance detecting direction directed forward and downward of the fuselage and positioned above the group of planted stems and culms along the lateral width direction of the fuselage. Prepared in the state
Ratio of the detection distance detected by the cut-side distance detection means located on the cut side of the respective distance detection means to the detection distance detected by the non-cut-side distance detection means positioned on the non-cut side. The cut-off distance detecting means detects a cut area, and the uncut-side distance detecting means detects a non-cut area to determine whether or not the vehicle is in the proper state. And a direction discriminating means for discriminating a misalignment direction for judging whether the misalignment direction is the right side or the left side in the inappropriate state which is not the proper state.

Among the respective distance detecting means, the detected distance detected by the already-cutted-side distance detecting means located on the cut side and the detected distance detected by the non-cutted-side distance detecting means located on the non-cutted side. Based on the ratio, the already-cut-side distance detecting means detects the already-cut area, and the un-cut-side distance detecting means detects the uncut area to determine whether or not it is in an appropriate state. The ratio of the detected distances is always constant regardless of the change in the front-rear inclination angle of the traveling body if the detection target is the same.

More specifically, as shown in FIG. 12, the height of the ground at the installation position of each of the distance detecting means is H1,
The ground height of the planted stem / culm is H2, and the angles for detection are Q1 and Q2.
Then, the ratio of each of the detection distances D1 and D2 in the two states (a) and (b) in which the front-back inclination posture of the traveling body has changed is always constant as expressed by the following equations (1) and (2). Have a relationship.

[0011]

D1 (a) / D2 (a) = ｛(H1-H2) ·
sinQ1｝ / H1 · sinQ1 = (H1−H2) / H
1

[0012]

D2 (b) / D2 (b) = ｛(H1-H2) ·
sinQ2｝ / H1 · sinQ2 = (H1−H2) / H
1

As described above, if the ratio is larger than a set value based on the ratio of the detected distances which is always constant irrespective of the change in the front-rear inclination angle of the traveling body, the proper state is determined. If the respective detection distances are the same and the ratio is 1, it can be determined that the state is not a proper state but an improper state. If the state is improper, the direction judging means judges whether the position shift direction is the right side or the left side. It should be noted that various configurations are conceivable as the direction determining means. For example, it is possible to determine the direction of the displacement based on the distance information detected by each distance detecting means by taking into account the inclination posture information of the traveling body. Also, another distance detecting means is provided at different positions in the body width direction with respect to each of the distance detecting means, and a position shift direction is determined based on detection distance information of the direction detecting distance detecting means. It is also possible.

Therefore, a special device such as a scanning drive mechanism or a sensor for detecting a scanning angle is required as in the case where the distance detecting direction of each of the distance detecting means is vertically scanned. It is possible to accurately detect whether the position of the traveling body in the lateral width direction with respect to the outer peripheral edge of the planted stem culm group in the body width direction is accurate and appropriate without causing the complication of It has become possible to provide a steering control device of a reaper that can perform steering control.

According to a second aspect of the present invention, in the first aspect, each of the distance detecting means transmits an ultrasonic wave in the distance detecting direction and then reflects the ultrasonic wave on the detection target. It is configured by an ultrasonic sensor that detects a distance to a detection target based on a time until a reflected wave is received.

As the distance detecting sensor, for example, an optical distance detecting sensor that detects a distance based on an elapsed time until a laser beam is projected and a reflected wave is received may be used. With such an optical distance detection sensor, dust generated during traveling may adhere to the light emitting and receiving part of the detection light, making it impossible to detect the distance properly. With this configuration, it is possible to configure the distance detection sensor while appropriately avoiding such a problem, and at a relatively low cost as compared with the optical distance detection sensor.

According to a third aspect of the present invention, in the first or second aspect, the direction determining means determines the direction of the positional deviation based on distance information detected by each of the distance detecting means. is there.

For example, if the working condition is such that the front-rear posture of the traveling body does not greatly change, whether the object to be detected is a planted stem or a ground based on distance information detected by each distance detecting means. Can be easily determined. or,
When there is a possibility that the front and rear posture of the traveling aircraft may change,
For example, based on the detected distance information by each distance detecting means by correcting the distance detection value according to the detection result of the detecting means for detecting the front-back tilt angle, the detection target is a planted stem culm or the ground Can be easily determined. As described above, the direction of the positional shift can be determined by using the detection information of each distance detecting means, and a means suitable for carrying out the first or second aspect can be obtained.

According to a fourth aspect of the present invention, in the first or second aspect, the direction discriminating means is arranged at a position different from the distance detecting means in the lateral width direction of the body, and The apparatus is provided with distance detecting means for determining the direction in which the detection direction is directed forward and downward of the fuselage, and determines the direction of the displacement based on the detected distance information of the distance detecting means for determining the direction. Is configured.

During the harvesting operation, the steering control is executed, so that the intermediate portion of each of the distance detecting means runs along the outer peripheral portion of the planted stem / culm group. If the distance detecting means is provided at different positions in the body width direction with respect to each distance detecting means, for example, at a location on the uncut side, the distance detecting means for determining the direction is always planted stem culm. The group will be detected. Conversely, when the distance detecting means for determining the direction is provided at a location on the cut side of each of the distance detecting means, the ground after cutting is always detected.

Therefore, when the detection values of the respective distance detecting means for steering control are the same in an inappropriate state, the detected values of the direction detecting distance detecting means are compared with those detected values. Thus, for example, it is possible to easily determine whether the planted stem / culm group is detected or the ground is detected using the ratio.

Therefore, it is possible to quickly and accurately determine the direction of the displacement as compared with the configuration in which the detection value is corrected by providing the front-rear inclination angle means that may decrease the detection accuracy due to the response delay as described above. This makes it possible to obtain suitable means for implementing claim 1 or 2.

[0023]

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

The cutting unit 3 includes a raising device 5 for causing the stalk culm which is lying down, a cutting blade 6 for cutting the root of the raised planted stalk culm, and a rear portion of the machine body while changing the stalk 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 height of the cutting unit 3 with respect to the ground is provided at a lower rear portion of the cutting device, and is turned on when the root of the cutting stem is brought into contact with the transfer start end of the transfer device 7. A stock sensor S0 is provided which is activated and is turned off when the stock of the cutting stem is not in contact.

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 clutches 17L, 17R for intermittently transmitting and turning on and off each of the crawler traveling devices 1L, 1R is provided. When the left steering clutch 17L is turned off, the aircraft turns left and the right steering clutch 17L turns.
The body is configured to turn right when the R is turned. Accordingly, the steering clutches 17R and 17L correspond to steering operation means.

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 a steering electromagnetic valve 19 for controlling the supply of pressure oil to the left and right steering clutches 17L and 17R to switch on and off the respective clutches.

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

As shown in FIGS. 1, 2, and 4, a distance L to a planted stem and culm located in front of the vehicle body 9 is detected at the cut side (right side of the vehicle body) at the front side of the vehicle body 9. A pair of ultrasonic sensors S3a1 and S3a2 as distance detection sensors are provided side by side in the left-right direction with the detection direction directed forward. Further, the pair of ultrasonic sensors S3a1,
The position of the ultrasonic sensor S3a3 as a distance detecting means for direction discrimination is provided in a state in which the detection direction is directed to the front of the fuselage by making the position different from S3a2 in the lateral width direction of the fuselage, specifically, on the uncut side (left side). ing.

A pair of ultrasonic sensors S3b and S3c are provided on the uncut side of the traveling machine body 9, that is, on the left side of the machine body, to detect the distance L to the planted stem culm located on the side of the machine body.
Are provided at predetermined intervals in the longitudinal direction of the fuselage in a state where the detection direction is directed to the lateral side of the fuselage. The ultrasonic sensors S3a1, S3a2, S3a3, S3b, S3c are:
A transmitter that transmits ultrasonic waves toward the outside of the aircraft,
A receiver for receiving the ultrasonic wave reflected by the detection target, and a distance to the detection target (planted stem culm or ground) based on a time from transmitting the ultrasonic wave to receiving the ultrasonic wave. Is configured to be detected. The three ultrasonic sensors S3a1, S3a2, S3a3 located at the front of the fuselage and the ultrasonic sensor S3b located at the front side of the fuselage are:
It is configured to measure the distance by transmitting ultrasonic waves in a state where it is located above the planted stem and the detection direction is on the outside of the body and diagonally downward, and on the rear side of the side of the body The located ultrasonic sensor S3c is provided at a low position on the lateral side of the machine body.

More specifically, as shown in FIG. 11, the ultrasonic sensors S3a1 and S3a2 located at the front of the body are positioned at the right end of the area to be cut by the cutting unit 3 and are arranged along the width of the body. The control cylinder 45 is provided in a fixed state in a state where the ultrasonic transmission direction (distance detection direction) is directed forward and downward with respect to the fuselage in a state in which the ultrasonic transmission directions (distance detection directions) are directed side by side at set intervals. Each ultrasonic sensor S3a1,
The ultrasonic wave transmission direction of S3a2 is set so as to be directed in the same direction in parallel.

As shown in FIG. 10, the ultrasonic sensor S3a3 located on the uncut side of the front of the aircraft and the ultrasonic sensor S3b located on the front side on the lateral side of the aircraft extend from the aircraft fixing portion. It is configured to be supported by the stay 46 provided. However, while the ultrasonic sensor S3a3 is provided in a fixed position, the ultrasonic sensor S3b is supported so as to be able to swing up and down around a horizontal axis X along the longitudinal direction of the body.
The angle adjustment mechanism 47 is configured to freely change and adjust the transmission direction of the ultrasonic wave in the vertical direction. Although not described in detail, the angle adjustment mechanism 47 includes an electric motor and a gear-type operation mechanism. As described above, the ultrasonic sensor S3b is configured to be capable of changing and adjusting the relative angle along the vertical direction between the detection direction and the traveling body. The actual vertical swing adjustment position of the ultrasonic sensor S3b is detected by an angle detection sensor S6. Further, a left-right tilt angle sensor S8 for detecting a right-left tilt angle of the traveling body 9 with respect to a horizontal reference plane is provided, and an ultrasonic wave transmission direction (distance detection direction) by the ultrasonic sensor S3b regardless of the left-right inclination of the traveling body 9 is provided. The angle adjusting mechanism 47 is controlled so that the angle is always in a fixed direction.

As shown in FIG. 2, a control device 16 using a microcomputer is provided.
Stock sensor S0, rotation speed detection sensor S1, rotary encoder S2, cutting height sensor S5, each ultrasonic sensor S3a
1, S3a2, S3a3, S3b, S3c, angle detection sensor S6, left / right tilt angle sensor S8, threshing switch SW
2. Each piece of detection information of the reaper switch SW1 and the like is input. On the other hand, from the control device 16, the electric motor 13 for the speed change operation, the angle adjusting mechanism 47, and the solenoid valve 2
5 and drive signals for the steering solenoid valve 19 are output.

As shown in FIG. 3, the control device 16 controls the rectangular planted stem culm group along the respective sides M1 to M4 of the outer periphery of the planted stem culm group M in a so-called round-cutting manner. It is configured so that the harvesting travel is sequentially performed counterclockwise in the work process, and when reaching the end position of each work process, the travel is controlled to move to the next adjacent work process. Also, when the harvesting travel is performed in each work process, the ultrasonic sensor S3 located at the front part of the machine body.
Based on the detection information of a1 and S3a2, it is determined whether the position in the lateral width direction of the traveling body with respect to the outer peripheral edge of the planted stem / culm group M on the front side of the body is in an appropriate state or in an improper state deviating from the appropriate state. And configured to determine
Ultrasonic sensor S3 for direction discrimination located at the front of the aircraft
Based on the detection information of a3, it is configured to determine whether the position is shifted to the right from the proper state or to the left from the appropriate state. And
The operation of the left and right steering clutches 17R and 17L is controlled based on the determination result so as to maintain the proper state.

In addition, as described above, the ultrasonic sensors S3a1 and S3a2 are provided in a fixed position with the ultrasonic wave transmitting direction (distance detection direction) toward the front of the body and toward the lower side. If the distance to the stem is detected, the detection distance is short, and if the distance to the ground after cutting is detected, the detection distance is long. Then, among the ultrasonic sensors S3a1 and S3a2, the detection distance detected by the cut-side ultrasonic sensor S3a2 located on the cut side and the uncut-side ultrasonic sensor S3a1 positioned on the non-cut side. The ultrasonic sensor S3a2 on the already-cut side detects the already-cut area based on the ratio to the detection distance detected by the above-mentioned operation, and the ultrasonic sensor S3a1 on the non-cut side detects the non-cut area, so that the proper state is obtained. It is configured to determine whether or not there is. Furthermore, when it is determined that the state is not the proper state,
A detection distance of the ultrasonic sensor S3a3 for determining the direction,
It is configured to determine whether the position shift direction is the right side (the already cut side) or the left side (the uncut side) based on the ratio with the detection distance of each of the ultrasonic sensors S3a1 and S3a2. Accordingly, the direction discriminating means is constituted by the displacement direction discriminating processing by the ultrasonic sensor S3a3 for direction discrimination and the controller 16, and the proper state by the direction discriminating means, the respective ultrasonic sensors S3a1, S3a2 and the controller 16 is determined. The position detection means is constituted by the determination processing, and the steering control means is constituted by the steering operation processing by the control device 16.

The control device 16 controls the ultrasonic sensors S3a when cutting and running each work stroke.
1, S3a2, S3a3, the left and right crawler traveling devices 1R, 1L by switching the steering solenoid valve 19 to turn on and off the left and right steering clutches so as to maintain the proper state. Is controlled so as to change the advancing direction of the body by entering and exiting the driving state of each.

Further, as the control device 16 reaches the end of one working stroke along the outer peripheral edge of the planted stem / culm group M,
Make a forward turning run toward the side approaching the planted stem / culm group M,
Next, the vehicle starts reverse turning traveling toward a location before the next work process that intersects with the one work process, and during the backward turning travel, as the start end in the next work process is detected, The vehicle is configured so as to end the reverse turning travel and subsequently execute a turning travel control for switching a work stroke in which the vehicle travels forward toward the start end in the next work stroke.

A description will be given of the end of the reverse turning travel and the forward travel toward the starting end in the next work process. During the reverse turning travel, both the ultrasonic sensors S3a1 and S3a2 located at the front part of the fuselage are used. By switching from the state in which the cut area is detected to the state in which only the left ultrasonic sensor S3a1 detects the uncut area, when the start end portion in the next work process is detected, the vehicle turns reversely at that time. Terminate. Then, while the steering control as described above is being performed, the stem reaches the start end in the next work process, the stem and stem act on the stock sensor S0, and the stock sensor S0 is turned on. Thereafter, the steering control is performed. The execution of the cutting height control and the vehicle speed control is started, and the respective controls are executed until the machine reaches the end of the work stroke and the stock sensor S0 is turned off.

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

Hereinafter, the traveling control by the control device 16 will be specifically described with reference to the flowcharts of FIGS. As shown in FIG. 6, when running starts from the beginning of one work process along the outer peripheral edge of the planted stem / culm group M,
Steering control based on the detection information of the ultrasonic sensors S3a1 and S3a2, cutting height control for maintaining the ground height of the cutting unit 3 at an appropriate height based on the detection information of the cutting height sensor S5, range not exceeding the upper limit vehicle speed And vehicle speed control for controlling the vehicle speed such that the engine load is maintained at the target load.
Is turned off to reach the end position of the work process. 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 planted stem / culm group has been completed, and if the work has not been completed, it is moved to the next adjacent work process. Is executed. on the other hand,
If the work is completed, the traveling is stopped to end the control.

In the steering control, the control is executed as shown in FIG. That is, the detection distances D1, D2, and D3 detected by the pair of ultrasonic sensors S3a1, S3a2 for boundary determination and the ultrasonic sensor S3a3 for direction determination located at the front of the body are read, and the ultrasonic sensor S3 on the right side is read.
If the ratio D1 / D2 between the detection distance D1 of a2 and the detection distance D2 of the left ultrasonic sensor S3a1 is larger than the set value E, the left ultrasonic sensor S3a1 corresponds to the uncut area,
It is determined that the ultrasonic sensor S3a2 on the right side is in a proper state corresponding to the already cut area (see FIG. 11A), and if the ratio D1 / D2 is smaller than the set value E, either of the right state and the left or right state is determined. It is determined that it is in an improper state (for example, see FIG. 13) in which the position is shifted. If it is determined that the aircraft is in the proper state, the aircraft is in a proper mowing position, and the aircraft is caused to travel straight. In the case of the improper state, the ultrasonic sensor S for determining the direction is used to determine which side of the body is misaligned with respect to the boundary.
The determination is made based on the detection information of 3a3. That is, if the ratio Dv / D3 of the average value Dv of the detection distances of the pair of ultrasonic sensors S3a1 and S3a2 to the detection distance D3 of the direction-determining ultrasonic sensor S3a3 is larger than the set value Es, The pair of ultrasonic sensors S3a1, S3a2
Are determined to have detected the distance to the ground in the already-cut area, and it is determined that the traveling body is displaced from the proper state to the already-cut side, that is, to the right. If the ratio Dv / D3 is smaller than the set value Es, the pair of ultrasonic sensors S3a1 and S3a2 both detect the distance to the upper part of the planted stem culm in the uncut area. By making a determination, it is determined that the traveling body is displaced to the uncut side, that is, to the left side from the proper state.

If it is determined that the aircraft is displaced to the left, the aircraft is steered rightward by the set amount, and
If it is determined that the aircraft is displaced to the right, the steering solenoid valve 19 is switched so that the aircraft steers to the left by the set amount, the left and right steering clutches are turned on and off, and the left and right crawler traveling. The operation of the devices 1R and 1L is controlled. By repeatedly performing such control, the traveling of the aircraft is controlled so as to travel along the boundary for reaping and harvesting so as to maintain the proper state.

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

When the vehicle reaches the turning start position, FIG.
As shown in the figure, the transmission to the left crawler traveling device 1L is turned off, and the traveling body 9 is caused to make a left turn so that the front part of the body approaches the planted stem culm group. Based on the detection distance information of the ultrasonic sensor S3b, the position of the traveling body 9 with respect to the planted stem / culm group (for example, the angle θ formed with respect to the next side) is determined, and the position is determined as the set position (for example, As the angle θ becomes 45 °), the left turning traveling of the vehicle is stopped.

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

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

Next, as shown in FIG. 4 (c), the vehicle travels backward from the turning stop position to the turning 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, as shown in FIG. 10 (d), the reference posture of the angle adjusting mechanism 47 is changed to be lower (angle α2) than when the left turn is executed (angle α1). By executing the correction control, even when the traveling body passes near the outer periphery (corner) of the planted stem / culm group, the distance to the outer periphery of the planted stem / culm group can be effectively detected. .

When the vehicle reaches the turning start position, FIG.
As shown in (d), the right steering clutch 17R is disengaged, and the traveling machine body 9 is caused to reversely turn left in a gentle turning state. Then, the traveling machine body 9 is positioned in front of the next adjacent work stroke, and the reverse left turning travel is stopped as the start end in the next work stroke is detected. Here, the detection of the start end in the next work process is performed based on the condition 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 fuselage is large. Judgment is made based on a change to a state in which the planted stem / culm on the front side of the fuselage is detected. That is, the determination is made by switching from the state where both the ultrasonic sensors S3a1 and S3a2 detect the already-cut area to the state where only the left ultrasonic sensor S3a1 detects the uncut area.

Next, the vehicle is made to travel straight ahead while executing the above-described steering control from the position immediately before the next work process to the start end of the next work process. Then, after lowering the mowing section 3, the mowing work in the next work process is started. As the harvesting operation is started and the stock sensor S0 is turned on, the state shifts to a state in which the cutting height control and the vehicle speed control are executed, and the steering control is continuously executed. Thereafter, the above-described control is repeated.

[Another Embodiment] Next, another embodiment will be described.

(1) In the above embodiment, the average value Dv of the detection distances of the pair of ultrasonic sensors S3a1 and S3a2 for the boundary determination is used as the direction determination process in the inappropriate state.
Detection distance D3 of ultrasonic sensor S3a3 for the direction determination
The position deviation direction is determined by comparing the magnitude Dv / D3 with the preset value Es.
Not limited to such a configuration, a pair of ultrasonic sensors S3a
Alternatively, the determination may be made by comparing the detection distance of any one of S1a1 and S3a2 with the set value Es.

(2) In the above embodiment, each of the ultrasonic sensors S3a1, S3a1,
Although the position is different from that of S3a2 at the uncut side, the position is set slightly different from the ultrasonic sensors S3a1 and S3a2 to the already cut side with respect to the ultrasonic sensors S3a1 and S3a2. It is good also as a structure provided by making it different. In this case, the ultrasonic sensor for direction determination always detects the already cut area during the cutting operation.

(3) In the above-described embodiment, the direction discriminating means is provided with an ultrasonic sensor S3a3 for discriminating the direction by making the position of each of the ultrasonic sensors S3a1 and S3a2 different from each other in the machine body width direction. Although it was configured to determine the displacement direction based on the detection distance information of the sensor,
Instead of such a configuration, the following configuration may be adopted.
For example, each of the ultrasonic sensors S is provided with an inclination angle sensor for detecting a front-back inclination angle with respect to a horizontal reference posture of the traveling body.
The detection distances 3a1 and S3a2 are corrected to a value corresponding to the horizontal reference attitude based on the detection result of the inclination angle sensor, and the corrected detection distances are compared in magnitude with a preset threshold value. It may be configured such that it is determined whether the position is shifted or the position is shifted to the cut side.

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

(5) In the above embodiment, the traveling body is provided with an ultrasonic distance detecting means as the distance detecting means. In addition to this, for example, the detecting light is transmitted to and received from the planted stem. For example, an optical distance detecting means may be used.

(6) In the above embodiment, each traveling device 1
Although a pair of left and right steering clutches for turning on and off the transmission of L and 1R are provided separately, the invention is not limited to such a configuration, and a pair of left and right brakes for separately braking the traveling devices 1L and 1R are provided. Alternatively, the present invention may be implemented in various driving modes, such as a configuration in which a pair of left and right hydraulic stepless transmissions are provided to enable stepless speed change for each of the left and right, and a planetary gear type transmission mechanism.

(7) In the above embodiment, a combine harvester is exemplified as a reaper. However, other than the combine, for example, a reaper harvester for cutting rush as a planted stem can be used.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

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

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

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

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

FIG. 6 is a flowchart showing a control operation.

FIG. 7 is a flowchart showing a control operation.

FIG. 8 is a flowchart showing a control operation.

FIG. 9 is a flowchart showing a control operation.

FIG. 10 is a rear view showing a state of distance detection.

FIG. 11 is a plan view showing a distance detection state.

FIG. 12 is a side view showing a distance detection state.

FIG. 13 is a diagram showing a distance detection state in a position shift state.

[Explanation of symbols]

 3 reapers 17R, 17L Steering operation means Sa1, Sa2, Sa3 Distance detection sensor

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Sora Aida 64 Ishizu-Kitacho, Sakai-shi, Osaka F-term in Kubota Sakai Works Co., Ltd. (Reference) 2B043 AA04 AB15 BA02 BA05 BB14 DA17 EA15 EA24 EA26 EB01 EB04 EB07 EB08 EB09 EB13 EB14 EB17 EB23 EC12 EC14 ED01

Claims (4)

[Claims] 1. A steering operation means for changing a traveling direction of a traveling body provided with a mowing portion at a front portion, and a position of the traveling body in a lateral direction with respect to an outer peripheral edge of a group of planted stems and stems. A position detecting means for detecting whether the apparatus is in a proper state, is displaced to the right side of the proper state, or is displaced to the left side of the proper state, based on detection information of the position detecting means; And a steering control unit for controlling the operation of the steering operation unit so that the proper state is maintained. Distance detecting means whose direction is directed to the front side of the fuselage and downward is provided in a state where a pair of juxtaposed along the lateral width direction of the fuselage is positioned above the planted stems and culms, and among the distance detecting means, Detected by the cutting-side distance detection means located on the cutting side Based on the ratio between the detected distance detected and the detection distance detected by the uncut-side distance detecting means located on the uncut side, the already-cut-side distance detecting means detects the already-cut area, and The side distance detecting means is configured to determine whether the vehicle is in the proper state by detecting an uncut area, and in the inappropriate state that is not the proper state, the misalignment direction is rightward or leftward. A steering control device for a reaper, comprising: a direction discriminating means for discriminating a misalignment direction for discriminating whether there is a position. 2. The method according to claim 1, wherein each of the distance detection means transmits an ultrasonic wave in the distance detection direction and receives a reflected wave reflected by the detection object. The steering control device for a reaper according to claim 1, comprising an ultrasonic sensor that detects a distance to the reaper. 3. The steering control device for a reaper according to claim 1, wherein the direction determining means determines the direction of the positional shift based on distance information detected by each of the distance detecting means. 4. The direction discriminating means is disposed at a position different from the distance detecting means in the lateral direction of the fuselage, and is used for discriminating a direction in which the distance detecting direction is directed forward and downward. 3. The operation of the harvester and harvester according to claim 1 or 2, further comprising a distance detecting means, wherein the direction of the positional shift is determined based on detection distance information of the direction detecting distance detecting means. Direction control device.