JP2009240181A - Reaper harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a reaper harvester capable of reaping standing culms while traveling the machine body by automatic steering operation and, nevertheless, enabling efficient reaping work in a good state without leaving remaining crop after reaping. <P>SOLUTION: The reaper harvester is provided with a controlling means H to control a steering operation means 29 capable of freely changing the machine direction to move the body along a preset path in the working area based on information on the position of the machine body on the ground obtained by a ground position detecting means. When the lateral position of the machine body relative to the standing culm detected by a means 83 for detecting the position relative to the culm is deviated from the optimum reaping position during the travel of the machine along a reaping path for reaping the standing culm on the preset path, the controlling means H controls the steering operation means 29 to adjust the lateral position of the machine body to the optimum position based on the detection information of the culm position detection means 83 independent of the detection information of the ground position detection means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention provides a cutting unit that is provided at the front of the aircraft and that cuts off the uncut stem as the aircraft travels along the cutting process.
Steering operation means that can freely change the orientation of the aircraft,
Ground position detection means for detecting ground position information, which is two-dimensional position information on the ground of the aircraft relative to a reference position;
Based on the route information which is two-dimensional position information on the ground determined corresponding to the cutting process for cutting and the ground position information of the body which is obtained by the ground position detection means, The present invention relates to a harvesting and harvesting machine provided with control means for controlling the steering operation means so as to travel along the work process for harvesting.

  Such a harvesting and harvesting machine, instead of the operator manually maneuvering, carries out the harvesting work of the planted stems while automatically steering the machine body along the work process for harvesting in the field. In such a harvesting and harvesting machine, there has been conventionally configured as follows.

  That is, the ground position detection means can detect, for example, GPS position information calculation means that can measure the position of the aircraft at set times by receiving radio waves from GPS satellites, and inertia that can detect information on the change in direction of the aircraft. It is configured with a navigation device or the like, and is configured to always control the steering operation means based on the detection information of the ground position detection means when the harvesting and harvesting machine travels along the cutting work process. (For example, refer to Patent Document 1).

JP-A-6-113607

  In the above conventional configuration, when the harvesting and harvesting machine travels along the work process for harvesting, the steering operation means is always controlled based on the detection information of the ground position detection means. There was a disadvantage.

  That is, the path information which is two-dimensional position information on the ground determined corresponding to the work process for cutting in the above-described conventional configuration is based on the position information of the planting stem row in the field to be cut. Although it will be set in advance, in an actual field, the planted stems are not planted in a state where they are lined up along a path defined in series with high accuracy. The planted stems are misaligned from the route defined by the route information due to factors such as lateral displacement or lateral displacement of a part of the machine during rice planting work. There is.

  However, in the harvesting and harvesting machine, the steering operation means is controlled so that the machine follows the route determined by the route information based on the detection information of the ground position detection means, so that the harvesting operation is performed. In some cases, the horizontal position of the machine body relative to the planted stems is shifted from the proper position, and there is a possibility that the cutting operation cannot be performed satisfactorily, such as generation of uncut residue or stepping on the stems.

  The object of the present invention is that the planted stem culm can be cut while performing the automatic steering operation so that the aircraft travels along the set route, but the planted stem culm is not left behind. The point is to provide a harvesting and harvesting machine that can perform the harvesting operation in a good state.

A harvesting and harvesting machine according to the present invention is provided at a front portion of a machine body, and a cutting part that harvests an uncut stem as the machine travels along a work process for cutting,
Steering operation means that can freely change the orientation of the aircraft,
Ground position detection means for detecting ground position information, which is two-dimensional position information on the ground of the aircraft relative to a reference position;
Based on the route information which is two-dimensional position information on the ground determined corresponding to the cutting process for cutting and the ground position information of the body which is obtained by the ground position detection means, And a control means for controlling the steering operation means so as to travel along the cutting operation stroke,
The first characteristic configuration is provided with anti-pod position detection means for detecting a position of the machine body in the cutting width direction with respect to the planted stem row line when the machine travels along the cutting process. ,
The control means is
Regardless of the detection information of the ground position detection means, the position in the cutting width direction of the machine body with respect to the planted shoot row detection detected by the anti-shoot position detection means is out of the appropriate range set in advance. The steering operation means is configured to be controlled so that the position in the lateral width direction of the airframe is within the appropriate range based on the detection information of the antipodal stem position detection means.

  That is, when the machine body travels along the cutting work process, the position in the cutting width direction of the machine body with respect to the planted stalk row detection unit is detected by the antipod stem position detection unit, the control unit, If the position in the cutting width direction of the machine body with respect to the planted stem row detection line detected by the anti-shoot stem position detection means is out of the preset appropriate range, the pair of stem positions detection means regardless of the detection information of the ground position detection means. Based on the detection information of the pedicle position detection means, the steering operation means is controlled so that the position in the lateral width direction of the aircraft falls within the appropriate range.

  Further, if the position in the cutting width direction of the machine body with respect to the planted stem row detection detected by the anti-shoot stem position detecting means is not out of an appropriate range, the steering is performed based on the detection information of the ground position detecting means. Since the control means is controlled, the steering operation means is controlled well so that the aircraft travels along the set route, and the planted stem culm is cut while the aircraft is driven by the automatic steering operation. Is possible.

  That is, the steering operation means is controlled so that the position in the width direction of the aircraft falls within the appropriate range while actually detecting the position in the width direction of the planted stem culm and the aircraft. The mowing operation can be performed in a good state where no remnants of the reed are generated.

  Therefore, according to the first characteristic configuration, the planted stem culm can be trimmed while being able to perform the trimming operation of the planted stem culm while performing the automatic steering operation so as to travel along the set route. Thus, a harvesting and harvesting machine that can perform the harvesting operation in a good state in which no occurrence occurs is provided.

In addition to the first feature configuration, the second feature configuration of the present invention includes:
The anti-shoot heel position detecting means,
A detection body which is urged to return to a return position substantially along the width direction of the machine body and is pivotally supported by the cutting unit so as to be swingable in the longitudinal direction of the machine body; And a swinging state detecting means for detecting a swinging state of the detection body by contact with the scissors.

  In other words, the anti-stalk position detecting means is configured such that the detection body that is urged to return to a return position substantially along the width direction of the machine body with respect to the planted stalk that has been weeded by the weeding tool The amount of rocking to the rear side when the detection body rocks backward corresponds to the separation distance to the planting pedicle row, so that the amount of rocking is relative to the planting pedicle row The information is detected by the swing state detecting means as the position information in the lateral width direction of the machine body. Since it is configured to detect the position of the aircraft in the width direction relative to the planted shoot row by contact with the planted shoots in this way, the position in the width direction of the aircraft relative to the planted shoot row is simple structure It is possible to quickly detect the information.

  Therefore, according to the 2nd characteristic structure, it came to be able to provide the harvesting harvester which can detect rapidly the information on the position of the horizontal direction of the machine body with respect to the planted stem row although it is a simple structure.

In addition to the 1st characteristic configuration or the 2nd characteristic configuration, the third characteristic configuration of the present invention is a work process for reaping along the planting line in the outer periphery of the uncut stem pod group as the work process for cutting. A cutting operation for cutting along the horizontal cutting operation and a cutting operation along the horizontal cutting operation process that intersects with the cutting operation process in the outer periphery of the uncut stem pod group as the cutting operation process. It is configured to perform mowing in a state of alternately repeating mowing work,
The anti-shoot heel position detecting means,
A detection unit for row cutting that detects a position in the width direction of the aircraft with respect to the planted stalk row in the row cutting operation, and a horizontal direction that detects a position in the width direction of the aircraft with respect to the planted shoot row in the row cutting operation. It is in the point comprised with the detection part for cutting.

  That is, a row cutting operation for performing a cutting operation along the row cutting operation process along the planting line in the outer periphery of the uncut stem group, and the row cutting operation process in the outer periphery of the uncut stem group. The mowing is performed in a state where the mowing work is repeated alternately and the mowing work is performed along the horizontal mowing work process that intersects with. In the row cutting operation, the row cutting detection unit in the anti-shooting row position detecting means can appropriately detect the position in the width direction of the machine body with respect to the planted stem row arrangement, and the side cutting operation In the above, the position of the horizontal direction of the machine body relative to the planted shoot row can be properly detected by the horizontal cutting detection unit in the anti-shoot stem position detecting means.

  The above-described work mode is called a so-called swivel cutting operation, and is a general work format for a harvesting and harvesting machine that harvests planted stems and stems. In such a general work format, In both the mowing work and the horizontal mowing work, the position of the machine body in the horizontal width direction with respect to the planted stem row can be properly detected.

In addition to the third feature configuration, the fourth feature configuration of the present invention includes:
A plurality of weeding tools for distributing and weeding planted stems to be harvested to a plurality of stem-stalk introduction paths, and a weeding tool arranged along the front-rear direction of the aircraft, A plurality of hook-shaped cutting part frames provided,
The detection unit for the line cutting is provided at a position on the rear side of the body of the weeding tool in the cutting unit frame located on the intermediate side in the cutting width direction of the plurality of cutting unit frames;
The horizontal mowing detection unit is provided at a position on the rear side of the body of the weeding tool in the mowing unit frame located on the most recent mowing side of the plurality of mowing unit frames.

  That is, the detection body swings toward the rear side of the body while coming into contact with the pedicle planted in parallel with the planting strip as the body moves forward, thereby detecting the stalk row and the swing state detection means. That is, it is possible to detect the relative positional relationship in the lateral direction of the machine body with the cutting unit.

  The row cutting detection unit is provided at a position on the rear side of the body of the weeding tool in the cutting unit frame located on the middle side in the cutting width direction among the plurality of cutting unit frames, and thus supports the weeding tool. The cutting frame that can be supported with a simple structure while properly detecting and acting on the planted stems after the weeding and sorting has been carried out effectively using the cutting frame, and is located on the middle side in the cutting width direction Since there are planted stems on both the left and right sides, it is possible to properly detect the position in the width direction of the aircraft relative to the planted stem row.

  On the other hand, the cutting unit for supporting the weeding tool is provided because the horizontal mowing detecting unit is provided at the rear side of the body of the weeding tool in the cutting unit frame located on the most recent cutting side among the plurality of cutting unit frames. It can be supported with a simple structure while properly detecting and acting on the planted stems after the weeds have been sorted using the frame effectively, and is also provided on the cutting part frame located on the most recent cutting side It is possible to effectively detect the position of the machine body in the width direction with respect to the planted stem row by effectively acting on the edge of the uncut stem row group.

In addition to any one of the first feature configuration to the fourth feature configuration, the fifth feature configuration of the present invention includes:
The ground position detection means includes a GPS position information calculation means that receives radio waves transmitted from GPS satellites and obtains position information of the airframe, and a gyro device that detects azimuth displacement information of the airframe. In the point.

  That is, since the ground position detection means includes a GPS position information calculation means and a gyro device, the position information of the aircraft determined at a set time interval by the GPS position information calculation means is obtained by the gyro device. The current position of the aircraft and the current direction of the aircraft can be determined as accurately as possible by interpolating with the azimuth displacement information of the aircraft detected during the elapse of time.

  Therefore, according to the fifth feature configuration, it is possible to satisfactorily control the steering operation means so as to travel along the set route based on the accurate position information of the aircraft and the azimuth displacement information of the aircraft. Is possible.

  Hereinafter, the case where the embodiment of the harvesting harvester according to the present invention is applied to a self-detaching combine will be described.

  As shown in FIG. 1, a cutting unit 3 is supported on a front part of a machine body supported by a pair of left and right crawler type traveling devices 1, 1 so as to be movable up and down around a horizontal axis P <b> 1 by a cutting lift cylinder 2. A driving unit 4 is provided on the right side of the front part of the machine body, a threshing part 5 is provided on the left side of the rear part of the machine body, and a grain tank 6 is provided on the right side of the rear part of the machine body to constitute a self-detaching combine. .

  The said cutting part 3 is attached to the front-end | tip part, and when it cuts and runs along the planting stalk of a planting stem culm, it enters between the right and left planting stem row, and the weeding tool which divides the planting stem pods together 7. A triggering device 8 for causing a planting stalk that is lying down, a cutting blade 9 for cutting the root of the planting stalk that has been raised, and a cutting stalk stalk received at the tip side and delivered to the feed chain of the threshing unit 5 A vertical transfer device 10 and the like are provided.

  In addition, the cutting unit 3 is provided with a shoot shoot position detecting means 83 for detecting the position of the machine body in the lateral width direction with respect to the planted shoot u when the machine travels along the planting stalk u. It has been. And this stalk position detection means 83 is a stalk pruning stalk as a detection unit for a shave used in a sown form in which the machine performs a cutting operation while traveling along the stalks of the planted stalk. It comprises a position sensor 83A and a pedicle position sensor 83B for side cutting as a detecting unit for side cutting used in a side cutting mode in which a cutting operation is performed while traveling in a direction intersecting with the planting ridge of the planted stalk. .

  When the explanation is added, as shown in FIG. 16, the planted stem group has a narrow interval X1 between the planted stems in the predetermined direction, and the interval between the planted stems in the direction intersecting the predetermined direction is It is planted to have a wide interval X2. The direction along the narrow interval X1 is the direction along the planting strip, and the cutting operation is performed in that direction (see FIG. 16 (2)). On the other hand, the cutting operation is performed in the direction along the wide interval X2 (see FIG. 16A).

  Therefore, as shown in FIG. 7, the pedicle position sensor 83 </ b> A for row cutting is closer to the center side in the cutting width direction than the most uncutting weeding tool 7 among the plurality of weeding tools 7. The pedicle position sensor 83B for horizontal mowing is provided behind the weeding tool 7 on the most recent mowing side. Each of the sensors 83A and 83B is a sensor bar 84 as a detection body that is urged to return to a return position substantially along the lateral width direction of the aircraft and is pivotally supported by the cutting portion so as to be swingable in the longitudinal direction of the aircraft. The sensor bar 84 is configured to include a potentiometer 85 as a swinging state detecting means for detecting the amount of backward swinging of the sensor bar 84 as information on the position in the lateral width direction of the machine body with respect to the planted stem row.

  That is, as shown in FIG. 7, the stalk position sensor 83 </ b> A for row cutting is at a position closer to the center than the most uncutting weeding tool 7 among the plurality of weeding tools 7. A pair of left and right sensor bars 84 are provided on the frame 7a on the rear side of the weeding tool 7 so as to be pivotable to the rear side of the machine body around the vertical rotation fulcrum. It is configured to turn to the rear side of the machine body in a biased state and in contact with the planted stalk u. And the potentiometer 85 which detects separately the rotation angle which these paired sensor bars 84 rotated to the back side of the body by contact with the stem is provided.

  That is, as the aircraft travels, the stems of the stems introduced into the left and right paths of the weeding tool 7 contact the sensor bar 84, and the sensor bar 84 corresponds to the stem contact position. The potentiometer 85 turns to the rear side of the body at the turning angle, and the potentiometer 85 detects the turning angle so that the lateral distance between the stems arranged in the longitudinal direction of the body and the turning fulcrum position of each sensor bar 84 becomes smaller. A detection signal is output. In other words, if the rotation amount of the sensor bar 84 on both the left and right sides is the same, it is located at the center of the left and right pedicle row, and the lateral deviation of the aircraft relative to the planted shoot row is detected by the difference in the left and right rotation amount can do. The rotation angle always varies with the travel of the aircraft, but the maximum or average value of the rotation angle can be used as the detection signal.

  The horizontal stalk position sensor 83B includes a single sensor bar 84 that is rotatable about the pivot point in the longitudinal direction on the frame 7a on the rear side of the weeding tool 7 on the most recent cutting side. , In a state of being urged to return to the laterally projecting state, and in a state of rotating to the rear side of the machine body by contact with the planting shoots u, A potentiometer 85 for detecting the rotated rotation angle is provided. Then, the lateral displacement of the machine body with respect to the planted stem row can be detected by the detection value of the potentiometer 85 in the same manner as the shoot stem position sensor 83A.

  Next, the power transmission system is shown in FIG. The output of the engine E mounted on the airframe is transmitted to the threshing unit via the threshing clutch 12 that can be turned on and off by the threshing clutch motor 11 and also transmitted to the mission unit 14 via the continuously variable transmission 13. The power from the transmission unit 14 is supplied to the crawler traveling devices 1 on both the left and right sides, and is also transmitted to the cutting unit 3 via a cutting clutch 16 that can be turned on and off by a cutting clutch motor 15. ing. Although not described in detail in the mission section 14, a slow turning state in which one traveling device 1 is driven at a lower speed than the other traveling device 1, a brake turning state in which one traveling device 1 is stopped, and one traveling A turning state switching mechanism 17 having a well-known configuration is provided that can switch between the reverse turning state in which the device 1 is driven in the opposite direction to the other traveling device 1. The switching operation of the turning state switching mechanism 17 is configured by a swinging operation of a cutting height steering lever 18 to be described later in the lateral width direction of the machine body.

  The continuously variable transmission 13 is linked and interlocked so that a manual shift operation can be performed by a manually operated transmission lever 19 provided in the driving unit 4. The speed change lever 19 is provided at the left portion of the driver seat 20 in the driver 4 so as to be swingable in the longitudinal direction of the fuselage. In other words, if the speed change lever 19 is in a neutral position located in the middle of the front / rear operation range, the travel is stopped, and if operated from the neutral position to the front side, the continuously variable transmission 13 increases the travel speed in the forward direction. When the speed change lever 19 is operated from the neutral position to the rear side, the continuously variable transmission 13 is configured to increase the traveling speed in the reverse direction.

  A cross-operated cutting height steering lever 18 is provided at the right side of the operation unit 4 and is configured to serve both as a cutting / raising / lowering commanding tool for raising / lowering the cutting unit 3 and a turning operation commanding tool for turning the machine body to the left and right. It has been. When the cutting height steering lever 18 is swung rearward, the cutting unit 3 is raised, and when the cutting height steering lever 18 is swung forward, the cutting unit 3 is lowered.

  That is, as shown in FIG. 8, a microcomputer for controlling the operation of the hydraulic control valve 21, the threshing clutch motor 11, the reaping clutch motor 15 and the like that switches the pressure oil supply state to the reaping lift cylinder 2 is provided. A control device H is provided as a configured control means. When the cutting height steering lever 18 is swung backward, the cutting lift switch 22 is turned on. When the cutting height steering lever 18 is swung forward, The cutting lowering switch 23 to be turned on is provided, and information on these switches is input to the control device H.

  Then, the control device H switches the hydraulic control valve 21 so that the cutting lift cylinder 2 is lifted when the cutting lift switch 22 is turned on, and hydraulic control so that the cutting lift cylinder 2 is lowered when the cutting drop switch 23 is turned on. The valve 21 is controlled to be switched. Further, a threshing on / off switch 24 and a mowing on / off switch 25 that can be turned on and off by manual operation are provided, and the control device H switches and controls the threshing clutch motor 11 according to the operation state of the threshing on / off switch 24, and the mowing on / off. Control is performed so that the mowing clutch motor 15 is switched according to the operating state of the switch 25.

  Although the details of the linkage structure will not be described, the cutting height steering lever 18 and the turning state switching mechanism 17 are mechanically linked. When the cutting height steering lever 18 is swung to the left, the machine body turns left. The gentle turning state, the brake turning state, and the reverse turning are set such that when the swinging operation is performed to the right, the body turns right and the tilt angle from the neutral position of the cutting height steering lever 18 increases. The turning state is sequentially switched, that is, the turning state is sequentially switched so that the turning force is increased.

  In this combine, a manual operation state in which the shift lever 19 and the cutting height steering lever 18 are manually operated by a driver seated on the driver's seat 20, and the transmission lever 19 and the cutting height steering lever 18 will be described later. Further, it is configured to be able to be switched to an automatic traveling state in which unmanned traveling can be performed along a preset traveling route by operating with a driving operation mechanism provided separately.

  In addition, as shown in FIG. 2, as shown in FIG. 2, the driving operation mechanism for steering that is positioned in the vicinity of the rear side of the body of the cutting height steering lever 18 and operates the cutting height steering lever 18 in the lateral direction of the body. 26 is provided, and a drive operation mechanism 43 for shifting is provided, which is positioned on the rear side of the shift lever 19 and operates the shift lever 19 in the longitudinal direction of the fuselage.

Next, the driving operation mechanism 26 for steering will be described.
As shown in FIGS. 2 to 5, the steering drive operation mechanism 26 is fixed to the operation panel 27 </ b> A on the front side of the seat of the driving unit 4 with screws via a connector 28 </ b> A as an attachment portion. Further, a screw shaft 30 that is rotationally driven by a steering electric motor 29 (hereinafter referred to as a steering motor) is rotatably supported in a state along the lateral width direction of the machine body. A slide member 32 having a screw portion 31 and capable of being moved and operated along the axial direction of the screw shaft 30 as the screw shaft 30 rotates is provided.

  A pair of left and right lever holders 33 serving as lever holding portions are bolted to the slide member 32, and the pair of left and right lever holders 33 are provided at positions where they contact the cutting height steering lever 18 from both the left and right sides. . The pair of lever holders 33 includes a mounting plate 33A and a reinforcing rod 33B fixed to the plate 33A by welding.

  Further, as shown in FIG. 3, the portion extending along the axial direction of the screw shaft 30 of the frame body 28 is formed in a substantially U-shaped cross section, and is formed at the upper edge portions on the left and right sides of the substantially U-shaped cross section. The guided portion 32a of the slide member 32 comes into contact with the slide member 32 so that the slide member 32 is prevented from rotating around the axis of the screw shaft 30 and is guided to be movable along the axis direction. Yes. Accordingly, the guide portion G is constituted by the upper edge portions of the left and right sides of the frame body 28 having a substantially U-shaped cross section.

  In this way, the moving operation unit IS is configured to move the lever holder 33 along the machine body width direction as the operated direction. By rotating the steering motor 29, the screw shaft 30 is rotated. Accordingly, the cutting height steering lever 18 can be swung in the horizontal direction of the machine body by the lever holder 33 fixed to the slide member 32.

  The output shaft 34 and the screw shaft 30 of the steering motor 29 are interlocked and connected by a transmission chain 35, but the motor side sprocket 36 is formed to have a larger diameter than the screw shaft side sprocket 37, and the steering motor As 29, while using a general-purpose and inexpensive electric motor provided with a speed reduction mechanism in advance such as a wiper motor, the screw shaft 30 is rotated as fast as possible so that the steering operation can be performed quickly.

  Further, a detection shaft that is orthogonal to or substantially orthogonal to the axial direction of the screw shaft 30 is provided on a support portion 38 that is integrally extended upward from a position on the rear side of the body in the width direction of the body of the frame 28. A potentiometer 40 having a detection rotating shaft 39 rotatable around a front and rear axis as a core is provided, and a swing end of a detection swing arm 41 of the potentiometer 40 and the slide member 32 are arranged around the front and rear axis. The other end of the relay link 42 that is rotatably supported is pivotally connected via a pin, and the detection swing arm 41 of the potentiometer 40 swings as the slide member 32 slides. The potentiometer 40 can detect the slide position of the slide member 32, that is, the amount of left-right swing operation of the cutting height steering lever 18.

  As shown in FIG. 2, the steering motor 29 is in an oblique position so that the driver seat 20 is positioned at a substantially central position in the lateral width direction of the driver seat 20 in a plan view and the rear side is directed upward in a side view. When the driver is seated on the driver's seat 20, his / her feet do not touch the steering motor 29 during driving or get in the way when getting on and off.

  The steering drive operation mechanism 26 includes the lever holding portion 33, the movement operation portion IS, the operation position detection portion K, and the connection tool 28A assembled in a unit shape. It is configured to be detachably attached to the operation unit 4 by connection and release with the operation panel unit 27A.

Next, the drive operation mechanism 43 for shifting for operating the shift lever 19 will be described.
In the drive operation mechanism 43 for shifting, the frame body 45 is located on the left side of the seat in the driving unit 4 in a state where the axial center direction of the screw shaft 47 is oriented in the front-rear direction of the fuselage and located on the rear side of the fuselage. In a state where the position is fixed to the operation panel 27B, a speed change electric motor (hereinafter referred to as speed change motor) 46 is positioned above the rear side end of the screw shaft 47 and serves as an endless rotating body. The screw shaft 47 is rotationally driven through the transmission chain 35 and attached to the frame body 45.

  That is, as shown in FIGS. 2 and 6, the operation panel 27 </ b> B located on the left side of the driver's seat 20 in the driving unit 4 is positioned upward so as not to interfere with various operation tools provided on the left operation panel 27 </ b> B. In a state of being positioned at the position, the mounting and fixing are performed via a pair of front and rear vertical frames 44 as mounting tools. As in the case of the steering drive operation mechanism 26, the shift drive operation mechanism 43 has a screw shaft 47 that is rotationally driven by a shift electric motor 46 on a frame 45 fixed to the vertical frame 44. It is rotatably supported in a state of having a rotation axis along the front-rear direction, and has a female screw portion 48 that is screwed into the screw shaft 47, and in the axial direction of the screw shaft 47 as the screw shaft 47 rotates. A slide member 49 is provided as an operated part that can be moved and operated. The frame body 45 prevents the slide member 49 from rotating around the axis of the screw shaft and moves the slide member 49 along the axis direction, like the steering drive operation mechanism 26. A guide part G for guiding freely is provided.

  The rear end portion of the operation rod 50 extending in the front-rear direction is pivotally connected to the slide member 49 via the connecting plate 50A so as to be rotatable around the horizontal axis. The portion is pivotally connected to the holder 51 attached to the speed change lever 19 so as to be rotatable around the horizontal axis.

  In this way, the moving operation unit IS is configured to move along the operated direction, and the screw shaft 47 is rotated through the operation rod 50 as the transmission motor 46 is driven to rotate. Thus, the speed change lever 19 is swingably operated in the front-rear direction.

  The drive operation mechanism 43 for shifting is provided with an operation position detection unit K similar to the drive operation mechanism 26 for steering. That is, the airframe as a detection axis that is orthogonal to or substantially orthogonal to the axial direction of the screw shaft 30 is provided on the support portion 52 that extends upward from the driver seat side portion in the middle of the frame 45 in the front-rear direction. A potentiometer 54 having a detection rotating shaft 53 rotatable around an axis along the horizontal width direction is provided, and the swinging end of the detecting swing arm 55 of the potentiometer 54 and the slide member 49 are arranged around the horizontal axis. The other end of the relay link 56 that is rotatably supported is pivotally connected via a pin, and the detection swing arm 55 of the potentiometer 54 swings as the slide member 49 slides. The potentiometer 54 is configured to detect the slide position of the slide member 49, that is, the swing operation amount of the speed change lever 19.

  The drive operation mechanism 43 for shifting includes the holder 51, the moving operation unit IS, the operation position detection unit K, and the vertical frame 44 assembled in a unit shape, and the vertical frame 44 and the operation panel unit 27B. It becomes the structure attached to the driving | operation part 4 so that attachment or detachment is possible by connection and cancellation | release between these.

  In this combine, GPS position information calculation means 100 that receives radio waves transmitted from GPS satellites and obtains position information of the aircraft at set time intervals, and a vertical axis around the azimuth displacement information of the aircraft as an example. Based on the gyro device 57 that detects the angular velocity displacement of the airframe, the position information of the airframe obtained by the GPS position information calculation means 100 and the azimuth displacement information of the airframe detected by the gyroscope 57, the airframe follows the set path. Steering control means 101 that controls steering so that the vehicle travels.

First, the GPS position information calculation unit 100 will be described.
Local horizontal coordinate system E (east direction), N (north direction), representing the horizontal direction in the east-west and north-south direction with respect to the gravity direction of the point at an appropriate place on the ground side outside the field to be worked on, As shown in FIG. 11, it is installed at a reference position on the ground side where the position (coordinate values in the coordinate systems E, N, and H) is known with high accuracy in H (the height direction from the center of the earth). An antenna 59a for a GPS reference station R (hereinafter also simply referred to as a reference station R) that receives a spread spectrum modulated radio wave (carrier signal) from at least four GPS satellites 58, and a received signal of this antenna 59a is processed. A GPS receiver 59 that obtains phase information of the carrier wave, and a transceiver 60 as a ground side communication means that includes a transmission antenna 60a for transmitting the carrier wave phase information from the GPS receiver 59 toward the aircraft side; It is provided.

  Further, on the airframe side, an antenna 61a for a GPS mobile station I (hereinafter also simply referred to as mobile station I) that receives radio waves (carrier wave signals) from the GPS satellite 58, and a reception signal of the antenna 61a are processed. A GPS receiver 61 that obtains carrier phase information and a transceiver 62 as body side communication means provided with an antenna 62a for receiving transmission information from the ground-side transceiver 60 are provided.

  The GPS receivers 59 and 61 of the reference station R and the mobile station I have the same configuration as shown in FIG. 12, and the radio signals received by the respective antennas 59a and 61a are first a high-frequency signal. The signals are input to the processing units 63 and 64 and converted to a low frequency. The C / A code analysis unit 65, 66 decodes the satellite number or the like of the low frequency converted signal, and the carrier phase measurement unit 67, 68 generates a C / A according to the satellite number. The carrier wave is reproduced in correlation with the code, and the phase of the carrier wave is measured at set time intervals by the built-in clocks 69 and 70. At the same time, on the basis of information from the C / A code analysis units 65 and 66, the satellite position information and the like are determined by the route message decoding units 71 and 72. Information from each of the above parts is input to the respective control computers 73 and 74, and carrier phase information in each reference station R and mobile station I is obtained.

  Further, the carrier phase information in the reference station R output from the reference station R side computer 73 is transmitted from the transmission antenna 60 a through the ground side transceiver 60, received by the body side antenna 61 a, and passed through the transceiver 62. Double phase difference information is obtained on the basis of both carrier phase information at the reference station R and the mobile station I, which is input to the mobile station I side computer 74. Based on the double phase difference information obtained from the carrier phase information at the mobile station I and the carrier phase information at the reference station R received by the transceiver 62 using the GPS receiver 61, the reference position That is, the GPS position information calculating unit 100 is configured to obtain the position of the mobile station I, that is, the work vehicle V with respect to the reference station R as time-series GPS position data at predetermined time intervals. The GPS position data obtained by the GPS receiver 61 is input to the control device H.

  Here, the outline of the double phase difference information will be described. Each carrier signal from two different satellites 58 is received by two receiving stations (reference station R and mobile station I), and each satellite 58 corresponds. Two phase differences are obtained, and the difference between these two phase differences is called a double phase difference. As a result, the influence of the phase disturbance of the transmission signal in each satellite 58 is removed, and the influence of the synchronization deviation of the clock for measuring the phase of each receiving station is removed, and finally, on the satellite side and the receiving station side. Accurate phase difference information with less influence of error can be obtained. In order to obtain a position vector r described later, actually, three independent double phase differences are obtained based on carrier signals from four different satellites 58.

  The position detection of the airframe based on the three double phase difference information by the GPS position information calculation means 100 will be specifically described. First, the combine body is positioned at a point where the position coordinate value is known with high accuracy in the local horizontal coordinate systems E, N, and H, and the GPS receivers 59 and 61 on the mobile station side and the reference station side are connected. The three double phase differences are calculated from the received information, and the relative position between the reference station R and the airframe is known, so that the integer multiple of the carrier wavelength included in the double phase difference information is uncertain (integer value bias). To confirm. Next, as shown in FIG. 10, a position vector r from the reference station R to the aircraft is obtained from the three double phase difference information when the aircraft is moved to an arbitrary point in the field, and the reference position of the reference station R is obtained. From the obtained position vector r, the body position of the work vehicle V is determined. Detection of the aircraft position from the GPS reception information is obtained as time-series GPS position data every predetermined time (100 msec).

  As shown in FIG. 8, in the combine body, the azimuth displacement information of the body is different from the structure for receiving the radio wave transmitted from the GPS satellite and obtaining the position information of the body at a set time interval. As an example, a gyro device 57 for detecting the angular velocity displacement of the airframe around the vertical axis is provided.

  Therefore, in this combine, the ground position detection means for detecting ground position information, which is two-dimensional position information on the ground surface of the aircraft with respect to the reference position, includes a GPS position information calculation means and a gyro device. .

  Then, the control device H operates the steering motor 29 as the steering operation means so that the aircraft travels along the set route L based on the ground position information of the aircraft obtained by the GPS position information calculation means and the gyro device. The position of the aircraft in the width direction relative to the planted stem position sensor 83 detected by the planter position sensor 83 when cutting the path portion for harvesting the planted stem stem in the set path is trimmed. If the position deviates from the appropriate position, the position of the aircraft in the lateral direction is controlled based on the detection information of the anti-pod position sensor 83 regardless of the GPS position information calculation means and the detection information of the gyro device. The directional motor 29 is configured to be controlled. Therefore, the steering control means 101 is configured by the control device H.

The set route L is set as data determined with reference to the position coordinates (E, N, H coordinate system) on the ground side. Specifically, when performing the rice planting work to plant the planted cereals in the field to be worked, the driver gets on the rice planting machine and performs the planting work while operating manually. When performing the rice planting work, the rice planting machine is provided with GPS position information calculating means similar to the GPS position information calculating means 100, and when performing the rice planting work, the position information of the body of the rice planting machine is read and stored, A process of sequentially reading and storing data groups at a plurality of positions obtained in time series in accordance with such rice planting work is performed in advance.
Then, the storage information is read by the control device H of the combine, and the control device H is configured to create a setting route L for cutting corresponding to the planting region and the travel route planted in the rice planting work from the storage information. Has been. Accordingly, the control device H constitutes the setting route creating means 102 that creates the setting route L. At that time, in the case where the number of planting lines by the rice planting machine and the number of harvesting lines of the combine are different, the route is corrected as appropriate according to the difference in the number of lines.

  Describing the set route, as shown in FIG. 10, when the work starts from the work start point st and reaches the end of one work process in which the mowing work is performed along the edge of the uncut grain row, The harvesting operation is carried out in a so-called reversal cutting mode so that the aircraft is moved in a direction substantially orthogonal to the aircraft and the next harvesting operation is performed. It will travel the entire range of the field so that all the planted cereals in it are harvested. When turning at the end of the mowing operation process, the vehicle travels forward so as to incline in the leftward direction from the state of traveling along the straight traveling route, stops traveling, and then crosses the straight traveling route. The operation process is switched so that the vehicle travels backward so that the front-rear direction of the aircraft is in a position along the next straight travel path and stops traveling, and then travels straight along the next straight travel path. It is designed to perform turning for the purpose. Accordingly, in the turning travel for switching the work stroke, not only the direction change operation of the aircraft in the traveling direction by the operation of the steering motor 29 but also the forward movement state and the reverse movement state are switched by the operation of the speed change motor 46. It will be.

  And when performing a cutting operation in this field, if the mode setting switch 76 is operated and set to the automatic travel mode, the vehicle can automatically travel along the set route L set as described above. That is, when the automatic travel mode is commanded, the control device H includes the current GPS position data obtained by the GPS position information calculation means 100 and the change information of the azimuth direction detected by the gyro device 57. The position of the aircraft at the current time obtained based on the above is obtained as a coordinate value based on the position coordinates (E, N, H coordinate system) on the ground side, and the coordinate value and the travel route L are determined. The current position of the aircraft relative to the travel route L is obtained by comparing with the data, and steering control is performed so that the current position of the aircraft travels along the set route L.

  Specifically, the steering motor 29 is operated to steer the aircraft. At this time, when performing the turning for switching the work stroke as described above, the transmission motor 46 is operated. Thus, switching between the forward traveling state and the backward traveling state is performed. Further, the control device H automatically performs the on / off operation of the reaping clutch 16 and the threshing clutch 12 and the raising / lowering operation of the reaping portion 3 in addition to the control for traveling of the airframe.

  When the vehicle is traveling straight ahead in the automatic travel mode, the control device H obtains the position information of the body obtained every time the set time elapses by the GPS position information calculation means 100 while the set time elapses. The current position of the aircraft is obtained by correction based on the azimuth displacement information detected at 57, and at every set time according to the location information of the aircraft obtained at the set time interval by the GPS position information calculation means 100. The direction information of the aircraft is obtained, and the steering control is performed so that the current position of the aircraft is along the set route L and the current direction of the aircraft is an appropriate direction corresponding to the set route.

  In this combine, whether the position information of the airframe obtained by the GPS position information calculation means 100 and the direction displacement information of the airframe detected by the gyro device 57 are both properly detected. Detection state determination means 103 for determining whether at least one of the position information of the airframe and the azimuth displacement information of the airframe is not properly obtained, and the appropriate detection by the detection state determination means 103 In a form in which the display content is different between when it is determined that it is in a state and when it is determined that it is in the inappropriate detection state, and in a state where the display content is visible from outside the aircraft, A discrimination state display unit 78 for displaying the discrimination result of the detection state discrimination unit 103 is provided.

  In addition, the GPS position information calculation unit 100 appropriately receives a radio wave transmitted from a GPS satellite 58, and an unstable reception mode in which the position information of the airframe is unstable although the radio wave is received. And the detection state determination unit 103 determines that the GPS position information calculation unit 100 is in the proper detection state when the GPS position information calculation unit 100 is switched to the proper reception mode. When the GPS position information calculating unit 100 is switched to the unstable reception mode or the unreceivable mode, it is determined to be in an inappropriate detection state. The display contents are different from each other in the stable reception mode and the unreceivable mode.

  When the modes are further described, the detection state determination unit 103 determines that the reception mode is appropriate when all the radio waves from the four GPS satellites 58 are received satisfactorily. In this proper reception mode, the measurement error is about ± 2 cm, and the position can be measured with high accuracy.

  In addition, a state in which the radio wave of any one of the four GPS satellites 58 is not properly received, for example, a direct reception wave in which the radio wave from the GPS satellite 58 is directly received by the antenna 61a, and the GPS satellite 58 If there is an indirect received wave that is received by the antenna 61a after the radio wave is once reflected on the ground, the operation may become unstable, such as two detected values being obtained simultaneously as the position information of the aircraft There is. In such a case, the detection state discriminating means 103 discriminates the unstable reception mode. In this unstable reception mode, the measurement error is about ± 1 m and the measurement accuracy is poor.

  When the radio wave from the GPS satellite 58 is not received, the detection state determination unit 103 determines that the reception disabled mode. Such a state may occur, for example, when radio waves from the GPS satellite 58 are blocked by surrounding obstacles such as other buildings. At this time, the position of the aircraft cannot be measured.

  Further, when the detection state discriminating means 103 is steered by the steering control means 101 so that the airframe travels straight along the set route L, the azimuth displacement of the airframe detected by the gyro device 57 is detected. If the amount is less than the set allowable amount, it is determined that all the azimuth displacement information of the aircraft is in a properly detected state, and the aircraft moves straight along the set route L by the steering control means 101. When steering control is performed so as to travel, if the azimuth displacement amount detected by the gyro device 57 exceeds the set allowable amount, the azimuth displacement information of the aircraft is not properly obtained. It is comprised so that it may discriminate | determine that it is an improper detection state.

  As shown in FIG. 1, the discrimination state display means 78 is provided in a state of standing on the upper part of the cabin that covers the operating part of the aircraft, and is easy to see so that it can be seen from the basket outside the field. The display lamps 79 and 80 are configured. The GPS display lamp 79 is lit with a green display lamp 79a when the GPS position information calculation means 100 is switched to the proper reception mode, and is lit with a yellow display lamp 79b when the GPS position information calculation means 100 is switched to the unstable reception mode. When the mode is switched to the reception disabled mode, the red display lamp 79c is turned on, and the display color as a different display content is switched. The display lamp 80 for the gyro is configured by a blue display lamp that is lit in blue when the detection state of the gyro device 57 is abnormal, and is turned off when the detection state is normal. The detection state discriminating means 103 is configured using a control device H.

  As shown in FIG. 10, on the outer periphery of the field to be worked, when the combine is running automatically, the machine is out of the field so that the machine does not escape from the field and run away. An optical airframe detection device 81 is provided for detecting the escape toward the direction, and the optical airframe detection device 81 is located outside the boundary line created by the laser light described later from the field. When it is detected that the aircraft is moving toward the vehicle, an emergency stop signal is transmitted by radio transmission to an emergency receiver 82 provided in the aircraft to stop the aircraft.

  In the optical type body detection device 81, light emitting devices 81A that emit laser light along the outer periphery of the field are provided at two corners located diagonally, and lasers are provided at the other two corners. A light receiving device 81B for receiving light is provided, and when the light receiving device 81B stops receiving laser light, an emergency stop signal is transmitted by radio transmission to the emergency receiver 82 by the wireless transmitter 81C provided in the receiving device 81B. It is the composition to do.

  Next, the control operation of the control device H will be described based on the flowcharts shown in FIGS. In addition, the body is moved by manual control or by another transport vehicle from the heel to the work start point st. And this control becomes a structure which starts a process by instruct | indicating a start with the radio | wireless communication apparatus which is not shown in figure by the manager who is outside the field. This process is repeatedly executed every unit time (for example, 20 msec).

  As shown in FIG. 13, when the control mode is the route setting mode, the route setting process based on the stored information as described above is executed (steps 1 and 2). In the automatic travel mode, work start processing is first executed (step 3). That is, the threshing clutch 12 and the reaping clutch 16 are turned on and operated, the speed change lever 19 is shifted to the forward speed for reaping, the reaping portion 3 is lowered, and straight running is started. Then, after starting such straight traveling, straight traveling control is executed (step 4).

Next, the straight traveling control will be described with reference to FIGS. 14 and 15.
The GPS position data calculated by the GPS position information calculating means 100 is read every time a set time (100 msec) elapses (steps 41 and 42), and the position of the vehicle body is calculated from the GPS position data (step 43). Also, the detection information of the gyro device 57 is read every unit time (20 msec) for executing the processing, and the azimuth displacement amount of the vehicle body from the previous detection azimuth is calculated based on the detection information (steps 44 and 45).

  Next, the position in the lateral width direction of the machine body with respect to the planted stem culm u is detected from the detection result of the stem culm position sensor 83 (step 45A). At this time, if the traveling route of the airframe travels along the planting stalk planting line in the field (see FIG. 16 (1)), the stalk position sensor 83A for the above-mentioned line cutting. If the horizontal cutting work mode (see FIG. 16 (2)) is used so that the traveling path of the aircraft crosses the planting strip, the detection information of the stem cutting position sensor 83A is used. Will be used.

  And if the position in the width direction of the body with respect to the planting stem ridge u is an appropriate position, it will transfer to step 46 and will be based on the detection information of the GPS position information calculation means 100 and the gyro apparatus 57 as follows. Execute steering control.

  That is, it is determined whether or not the detection information of the gyro device 57 is abnormal (step 46). That is, when steering control is performed so that the vehicle travels straight, specifically, the gyro device 57 detects when the cutting height steering lever 18 detected by the potentiometer 40 is in the neutral position. If the azimuth displacement amount of the vehicle body to be detected is less than the set allowable amount, it is determined that all the azimuth displacement information of the vehicle body is properly detected, and the vehicle body detected by the gyro device 57 is detected. When the azimuth displacement amount exceeds the set allowable amount, it is determined that the vehicle body azimuth displacement information is not properly obtained and is in an inappropriate detection state.

  When the gyro device 57 is in the proper detection state, if the GPS position information calculation means 100 is in the proper reception mode at that time, the gyro device 57 is determined to be in the proper detection state and the green display lamp 79a of the GPS display lamp 79 is set. Lights up (steps 47 and 48). If the GPS position information calculation means 100 is in the unstable reception mode, it is determined that it is in an inappropriate detection state, and the yellow display lamp 79b of the GPS display lamp 79 is turned on (step 49). If the GPS position information calculating means 100 is in the reception incapable mode, it is determined that it is in an inappropriate detection state, and the red display lamp 79c of the GPS display lamp 79 is turned on (step 50). If the improper detection state continues for a set time (0.5 seconds) or longer, it is dangerous to run further, so that the vehicle body is brought to an emergency stop and the red display lamp 79c blinks (step 52). , 54).

  If the GPS position information calculating means 100 is in the proper reception mode, the current position of the vehicle body is obtained based on the position information of the vehicle body calculated from the GPS position data at every set time and the detection information of the gyro device 57 (step) 51).

As shown in FIG. 17, the method of calculating the position of the vehicle body based on the GPS position data is performed every set time (100 msec), and the amount of azimuth displacement by the gyro device 57 is calculated. The processing to be performed is performed every unit time (20 msec). Based on the position GP1, GP2,... Of the vehicle body obtained from the GPS position data, the position displacement data JD and the vehicle speed information at that time are obtained from that position. The current position is obtained every unit time in consideration of the position displacement amount.
When the explanation is added, as described above, the azimuth displacement data JD is obtained every unit time (20 msec), but the positions GP1, GP2,... Of the base body are measured 100 msec before the current time. Position. Thus, every 100 msec after this position information is obtained, the position information that is the basis (data before 100 msec) is corrected with the position data obtained this time, so that accurate position information can be obtained. ing.
The vehicle speed information can be obtained from information on the operation position of the speed change lever 19 by the potentiometer 54 in the drive operation mechanism 43 for speed change.

  The steering motor 29 is controlled so that the current position of the vehicle body obtained as described above is positioned on the set route L (step 55). For example, when the current position of the vehicle body is far away from the set route L beyond the set amount, the steering height steering lever 18 is operated with the operation position corresponding to the brake turning state as the target position. When the current position of the vehicle body is less than the set amount and the current position of the vehicle body is less than the set amount, the cutting height steering lever 18 is operated with the operation position corresponding to the gentle turning state as the target position. The steering motor 29 is controlled as described above.

  When the GPS position information calculation unit 100 is in the unstable reception mode or the reception-disabled mode for a short time shorter than the set time from the state of the appropriate reception mode, the unstable reception mode Only during the non-receivable mode, without adopting the GPS position data, the current vehicle azimuth calculated from the detection information of the gyro device 57 is used as the final vehicle current azimuth. Based on this, the steering motor 29 is controlled so that the vehicle body travels along the set route (steps 53 and 55).

  If it is determined in step 46 that the gyro device 57 is in an inappropriate detection state, the blue lamp 80 as a gyro display lamp is turned on to display an abnormality (step 56). If the GPS position information calculation means 100 is in the proper reception mode, the green display lamp 79a is turned on (steps 57 and 58), and the position of the vehicle speed is determined based only on the GPS position information without using the data of the gyro device 57. Thus, the steering motor 29 is controlled so that the position of the vehicle body travels along the set route L (steps 61 and 55).

  If the GPS position information calculation means 100 is in the unstable reception mode, the yellow display lamp 79b is turned on (step 59), and if the GPS position information calculation means 100 is in the reception impossible mode, the red display lamp 79c is turned on (step 59). 60). If the improper detection state continues for a set time (0.5 seconds) or longer, it is dangerous to run further, so the vehicle body is brought to an emergency stop and the red display lamp 79c blinks (steps 62 and 54). ). While the inappropriate detection state is shorter than the set time (0.5 seconds), the state at that time is maintained (step 62). In the combine, it is considered that there is little change in the direction during such a short time, so that the traveling is continued in the steering state as it is for a short time.

  When the GPS position information calculation unit 100 is in the unstable reception mode or the reception-disabled mode for a short time shorter than the set time from the state of the appropriate reception mode, the unstable reception mode Only during the non-reception mode, the current position of the aircraft calculated from the detection information of the gyro device 57 is used as the final current direction of the aircraft without adopting the GPS position data. Based on this, the steering motor 29 is controlled so that the aircraft travels along the set route (steps 51 and 55).

  If it is detected in step 45B that the position in the lateral width direction of the body relative to the planted stem culm u is not an appropriate position from the detection result of the stem culm position detecting unit 83, the GPS position information calculating unit as described above Instead of the control based on the detection information of 100 and the gyro device 57, the steering motor 29 is controlled so that the position in the lateral width direction of the machine body becomes the appropriate position. In other words, when the position of the body relative to the planted stem ridge u is shifted to the left from the appropriate range, the steering motor is used to change the direction of the body to the right so as to be within the appropriate range. 29 (steps 61 and 62), and when the position of the aircraft in the lateral width direction with respect to the planted stem ridge u is shifted to the right from the appropriate range, the orientation of the aircraft is set to the left side so as to enter the appropriate position. The steering motor 29 is controlled so as to change the direction (step 63).

  Next, when the end point of the straight traveling route that is the target of the cutting operation is reached, the cutting operation is terminated, and a turning point that turns the aircraft about 90 degrees toward the straight traveling route that is the next target of the cutting operation is reached. Is determined, turning control for turning is executed (steps 5 to 8).

Turning control for turning will be described with reference to FIG.
In the turning control for turning, the GPS position data is not used, the detection information of the gyro device 57 is read, and the azimuth displacement amount of the aircraft from the previous detection azimuth is calculated based on the detection information to calculate the current azimuth of the aircraft. Is calculated (steps 81 and 82). Then, based on the information on the current heading of the aircraft, the turning travel for switching the work stroke as described above is performed so as to go to the next straight traveling route changed by about 90 degrees with respect to the previous straight traveling route. (Step 83). During the turning, when the turning angular velocity of the airframe exceeds a preset allowable value from the detection information of the gyro device 57, the operation amount of the steering motor 29 is corrected to the smaller side by the set amount. Thus, the vehicle is turned while the turning angular velocity of the airframe does not exceed a preset allowable value (steps 84 and 85).
After the cornering is completed, the cutting operation is executed along the next straight traveling route.After that, all of the cutting operations in the field are performed while the aircraft is traveling along the set route by repeating such a process. It will run until it finishes.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above-described embodiment, the antipodal stem position detecting unit includes a swinging state detecting unit that detects a swinging state due to contact between the contact-type detection body and the stem of the detecting body. However, for example, a non-contact type distance detection sensor that detects the distance to the planted shoots using ultrasonic waves or the like as the position information in the width direction of the aircraft relative to the planted shoots may be used. Good.

(2) In the above-described embodiment, the ground position detection means is configured to include a GPS position information calculation means and a gyro device. However, for example, a distance sensor that detects a travel distance and an absolute value on the ground It is implemented in various forms, such as a configuration that includes a geomagnetic sensor that can detect an azimuth and detects ground position information that is two-dimensional position information on the ground of the aircraft relative to a reference position based on the information. be able to.

(3) In the above embodiment, a pair of left and right crawler type traveling devices is provided, and the vehicle is turned by the speed difference between the left and right traveling devices, such as decelerating one of the left and right traveling devices. Instead of such a configuration, it may be a wheeled working vehicle that steers by changing the direction of the wheels.

(4) In the above embodiment, the combine is exemplified as the harvesting harvester. However, the present invention can be applied to other types of harvesting harvester such as an rush harvesting machine instead of the combine harvester.

Combine side view Plan view of the operation unit Side view showing the structure of the drive operation mechanism for steering Notched front view showing the configuration of the drive operation mechanism for steering Notched plan view showing the configuration of the drive operation mechanism for steering Side view showing the configuration of the drive operation mechanism for shifting The top view which shows the arrangement | positioning state of a pedicle position sensor Control block diagram Diagram showing transmission state Schematic plan view showing work vehicle and planned travel route Schematic side view showing work vehicle and reference station Block diagram showing the configuration of the GPS reception system Flow chart of control operation Flow chart of control operation Flow chart of control operation Flow chart of control operation Diagram showing displacement of detection information over time Plan view showing differences in mowing operation

Explanation of symbols

7 Weeding tool 29 Steering operation means 57 Gyro device 58 GPS satellite 83 Stem position detection means 83A Strip cutting detection section 83B Horizontal cutting detection section 84 Detector 85 Swing state detection means 100 GPS position information calculation means H control means

Claims (5)

A cutting part that is provided at the front part of the machine body and cuts off the uncut stem as the machine travels along the cutting process.
Steering operation means that can freely change the orientation of the aircraft,
Ground position detection means for detecting ground position information, which is two-dimensional position information on the ground of the aircraft relative to a reference position;
Based on the route information which is two-dimensional position information on the ground determined corresponding to the cutting process for cutting and the ground position information of the body which is obtained by the ground position detection means, A harvesting and harvesting machine provided with control means for controlling the steering operation means so as to travel along the work process for harvesting,
Provided with a stem shoot position detecting means for detecting a position in a cutting width direction of the body with respect to a planted stem row when the body travels along the cutting operation stroke;
The control means is
Regardless of the detection information of the ground position detection means, the position in the cutting width direction of the machine body with respect to the planted shoot row detection detected by the anti-shoot position detection means is out of the appropriate range set in advance. A harvesting and harvesting machine configured to control the steering operation means so that the position in the lateral width direction of the machine body falls within the appropriate range based on detection information of the anti-shoot stem position detection means. The anti-shoot heel position detecting means,
A detection body which is urged to return to a return position substantially along the width direction of the machine body and is pivotally supported by the cutting unit so as to be swingable in the longitudinal direction of the machine body; The harvesting and harvesting machine according to claim 1, further comprising a swinging state detecting unit that detects a swinging state of the detection body by contact with a cocoon. A row cutting operation for performing a cutting operation along a row cutting operation stroke along the planting row in the outer periphery of the uncut stem bush group as the cutting operation stroke, and an uncut stem bush as the cutting operation stroke It is configured to perform cutting in a state of alternately repeating the horizontal mowing work for performing the mowing work along the horizontal mowing work process that intersects the row mowing work process in the outer periphery of the group,
The anti-shoot heel position detecting means,
A detection unit for row cutting that detects a position in the width direction of the aircraft with respect to the planted stalk row in the row cutting operation, and a horizontal direction that detects a position in the width direction of the aircraft with respect to the planted shoot row in the row cutting operation. The harvesting and harvesting machine according to claim 1 or 2, comprising a detection unit for cutting. A plurality of weeding tools for distributing and weeding planted stems to be harvested to a plurality of stem-stalk introduction paths, and a weeding tool arranged along the front-rear direction of the aircraft, A plurality of hook-shaped cutting part frames provided,
The detection unit for the line cutting is provided at a position on the rear side of the body of the weeding tool in the cutting unit frame located on the intermediate side in the cutting width direction of the plurality of cutting unit frames;
The harvesting harvester according to claim 3, wherein the horizontal mowing detection unit is provided at a position on the rear side of the body of the weeding tool in the mowing unit frame located on the most recent mowing side among the plurality of mowing unit frames. Machine. The ground position detecting means is
The GPS position information calculation means for obtaining the position information of the airframe by receiving radio waves transmitted from GPS satellites, and a gyro device for detecting the azimuth displacement information of the airframe. The harvesting machine according to claim 1.

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