JP2021052781A - Combine harvester - Google Patents

Abstract

To provide a combine harvester capable of accurately positioning the combine harvester at a position optimum to a row of unreaped grain culm.SOLUTION: A combine harvester 1 includes a reaping unit 3, a control device, and a detection unit 35 for detecting a distance from the reaping unit 3 to the grain culm at an outer side in a width direction of a machine body, acquires position data by receiving radio waves from a positioning satellite so as to measure the position by the control device, travels so as to allow the position of the combine harvester 1 indicated by the position data to follow a preset route, and when the distance detected by the detection unit 35 exceeds a prescribed threshold, makes the machine body move to a position within the prescribed threshold changing from the travel on the route and then continue travelling.SELECTED DRAWING: Figure 3

Description

The present invention relates to a combine.

In Patent Document 1, the position of the combine harvester during the harvesting operation is corrected each time according to the information from the stock trace sensor, so that the position of the harvesting portion with respect to the row is optimized, and the position of the harvesting portion is adjusted according to the bending of the uncut grain culm row. A combine that can automatically control steering is disclosed.

Jikkai Sho 57-56416

The combine described in Patent Document 1 does not use the position data (position data) of the combine measured by using a positioning satellite. That is, the combine does not combine the position data of the combine, which changes with traveling, with the information acquired by the stock-like sensor each time, and cooperates with these to correct the position of the combine.

Therefore, by linking the position data of the combine acquired by using the positioning satellite and the information from the detection unit that detects the position of the harvesting section with respect to the row, the position of the combine with respect to the row of the uncut culm can be determined. A technique for controlling with higher accuracy is desired.

An object of the present invention is to provide a combine capable of positioning a combine at an optimum position with high accuracy with respect to a row of uncut culms.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

The invention according to claim 1 is a combine including a cutting unit, a control device, and a detecting unit that detects a distance from the cutting unit to the grain outside in the width direction of the machine body, and the control device is used to control the positioning satellite. Position data is acquired by receiving radio waves and measuring the position, and the combine position indicated by the position data travels along a preset route, and the distance detected by the detection unit is a predetermined threshold value. If it exceeds, the aircraft is moved to a position within a predetermined threshold value instead of traveling on the route.

The invention according to claim 2 is the combine according to claim 1, wherein a predetermined threshold value is a threshold value for detecting an uncut grain culm outside the width direction of the machine body and an uncut grain culm outside the width direction of the machine body. Is set to a value different from the threshold value for detecting.

The invention according to claim 3 is the combine according to claim 2, wherein the detection unit detects the distance to the uncut grain culm on the outside in the width direction of the machine body and the uncut portion on the outside in the width direction of the machine body according to the route. It switches between detecting the distance to the grain.

The invention according to claim 4 is the combine according to claim 3, in which detection portions are provided on both sides of the cutting portion in the width direction and width direction, and the detection portion on one side in the width direction is outside in the body width direction. The detection unit on the other side in the width direction detects the distance to the uncut grain stalk on the outside in the width direction of the machine, and detects the distance to the uncut grain stalk on the outside in the width direction of the machine.

The invention according to claim 5 is the combine according to any one of claims 2 to 4, and is left uncut outside in the width direction of the machine body from the distance of the uncut grain on the outside in the width direction of the machine body by the detection unit. When it is detected that the grain of the grain is present, the grain of the uncut grain on the outside in the width direction of the machine is moved to a position where it can be cut.

As the effect of the present invention, the following effects are exhibited.

According to the invention of claim 1, when the distance detected by the detection unit exceeds a predetermined threshold value, the vehicle is moved to a position within the predetermined threshold value instead of traveling on the route, thereby traveling. It is possible to position the combine in the optimum position with high accuracy for the row of culms. Therefore, it is possible to provide a combine capable of positioning the combine at an optimum position with high accuracy with respect to the row of uncut culms.

It is a side view of a combine. It is a front view of a combine. It is a top view of the combine. It is a figure which shows the control system of a combine. It is a figure which shows the combine which corrects the position with respect to the row of uncut culms according to the detected distance. (A) It is a front view of a combine in which a stock-like sensor is provided inside the machine body on the left side of the cutting section, and (B) is also a plan view. It is a top view of the combine which is provided with the stock-like sensor on both the left and right sides of the cutting part. (A) It is a figure which shows the route set for any one field, and (B) is the figure which shows the route set for any other field.

The combine 1 will be described as an embodiment of the present invention with reference to FIG. Note that FIG. 1 shows the front-rear direction and the vertical direction of the combine 1.

The combine 1 is an autonomous traveling type combine capable of autonomously traveling and working, and can travel and work unmanned. That is, the unmanned control type combine 1 can autonomously travel into the field where the object to be harvested is located from the ramp connected to the field, and autonomously travels to exit the field from the inside of the field. It is configured to be able to. Further, the combine 1 is configured to autonomously travel, turn, and work in the field.

The combine 1 includes a traveling unit 2, a cutting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw disposal unit 7, a power unit 8, and a control unit 9. While traveling by the traveling unit 2, the combine 1 threshs the culms cut by the cutting unit 3 in the threshing unit 4, selects the grains in the sorting unit 5, and stores them in the storage unit 6. Further, the straw discharged after threshing is processed by the straw waste processing unit 7. The power unit 8 supplies power to the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

The traveling unit 2 includes a pair of left and right traveling devices (hereinafter referred to as “crawler type traveling devices”) 21 provided below the machine frame 20, and a transmission (not shown). The airframe frame 20 constitutes the main frame of the airframe of the combine 1. The transmission shifts the power of the engine 8a and transmits it to the crawler type traveling device 21. The crawler type traveling device 21 travels the machine body.

The cutting unit 3 is provided in front of the traveling unit 2. The cutting unit 3 includes a divider 31, a raising device 32, a cutting device 33, and a transport device 34. The divider 31 guides the grain culm in the field to the raising device 32. The raising device 32 causes the culm guided by the divider 31. The cutting device 33 cuts the culm caused by the raising device 32. The transport device 34 transports the grain culms cut by the cutting device 33 to the threshing section 4.

The threshing section 4 is provided behind the cutting section 3. The threshing unit 4 includes a feed chain 41 and a handling cylinder 42. The feed chain 41 inherits the grain culm from the transport device 34 and transports it to the straw disposal unit 7. The handling cylinder 42 threshes the culm carried by the feed chain 41.

The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a swing sorting device 51, a wind sorting device 52, a grain transporting device (not shown), and a straw waste discharging device. The rocking sorting device 51 sorts the threshed grains that have fallen from the threshing section 4 into grains and straw waste. The wind sorting device 52 further sorts the threshing sorted by the rocking sorting device 51 into grains, straw waste, and the like. The grain transporting device transports the grains sorted by the rocking sorting device 51 and the wind sorting device 52 to the storage unit 6. The straw waste discharging device discharges the straw waste and the like sorted by the swing sorting device 51 and the wind sorting device 52.

The storage section 6 is provided on the right side of the threshing section 4. The storage unit 6 includes a grain tank 61 and a discharge auger 62. The grain tank 61 stores the grains transported from the sorting unit 5. The discharge auger 62 can discharge the grains stored in the grain tank 61 to any place. Further, when the discharge auger 62 is stored, an auger rest 63 that supports the middle portion thereof is provided on the machine body.

The straw waste processing unit 7 is provided behind the threshing unit 4. The straw discharge processing unit 7 includes a straw discharge transport device and a straw discharge cutting device (not shown). The straw-removing transport device inherits the culm from the feed chain 41 and transports it to the straw-discharging device. The straw cutting device cuts and discharges the culm transported by the straw transporting device.

The control unit 9 is provided on the right side of the fuselage. The control unit 9 includes a cabin 91, a driver's seat 92, and operating tools such as a steering wheel 93. The cabin 91 is equipped with various operating tools such as a driver's seat 92 and a steering wheel 93. The driver's seat 92 is a seat on which the operator sits, and is arranged at the center of the control unit 9 in the left-right direction. The handle 93 is a steering handle that changes the traveling direction of the combine 1. The operator operates the combine 1 by appropriately operating each operating tool including the handle 93. With such a configuration, the operator can operate the combine 1 while seated in the driver's seat 92. Each configuration of the combine 1 may be operated based on an operation by an operator in addition to being operated autonomously and automatically.

Next, the stock tracing sensor 35 provided in the cutting unit 3 will be described with reference to FIGS. 2 and 3. Note that FIG. 2 shows the left-right direction and the up-down direction of the combine 1. FIG. 3 shows the front-rear direction and the left-right direction of the combine 1.

As shown in FIG. 2, the combine 1 includes a stock-like sensor 35. The stock tracing sensor 35 is provided below the leftmost divider 31 as the leftmost end of the cutting portion 3. The stock tracing sensor 35 includes an arm 36 that rotates from the front to the rear and from the rear to the front with respect to the body of the harvesting unit 3 and the combine 1. A support shaft Cr, which is the center of rotation of the arm 36, is supported by the vertical pipe 37 of the cutting frame that supports the divider 31 at the left end, and the arm 36 is rotatably supported by the support shaft Cr. The arm 36 projects from the center of the combine 1 toward the left from the divider 31 at the left end. In the front view of the combine 1, the arm 36 projects to the left of the side divider 3S overhanging in a usable state.

When the arm 36 comes into contact with the grain culm while the combine 1 is traveling, the arm 36 rotates from the front to the rear. An urging member (not shown) is provided between the arm 36 and the vertical pipe 37, and the arm 36 rotates from the rear to the front even when the arm 36 rotates from the front to the rear. Can return to the standard position of.

As shown in FIG. 3, the arm 36 can rotate rearward about the support shaft Cr from the standard position shown in the figure. Further, a potentiometer 38 for detecting the rotation angle of the arm 36 with respect to the vertical pipe 37 is provided between the arm 36 and the vertical pipe 37. The potentiometer 38 detects the rotation angle θ as the rotation angle from the standard position. As will be described later, the combine 1 calculates the distance from the grain culm on the left side of the cutting section 3 to the divider 31 according to the rotation angle θ. With such a configuration, the stock trace sensor 35 detects the distance from the grain culm on the left side of the cutting section 3 to the divider 31.

Next, the control system of the combine 1 will be described with reference to FIG.

As shown in FIG. 4, the control device 80 includes a processing unit 81 including a microcomputer such as a CPU, and a storage unit 82 such as a ROM, RAM, a hard disk drive, and a flash memory. The processing unit 81 can read a program or the like stored in the ROM onto the RAM and then execute the program or the like. Further, the control device 80 controls the operation of various components by executing the control program by the processing unit 81. Specifically, it performs transmission / reception of information during communication, various input / output controls, and control of arithmetic processing.

In the storage unit 82, the data of the specifications of the combine 1 such as the total length, the total width and the total height of the combine 1, the length of the arm 36, and the tilt angle of the arm 36 with respect to the total width of the combine 1 are stored in the storage unit 82. The data of the specifications is stored. Further, the storage unit 82 stores data of a route set in advance along the row of grain culms.

Further, information from the positioning unit 100 is transmitted to the control device 80. The measuring unit 100 receives radio waves from the positioning satellite and measures the position of the combine 1. The positioning unit 100 includes a receiving device 101, an inertial navigation system 102, and a wireless communication device 103.

The receiving device 101 receives radio waves from the positioning satellite, converts the received radio waves into signals, and transmits the received radio waves to the inertial navigation system 102. Examples of the receiving device 101 include a GNSS receiver that receives radio waves from a group of GNSS satellites, a GPS receiver that receives radio waves from GPS satellites, and the like.

The inertial navigation system 102 measures the three-axis gyro and the acceleration in the three directions, and calculates the attitude / direction data. Further, the inertial navigation system 102 calculates the position data based on the signal transmitted from the receiving device 101. That is, the inertial navigation system 102 functions as a calculation unit that calculates position data based on the position information from the receiving device 101. Further, in the present embodiment, the reliability of the attitude / orientation data by the inertial navigation system 102 is improved by mounting the GNSS receiver 104 on the inertial navigation system 102.

Since the positioning unit 100 is provided with the inertial navigation system 102, even in a situation where it is not possible to receive radio waves from the positioning satellite due to bad weather, radio wave interference, etc., the movement speed and the movement speed are based on the accelerations in the three directions detected by the inertial navigation system 102. It is also possible to use inertial navigation that calculates the distance traveled and performs positioning.

The wireless communication device 103 transmits the position data and the attitude / direction data calculated by the inertial navigation system 102 to the outside by wireless communication. The wireless communication device 103 is, for example, a data communication device using wireless LAN or mobile communication. The data transmitted from the wireless communication device 103 is received by, for example, a mobile terminal owned by the operator, the ECU of the combine 1 or the like, and confirms the position in the field, the posture of the combine 1 (tilt back and forth, left and right, etc.), etc. , Used for the operation of combine 1.

The positioning data (position data and attitude / direction data) acquired by the positioning unit 100 can be used for control when operating an autonomous combine that determines a route in advance, travels autonomously on the route, and performs work. it can. For example, the position data can be used to determine whether or not the autonomous combine is traveling along the route, and the attitude and orientation data can be used to recognize the inclination of the autonomous combine to determine the traveling state and the state of the field. You can check. Further, when the operator receives the data transmission from the wireless communication device 103 included in the positioning unit 100, it is possible to send a real-time instruction to the autonomous combine.

Further, information from the potentiometer 38 is transmitted to the control device 80. When the information on the rotation angle θ detected by the potentiometer 38 is transmitted, the processing unit 81 determines from the length and inclination angle of the arm 36 and the rotation angle θ from the grain to the left side of the cutting unit 3 to the divider 31. Calculate the distance of.

In the control device 80, the combine 1 travels on a preset route based on the acquired position data and posture / orientation data, and the combine 1 performs a predetermined work in the field based on the preset work information. Control each configuration to implement. That is, the control device 80 controls the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, the straw waste processing unit 7, the power unit 8, and the control unit 9.

The control device 80 controls the traveling unit 2, the power unit 8, and the control unit 9 so that the position of the combine 1 indicated by the position data follows the set path. The route F (see FIG. 5) for the combine 1 to travel during the cutting operation is preset along the rows in the field.

Next, with reference to FIG. 5, the control of the combine 1 that corrects the position of the uncut culm with respect to the row according to the detected distance will be described.

As shown in FIG. 5, the arm 36 of the stock trace sensor 35 comes into contact with the row of uncut culms, the arm 36 rotates backward, and the combine 1 detects the rotation angle θ. From the detected rotation angle θ data and specification data, the distance L from the leftmost divider 31 to the culm and the distance x from the tread center CL to this culm as the amount of lateral displacement of the aircraft with respect to the culm row. Is calculated. Further, from the detected rotation angle θ data and the distance x data, the angle α of the tread center CL with respect to the row of uncut grain culms is calculated.

When the detected rotation angle θ is relatively large and the distance L exceeding a predetermined threshold value is calculated, the combine 1 steers to the right so that the angle α becomes smaller, and the distance x is set as the threshold value. Moves to a position within the predetermined distance xp, and travels the aircraft away from the set route F (that is, the aircraft is offset and traveled to a position away from the route F). In this way, the combine 1 corrects the position in detail according to the rotation angle θ, that is, the distance x.

A predetermined distance L as a threshold value can be arbitrarily changed by, for example, a volume controller provided in the cabin 91, or distances L1, L2, ..., Ln (n) set in a plurality of stages as the distance L. Is an arbitrary integer) so that the aircraft can be driven along the route F with respect to the distance L calculated according to the rotation angle θ, and the aircraft can be separated from the route F. You may be able to adjust the sensitivity of.

Alternatively, although not shown, the rotation angle θ is also detected when there is an uncut grain culm to the left from the leftmost divider 31 and the arm 36 is rotated backward by the grain culm. In this case, when the distance L exceeding the predetermined threshold value is calculated, the combine 1 moves backward and the distance L is within the threshold value, specifically, the divider 31 at the left end, regardless of the preset route F. Move to a position near the center CL of the tread where the uncut grain culm can be inserted. As a result, the combine 1 can correct the position with respect to the path F and accurately cut the uncut grain culm. Since the combine 1 has acquired the position data, it can accurately return to the set path F by referring to the position data even when the correction is performed by a certain amount or more.

According to the combine 1 of the present invention, the position of the combine 1 with respect to the row of the uncut grain harvester is detected by the stock harvester sensor 35, and the position data and the data of the distance x are combined to correct the position of the combine 1. , The combine 1 can be positioned at the optimum position with high accuracy for the row of uncut grain harvesters. In particular, since the combine 1 can be positioned at an optimum position with high accuracy with respect to the row after turning at the field edge, the frequency of steering operations for correcting the deviation with respect to the path F can be reduced.

Further, according to the combine 1 of the present invention, the distance x can be effectively detected for the grain culm located at a position far to the left from the left end portion of the cutting portion 3, so that the position data and the data of the distance x By correcting the position of the combine 1 in combination with the above, the combine 1 can be positioned at the optimum position with high accuracy with respect to the row of uncut culms.

According to the combine 1 of the present invention, the distance x can be detected in detail for each rotation angle of the stock trace sensor 35. Therefore, by correcting the position of the combine 1 in detail according to the rotation angle, the uncut grain culm The combine 1 can be positioned at the optimum position with high accuracy with respect to the row of the above.

When using a positioning unit in which a receiving unit that receives radio waves from a positioning satellite and a calculation unit are integrally housed in a housing, an error based on the installation position of the positioning unit can be reduced, so that the position data can be used. By combining the information from the stock trace sensor 35, the position of the combine 1 with respect to the row of uncut culms during the harvesting operation can be corrected with higher accuracy.

In the combine 1 of the present embodiment, although not shown, a stock-like sensor can be provided below the divider 31 at the right end as the right end of the cutting portion 3.

Further, as shown in FIGS. 6A and 6B, it is also possible to provide a stock-like sensor 35A inside the machine body on the left side of the cutting section 3.

The combine 1 is equipped with a sensor 35A that follows the stock inside the fuselage. The fuselage inner stock tracing sensor 35A includes an arm 36A rotatably supported by a support shaft Cr, and a potentiometer 38A provided between the vertical pipe 37 of the cutting frame and the arm 36A. The arm 36A projects from the leftmost divider 31 toward the center of the combine 1 so as not to interfere with the divider 31 that is only one closer to the inside of the fuselage from the leftmost divider 31.

The combine 1 is introduced between the divider 31 at the left end and the divider 31 at the left end, which is one closer to the inside of the aircraft than the divider 31 at the left end, according to the rotation angle θ detected by the potentiometer 38A, that is, the rotation angle of the arm 36A. The distance from the combined harvester to the leftmost divider 31 is calculated. With such a configuration, the fuselage inner stock trace sensor 35A extends from the grain culm introduced between the leftmost divider 31 to the leftmost divider 31 and the leftmost divider 31 which is closer to the inside of the fuselage. The distance L is detected, and the distance x from the tread center CL to this grain is calculated as the amount of lateral displacement of the aircraft with respect to the grain row.

Further, as shown in FIG. 7, it is also possible to provide stock-like sensors 35L / 35R on both the left and right sides of the cutting portion 3.

As shown in FIG. 7, the combine 1 includes a left stock tracing sensor 35L and a right stock tracing sensor 35R. Similar to the above-mentioned stock tracing sensor 35, the left stock tracing sensor 35L has an arm 36L rotatably supported by the support shaft C1r and a potentiometer 38L provided between the vertical pipe 37L and the arm 36L of the cutting frame. Including, the distance L from the grain culm on the left side of the cutting section 3 to the divider 31 is detected, and the distance x from the tread center CL to this grain culm is detected as the amount of lateral displacement of the aircraft with respect to the grain culm row.

Similar to the left stock tracing sensor 35L, the right stock tracing sensor 35R includes an arm 36R rotatably supported by the support shaft C2r and a potentiometer 38R provided between the vertical pipe 37R and the arm 36R of the cutting frame. .. The vertical pipe 37R supports the divider 31 at the right end. The arm 36R protrudes from the center of the combine 1 to the right from the divider 31 at the right end.

The combine 1 calculates the distance from the grain culm on the right side of the cutting section 3 to the divider 31 according to the rotation angle θ detected by the potentiometer 38R, that is, the rotation angle of the arm 36R. With such a configuration, the right-hand stock trace sensor 35R detects the distance from the culm on the right side of the cutting section 3 to the divider 31, and determines the amount of lateral displacement of the aircraft with respect to the culm row from the tread center CL to this grain. The distance x to the culm is detected.

Next, using FIGS. 8 (A) and 8 (B), a plurality of strain tracing sensors 35L / 35R detect the distance of the uncut grain culm with respect to the row and detect the uncut grain culm. The combine 1 to be used by switching according to the set route will be described.

As shown in FIG. 8A, in any one field FI, the route for running and cutting work is preset for each stroke F1, F2, F3, F4, F5, F6, F6, F8, F9. Has been done. The combine 1 travels counterclockwise in the field FI (counterclockwise in the plan view of the combine 1) by following the steps F1 to F9 in order to carry out the harvesting operation.

In such a counterclockwise path, the combine 1 does not use the right-side strain-following sensor 35R (see FIG. 7) to detect the rows of uncut culms and detects uncut culms. Use to do. Combine 1 uses a left-sided strain-following sensor 35L (see FIG. 7) to detect rows of uncut culms.

The combine 1 recognizes that the route in the field FI is a counterclockwise route by reading the stored route data. Therefore, in each process F1 to F9, the combine 1 uses the left-side stock trace sensor 35L to detect the row of uncut culms, and uses the right-side stock trace sensor 35R to use the row of uncut culms. It is not used for detection, but is used for detecting uncut grain culms.

As shown in FIG. 8B, in any other field FII, the routes for running and mowing work are strokes Fa, Fb, Fc, Fd, Fe, Ff, Fg, Fh, Fi, Fj, Fk. -It is preset for each Fl, Fm, Fn, Fo, Fp, and Fq. By following the steps Fa to Fq in order, the combine 1 travels counterclockwise in the field FII (counterclockwise in the plan view of the combine 1) along the path represented by the two vortices to perform the harvesting work. carry out.

Here, in the route Fc, the combine 1 carries out the traveling and cutting work in a state where the left side and the right side of the combine 1 are surrounded by uncut grain culms. That is, there are rows of uncut culms on the left and right sides of the combine 1. The combine 1 recognizes that the traveling direction of the stroke Fc faces the traveling direction of the stroke Fm on the right side by reading the stored route data.

Combine 1 uses the left-sided stock-tracing sensor 35L (see FIG. 7) to detect uncut culm rows in the strokes Fa and Fb, and does not use the right-sided stock-tracing sensor 35R (see FIG. 7). It is not used to detect the row of harvested culms, but is used to detect uncut culms. Further, the combine 1 refers to the next stroke Fc while traveling on the stroke Fb, and switches the setting of the right stock trace sensor 35R before entering the stroke Fc. Then, in the process Fc, the combine 1 uses the left stock tracing sensor 35L and the right stock tracing sensor 35R to detect the row of uncut culms.

For the other steps except the step Fc in the field FII, combine 1 uses the left stock trace sensor 35L to detect the row of uncut culms and the right stock trace sensor 35R to use the uncut sensor 35R. It is not used to detect the row of culms, but is used to detect uncut grain culms. Therefore, the combine 1 refers to the next stroke Fd while traveling on the stroke Fd, and switches the setting of the right-hand stock trace sensor 35R before entering the stroke Fd. Then, in the process Fd, the combine 1 does not use the right-side stock trace sensor 35R to detect the row of uncut culms, but uses it to detect the uncut culms.

As described above, when the detected distance exceeds a predetermined threshold value, the combine 1 moves to a position where the distance is within the threshold value. The distance threshold by the sensor that detects the uncut culm is different from the distance threshold by the sensor that detects the row of uncut culm. These threshold values are set in advance, converted into data, and stored in the storage unit 82. The combine 1 switches the distance threshold from the threshold for detecting uncut culms to the threshold for detecting uncut culms in reference to the next step of the route. As a result, the combine 1 uses one or both of the left-side stock trace sensor 35L and the right-side stock trace sensor 35R by switching for detecting the row of uncut grain culms with reference to the next step of the route. be able to.

According to the combine 1 of the present invention, the left-side stock trace sensor 35L and the right-side stock trace sensor 35R are routed to detect the distance to the row of uncut culms and to detect the uncut culms. It can be switched and assigned according to the process of. Therefore, even if different routes are set for each of the fields FI and FII, the combine 1 can be positioned at the optimum position with high accuracy with respect to the row of uncut grain culms, and uncut residue can be prevented.

In the above description, a configuration including a contact type arm and a potentiometer for detecting the rotation angle due to contact of the detector with respect to the culm has been illustrated as a detection unit. However, the detection unit uses, for example, a non-contact type sensor that detects the distance to the culm by using ultrasonic waves or the like as information on the position of the machine in the width direction with respect to the row of culms. May be good.

1: Combine, 3: Cutting part, 31: Divider, 35: Stock trace sensor (detection part), 36: Arm, 38: Potentiometer

Claims (5)

A combine that includes a cutting unit, a control device, and a detecting unit that detects the distance from the cutting unit to the grain culm on the outside in the width direction of the machine body.
The control device receives radio waves from the positioning satellite and measures the position to acquire the position data, and at the same time, travels so that the position of the combine indicated by the position data follows a preset route.
A combine characterized in that when the distance detected by the detection unit exceeds a predetermined threshold value, the vehicle is moved to a position within the predetermined threshold value instead of traveling on the route. The predetermined threshold value is characterized in that the threshold value for detecting uncut culms on the outside in the width direction of the machine body and the threshold value for detecting uncut culms on the outside in the width direction of the machine body are set to different values. The combine according to claim 1. The detection unit is characterized in that it switches between detecting the distance to the uncut grain culm on the outside in the width direction of the machine body and detecting the distance to the uncut grain culm on the outside in the width direction of the machine body according to the route. The combine described in 2. The detection unit is provided on both sides of the cutting unit in the width direction and the width direction.
The detection unit on one side in the width direction detects the distance to the uncut culm on the outside in the width direction of the machine.
The combine according to claim 3, wherein the detection unit on the other side in the width direction detects the distance to the uncut grain culm on the outside in the width direction of the machine body. When the detection unit detects that there is an uncut culm on the outside in the width direction of the machine from the distance of the culm left on the outside in the width direction of the machine, the uncut culm on the outside in the width direction of the machine is cut. The combine according to any one of claims 2 to 4, wherein the combine moves to a position where it can be taken.

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