JP2571285B2 - Cutting type identification device of reaper and harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a plurality of stem-and-culm introduction paths arranged side by side in a cutting processing section, wherein at least the leading end of the most cut-side path has another width. The stalk culm that is formed larger than the one that is introduced into another path other than the most mown side path, and the lateral gap between the path mown side end in the path where the stalk culm is introduced. A first sensor to be detected, a stem culm introduced into a path other than the most mown side path, a stem culm introduced into a path where the stem culm is introduced, and a path in another path A second sensor for detecting a lateral interval with the uncut side end is provided, and a cutting type for the stem and culm introduced into the plurality of stem and culm introduction paths is determined in a traveling direction of the body based on information from the sensors. The type of cutting that is arranged to form a row, or the cutting About mowing format discriminating apparatus reaper harvester mowing format discriminating means for discriminating whether the transverse cutting format arranged in a direction crossing the expression is provided.

[Conventional technology]

Conventionally, an appropriate range in which the detection value of each sensor is set in advance, a range biased toward the uncut side from the appropriate range, and
The correspondence between the combination in which of the detection zones in the range biased to the cutting side and the cutting format is previously mapped, and the above-mentioned map is determined based on the combination of the detection value of each sensor in which detection zone. The cutting format is determined by referring to the converted table or the like (for example, see Japanese Patent Application Laid-Open No. 58-224603).

[Problems to be solved by the invention]

However, it is difficult to perform appropriate steering control according to the type of mowing until the type of mowing is determined, so the mowing processing unit is biased toward the uncut side or already cut side with respect to the stem and culm. , And there is a possibility that the determination of the reaping type may be inaccurate.

The present invention has been made in view of the above circumstances,
The purpose is to enable accurate determination of the reaping type.

[Means for solving the problem]

The reaping type identification device of the reaper and harvester according to the present invention,
Of the plurality of stem-and-culm introduction paths arranged side by side in the mowing processing section, the width of at least the tip portion of the most-removed side path is formed to be larger than the other ones, and other than the most-removed side path. A first sensor for detecting a lateral distance between a stem and a stalk introduced into the path of the stalk culm, and a cut edge of the path in the path to which the stem and stalk is introduced, and a first sensor other than the path on the most cut side. A stalk culm to be introduced into the path, and a second sensor for detecting a lateral distance between the stalk culm to be introduced into the path to which the stalk culm is introduced and an uncut side end of the path in another path are provided. The cutting method for the stems introduced into the plurality of stems introducing paths based on the information of the sensors is a cutting method in which lines are formed so as to form a row in the traveling direction of the aircraft, or the cutting method. Determines whether the type is a side-cut type that is aligned in the direction that intersects the format Ri-up be one type determination means is provided, the characterizing feature is as follows.

In a first characteristic configuration, the reaping type determination unit includes:
The frequency at which the sum of the detection value of the first sensor and the detection value of the second sensor becomes larger than the setting value for the cutting mode determination while the aircraft travels the set distance or the setting time is used for the cutting mode determination. If the frequency is greater than the set frequency, it is determined that the cutting format is the side cutting format, and,
If the frequency is smaller than the setting frequency for the cutting type determination, the cutting type is determined to be the line cutting type.

In the second characteristic configuration, a cut-side sensor that detects a lateral distance between a stem and a stem introduced into the most cut-side path and a path cut-side end of the path is provided. The frequency of the sum of the detection value of the first sensor and the detection value of the second sensor being greater than the setting value for the cutting type determination while the body travels the set distance or the set time, In the case where the frequency is smaller than the setting frequency for cutting type determination, the frequency at which the detection value of the cut side sensor becomes larger than the setting value for cutting type determination while the aircraft travels the set distance or the set time. If the frequency is smaller than the setting frequency for determining the type of cutting, the type is determined to be the normal type of cutting, and if the frequency is higher than the setting frequency for determining the type of cutting, the type of the type is determined. +1 cut type of cut type In that it is configured to determine to be the.

In a third characteristic configuration, a cut-side sensor is provided for detecting a lateral distance between a stem and a stalk introduced into the most cut-side path and a path cut-side end of the path. The determining means determines that the frequency at which the sum of the detection value of the first sensor and the detection value of the second sensor becomes larger than the setting value for cutting type determination while the aircraft travels a set distance or a set time. If the frequency is smaller than the setting frequency for cutting type determination, while the aircraft travels a set distance or a set time, the sum of the detected value of the cut-side sensor and the detected value of the second sensor, When the frequency that is higher than the setting value for the cutting mode determination is higher than the setting frequency for the cutting mode determination, it is determined that the cutting mode is the normal cutting mode among the cutting modes, and the cutting mode is determined. When the frequency is smaller than the setting frequency for discrimination In that it is configured to determine that the +1 Article mowing format of said strip cutting format.

(Operation)

The frequency of the first sensor and the second sensor detecting the stem culm is low because the stem and stalk travels in the direction in which the stem and stalk form a row in the row-cutting mode. Because it is traveling in the crossing direction, the first
The frequency at which the sensor and the second sensor detect the stem / culm becomes higher than in the case of the row cutting type.

However, if the stem / culm is biased toward the uncut side or toward the already-cut side with respect to the stem / culm introduction route, only the detection value of one sensor becomes large, and there is a risk of erroneous determination.

Therefore, in the first characteristic configuration, the sum of the detection value of the first sensor and the detection value of the second sensor becomes larger than the setting value for cutting type determination while the aircraft travels the set distance or the set time. If the frequency is higher than the setting frequency for cutting type determination, it is determined to be the side cutting type, and if the frequency is lower than the frequency for cutting type determination, it is determined to be the line cutting type.

By the way, in the form of cutting, in the form of introducing one stem for each stem in each stem introduction route, and for the middle splitting operation, the stem for the most trimmed side is introduced in two routes. There is a + 1-row cutting form that is introduced.

And, in the + 1-row cutting format, in order to introduce two stems and culms into the most cut-side stalk culm introduction route, the route end and the stalk culm in this most-cutted stalk culm introduction route are used. Is smaller than in the case of the cutting type.

Therefore, in the second characteristic configuration, a cut-side sensor for detecting a lateral distance between a stem and a stem introduced into the most cut-side path and an end of the path on the cut side is provided. When it is determined that the cut value is not of the side cut type based on the sum of the detected values of the second sensor and the second sensor, the frequency at which the detected value of the cut-side sensor is larger than the determination value for the line cut type is more than the set frequency for the line cut determination. If it is small, it is determined to be the normal cutting mode of the cutting mode, and if it is higher than the setting frequency for the cutting mode, the +1 cutting mode of the cutting mode is determined. Is determined.

Further, in the third characteristic configuration, the above-mentioned normal cutting mode and +1
The determination of the cutting mode is determined by determining that the sum of the detected value of the cut-side sensor and the detected value of the second sensor is larger than the setting value for the cutting mode while the aircraft travels the set distance or the set time. By making the determination based on the frequency at which the stalk culm is introduced, accurate determination can be performed even when the stalk culm is biased toward the cut side or the uncut side in the stalk culm introduction route.

〔The invention's effect〕

Therefore, in the first characteristic configuration, the sum of the detection value of the first sensor and the detection value of the second sensor becomes larger than the setting value for cutting type determination while the aircraft travels the set distance or the set time. Since the side cutting mode and the row cutting mode are determined based on the frequency, the cutting mode can be accurately determined without complicating the control configuration.

In the second characteristic configuration, not only is it possible to determine whether the cutting mode is the cutting mode or the side cutting mode, but also to determine whether the cutting mode is the normal cutting mode or the +1 cutting mode. Can be done effectively.

In the third feature configuration, it is possible to more accurately determine whether the normal cutting mode or the +1 cutting mode is used.

〔Example〕

 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1 and FIG. 2, as an example of a reaper, a combine harvester has a threshing device (2) mounted on an airframe (V) having a pair of right and left crawler traveling devices (1), A mowing unit (3) is mounted on a front part of the body (V).

The reaping unit (3) includes a plurality of weeding tools (4A), (4B),
(4C), (4D) and their weeding tools (4A), (4B), (4
(C), (4D), a device for causing the stem culm to be introduced between (4), (5), a clipper-type cutting blade (6) for cutting the stem of the caused stem culm, and the rear of the machine for cutting the stem. And a transfer device (7) that locks and transfers to the side of the machine in that order from the front of the machine to the rear of the machine.

That is, the plurality of weeding tools (4A), (4B), (4
In each of C) and (4D), a plurality of stem-and-stem introduction routes (L ₁ ), (L ₂ ), and (L ₃ ) are formed.

In FIG. 2, (8) is a feed chain for conveying the cut stems and culms conveyed by the conveyance (7) to the threshing device (2), and (S ₀ ) is abutting against the root of the cut stem and culms. And a stock sensor for detecting whether or not a mowing operation is being performed, and is provided in a transport path of the transport device (7).

However, the plurality of weeding tools (4A), (4B), (4C),
(4D) of the weeding tool (4D) located on the most mown side and the weeding tool (4C) located one uncut side of the weeding tool (4D) on the most mown side The spacing between them should be
In order to introduce two rows of stems between C) and (4D),
Weeding tools (4A), (4B), (4C) located on the other uncut side
Are formed to be larger than the interval between. That is, the width of at least the tip part of the most cut path (L ₃ ) of the plurality of stem and stalk introduction paths (L ₁ ), (L ₂ ), and (L ₃ ) is larger than the other ones. It will be formed. or,
The raising device (5) includes the plurality of weeding tools (4
A), (4B), (4C), and (4D) are provided on the rear side.

Each of the weeding tools (4A),
A plurality of steering control sensors (S ₁ ), (S ₂ ), and (S ₂ ) that detect the lateral distance from the end of the path to the stem and culm introduced between (4B), (4C), and (4D) ₃ ), with one of the sensors (S ₃ ) positioned at the rear side of the weeding tool (4D) on the most mown side, with the support frame (4A to 4D) of the weeding tool (4A to 4D) 9).

That is, the sensor (S ₃ ) located at the rear side joining point of the weeding tool (4D) on the most mown side is a stem and stalk introduced into the most mown side path (L ₃ ), Two sensors (S ₁ ) and (S ₂ ) located on the rear side of the other weeding tools correspond to the cut-side sensor that detects the lateral distance from the cut end of the path in the path. The most mown side route (L ₃ )
A first sensor (S ₁ ) for detecting a lateral distance between a stem and a stalk introduced into a path other than the above and a cut edge of the path in the path where the stem and stalk is introduced; Sensor (S ₂₎ that detects the lateral distance between the stem and culm introduced into a path other than the side path (L ₃ ) and the uncut side end of the path in the path where the stem and culm is introduced ) Respectively.

However, the sensor (S ₃ ) located on the rear side of the weeding tool (4D) on the most mown side is the sensor (5)
And the other sensors (S ₁ ) and (S ₂ ) are attached to the stem and culm further behind the triggering device (5). It is provided so as to perform a detection operation on the same.

The plurality of steering control sensors (S ₁ ), (S ₂ ),
The configuration of (S ₃ ) will be described in detail. Each of them has the same configuration. As shown in FIG. 3, a sensor bar (10) urged to return to the front side of the fuselage and its sensor bar (10)
And a potentiometer (R) for detecting the turning angle of the body rearward.

By the way, since the stems and stems are planted in a state of being intermittent along the body traveling direction, the sensor bar (10)
When the length is short, the stem is intermittently brought into contact with the stem, and a signal that changes intermittently is output from the potentiometer (R), and the signal corresponding to the cutting position is continuously output. There is a disadvantage that cannot be obtained. Therefore, the length of the sensor bar (10) is set to a length (300 mm) according to the planting interval of the stem culm so that a plurality of stem culms arranged in the body traveling direction can be kept in contact at the same time. I have.

That is, as the body (V) travels, the stems of stems and stems introduced between the weeding tools (4A to 4D) continuously contact the sensor bar (10), and (Ten)
Is rotated to the rear side of the fuselage at a rotation angle corresponding to the position where the stem and culm comes into contact with the fulcrum from the rotation fulcrum. The smaller the horizontal spacing from the end of the stem introduction route, the larger the signal is output.

Next, the plurality of steering control sensors (S ₁ ),
Using (S ₂ ) and (S ₃ ), the cutting type is automatically determined, and according to the determined cutting type, the body (V) automatically travels along the stem and culm arranged in the body traveling direction. A control configuration for steering control will now be described.

As shown in FIG. 7, the crawler traveling device (1)
Is driven by a driving force transmitted from a traveling transmission (11) for shifting the output of the engine (E) to the transmission case (12). The transmission case (12) is provided with steering clutches (13L) and (13R) for entering and disengaging the transmission of the driving force to the crawler traveling device (1) on the left and right sides respectively. The steering operation is performed with the crawler traveling device (1) side as a turning center.

In the drawing, (S ₄ ) is a rotation speed sensor for detecting a running distance and a running speed based on the number of rotations input to the transmission case (12), and (14L) and (14R) are the steering sensors. The steering hydraulic cylinder for disengaging the clutches (14L) and (14R), and (15) is the steering hydraulic cylinder (14
L), (14R), an electromagnetically operated steering control valve for controlling the supply of hydraulic oil to (14R), and (16) are the plurality of steering control sensors (S ₁ ), (S ₂ ), (S ₃ ) Constitutes a reaping type determining means (101) for determining a reaping type based on the information of (1), and controls the operation of the steering control valve (15) so that the body (V) is aligned in the body traveling direction. Steering control means (100) that controls the steering so that it runs automatically along the stem.
Is a control device using a microcomputer.

The operation of the control device (16) will be described in the eighth place.
As shown in the figure, basically, the stock sensor (S ₀ )
Is changed from OFF to ON to start the mowing operation, and while traveling the set distance detected based on the information of the rotation speed sensor (S ₄ ), the plurality of steering control sensors ( Based on the information of (S ₁ ), (S ₂ ) and (S ₃ ), the cutting type for the stems and culms arranged in the advancing direction of the aircraft is determined, and the stock sensor (S ₀ ) is turned off from ON to finish the cutting operation. Until the control is performed, the steering control is performed so as to be maintained in an appropriate cutting position range set according to the determined cutting type.

 The cutting format will be described.

In general, the cutting type is roughly classified into a cutting type arranged so as to form a row in the traveling direction of the machine (V), and a side cutting type arranged in a direction intersecting the cutting type. In addition, there are a normal cutting mode and a +1 cutting mode in the cutting mode.

In other words, as shown in FIG. 4, the stems and culms are planted so as to form a row in the planting direction. The work form in which the body (V) travels in a direction parallel to the planting direction of the stem and culm as described above is a normal row cutting type.
In the drawings, this normal cutting mode is described as "cutting" at the end.

As shown in FIG. 5, the work mode in which the body (V) travels in a direction intersecting the rows of the stems and culms is a side-cutting type.

Further, as shown in FIG. 6, for example, in order to preliminarily define a cutting work range, the weeding tool (4D) on the most mown side and the weeding tool on one uncut side from the weeding tool (4D). The work mode of introducing two rows of stems and culms between (4C) is the +1 row cutting mode.

Therefore, in the normal streaking mode, since one stem of each stem is introduced between each weeding tool,
Basically, based on the information of the first sensor (S ₁ ) and the second sensor (S ₂ ) on the uncut side attached to the rear part of the weeding tool (4B) on the uncut side, Steering control is performed so that the cutting position detected by the two sensors (S ₁ ) and (S ₂ ), that is, the lateral distance from the end of the stem and stalk introduction path is maintained within a preset dead zone. However, in order to prevent the remaining mowing, the information of the mowing sensor (S ₃ ) attached to the rear side of the weeding tool (4D) on the most mowing side is used, and the mowing sensor (S3) is used. If you are displaced to the non-cutting side of the detection position is set position of the S ₃₎ it is are so as to modify the direction of travel by steering the aircraft (V) to the already cutting side.

In the side-cutting mode, the running state is in a direction intersecting the row of stems and stems. Therefore, basically, the body of the most-cutting-side weeding tool (4D) is mainly used to prevent uncut leaves. The cut side so that the position in the width direction is maintained within the set appropriate cutting position range with respect to the uncut stem row on the most cut side located at the boundary between the cut part and the uncut part. will steering control based on the information of the sensor (S _3).

In the + 1-row mode, the weeding device (4
D) and its weeding device (4D), one weeding device on the uncut side (4D)
Basically, two stems and stems are introduced between the two non-cutting side sensors (S ₁ ) and (S ₂ ). Based on the information of the second sensor (S ₂ ) and the information of the already-cut side sensor (S ₃ ), two stems and stems are introduced between the two weeds (4C) and (4D). The steering control is performed so as to maintain the state that is performed.

Next, a description will be given of the processing for determining the cutting format based on the flowchart shown in FIG.

While running the set distance (for example, 1 m) from the time when the stock sensor (S ₀ ) is turned on and the mowing operation is started, the three steering control sensors (S ₁ ), (S ₂ ), Each of the detected values of (S ₃ ) is sampled for each set distance (for example, 5 cm), and the cutting format is determined based on the sampled information. However, although not described in detail, the automatic steering by the control device (16) cannot be performed until the type of mowing is determined. Operation.

That is, each of the steering control sensors (S ₁ ), (S ₂ ), and (S ₃ ) sampled at the set distance (for example, 5 cm).
Two non cutting side sensor of the _{(S 1), (S 2} ) detected value of the sum (AD1 + AD2n) is cutting type determination value as mowing format discrimination predetermined set value of the (A ₄ -AD) or with counting the number of times (N4) to be, the already-cutting side sensor detection value (AD3n) is strip cutting type determination value as Article mowing format discrimination setting value set in advance of the _{(S 3) (a 4 -AD} ) The above number (N3) is counted.

Then, during the traveling set distance from the time of starting the cutting operations (e.g. 1 m), the two non mowing side sensor _{(S 1), (S 2} ) the sum of the detected value (AD1 + AD2n) in advance of setting The number of times (N4) that is equal to or greater than the cut type identification value (A ₄ −AD) as the set value for the cut type identification, and the cut type identification frequency (K
1) It is determined whether or not the frequency is equal to or more than the above. If the frequency is equal to or higher than the cutting type determination frequency (K1) as the setting frequency for the cutting type determination, it is determined that the lateral cutting type is set.

That is, in the side-cutting mode, the two uncut side sensors (S ₁ ) and (S ₂ ) come into contact with the stem and culm because they run in a direction intersecting the row of planted stem and culm. It uses the fact that the frequency of hitting is higher than that of the cutting style.

If it is determined that it is not the horizontal cutting form, the already-cutting side sensor detection value (AD3n) is strip cutting type determination value as preset conditions mowing format discrimination setting value _{(S 3) (A 4 -AD} )
It is determined whether or not the number of times (N3) is less than or equal to the cutting frequency discrimination frequency (K2) as the setting frequency for cutting type discrimination. K2) If it is less than or equal to the above, it is determined that the type is the cutting type, and if the frequency exceeds the cutting type identification frequency (K2) as the setting frequency for setting the type of cutting, the type is determined to be +1. .

In other words, between the already cutting side sensor (S ₃₎ most existing mowing side divided grass instrument fitted with (4D) and one non-cutting side of the partial grass instrument from that amount grasses instrument (4D) (4C) Since the interval is wider than the interval between the other uncut side weeding tools, in the cutting mode where one stem stalk is introduced between each weeding tool,
The frequency of contact between the stem and the stem on the sensor bar (10) of the cut-side sensor (S ₃ ) is reduced. As a result, the detection value (AD3n) of the cut-side sensor (S ₃ ) is set in advance to the cutting. Article mowing type determination value as type determination setting values (a ₄ -AD) or more and becomes the number (N3) is a strip cutting type determination frequency of the strip cutting format discrimination set frequency (K2) hereinafter + 1 Article In the case of the cutting type, two stems and stems are introduced between the weeding tool (4D) and the weeding tool (4C) on the uncut side. to be, the already cutting side sensor frequently Kuki稈the sensor bar (10) of the (S ₃₎ is Setto is higher than conditions mowing format, the pre-cutting side sensor (S ₃₎
The detected value (AD3n) is a preset threshold value (A ₃ -AD) or more and becomes the number (N3) utilizes to become larger than strip cutting type determination frequency of the strip cutting format discrimination set frequency (K2) hand,
It is arranged to distinguish between the reaping style and the +1 reaping style.

Next, the steering control according to each type of mowing will be described.

To explain the steering control in the cutting mode, as shown in FIG. 10, in the same manner as in the determination of the cutting mode, while traveling the set distance (1 m), the driving control is performed every set distance (5 cm). The detection value of the sensor on the cut side (S ₃ ) and the detection values of the sensors on the uncut side (S ₁ ) and (S ₂ ) are sampled, and the steering is performed in either the left or right direction based on the sampled value. It is determined whether to operate, that is, to steer to the uncut side, to steer to the already cut side, and to maintain the straight traveling state (steering neutral).

That is, first, the detection value (AD3n) is counted setting preset threshold number of times as the (AD-R3) or (RN3), the number (RN3) setting a threshold value of the already-cutting side sensor (S ₃₎ ( If it RNC 3) above, i.e., at greater than the frequency set number of horizontal distance is smaller than the setting value detected by previously cutting side sensor (S ₃₎ between the aircraft (V) travels a set distance In some cases, in order to prevent uncut leaves, the steering operation is performed to the right, that is, the cut side, regardless of the detection values of the uncut side sensors (S ₁ ) and (S ₂ ). .

If the number of times (RN3) at which the detection value (AD3n) of the cut side sensor (S ₃ ) is equal to or greater than a preset set threshold (AD-R3) is less than the set threshold (RNC3), the uncut side sensor (S _1), and counts the number (RN1) the detected value of the first sensor of the most outstanding cutting side (S ₁₎ (AD1n) is preset threshold (AD-R1) or more of (S _2), If the number of times (RN1) is equal to or larger than the set threshold value (RNC1), the steering operation is performed to the left turn, that is, the uncut side.

It said first sensor detection value (S ₁₎ (AD1n) said preset threshold (AD-R1) or to become number (RN1) is set threshold (RNC
If it is less than 1), the non-cutting side sensor (S _1), (already cutting side of the second sensor of the S ₂₎ (S ₂₎
The number of times (RN2) at which the detection value (AD2n) is equal to or greater than the set threshold (AD-R2) is counted, and the number of times (RN2) is set to the set threshold (RNC2)
In the case described above, the steering operation is performed to the right turning, that is, the cutting side.

However, each of the counted numbers (RN1), (RN2), (RN
If 3) is less than each set threshold, that is, if the lateral distance from the end of the path to the stem is within the set dead zone, the steering neutral state will be maintained. When the airframe (V) has traveled the set distance (1 m), the values of the numbers (RN1), (RN2), and (RN3) are cleared to zero.

Will describe steering control in the lateral mowing format, as shown in FIG. 11, basically, be operated steering based only on the already cutting side sensor detection value (S ₃₎ (AD3n) become.

That is, in the same manner as in the control in the above-described cutting mode, while traveling the set distance (1 m), the set distance (5c
m) the already cutting side sensor for each (detected value of the S ₃₎ (AD3n)
Is sampled, and the number of times (RN7) and (RN8) in which the detection value (AD3n) is outside the setting dead zone (AD-R7 to AD-R8) is counted. RNC
8) With the above, the steering operation is performed in the directions corresponding to the left and right. However, this width of the set dead zone in the transverse cutting format, the strip cutting dead zone in the form of width (the non cutting side sensor _{(S 1), (S 2} ) respectively set threshold (AD-R1), (AD- R2) is set to be larger than that corresponding to the value between).

To explain the steering control in the + 1-row mode, as shown in FIG. 12, basically, the cut side of the two uncut side sensors (S ₁ ) and (S ₂ ) while steering operation based on a difference between the detected value (AD3n) of the second sensor for position detection value (S ₂₎ (AD2n) and the outermost already mowing side sensor (S _3), the supplementary manner, the It is arranged to operate the steering based on the detected value of the most existing mowing side sensor (S ₃₎ (AD3n).

That is, in the same manner as in the control in the above-described cutting mode, while traveling the set distance (1 m), the set distance (5c
m) the already cutting side sensor for each (detected value of the S ₃₎ (AD3n)
Is sampled, and the number of times (RN3) at which the detection value (AD3n) is equal to or more than the set threshold (AD-R3) is counted. As the number of times (RN3) becomes equal to or more than the set threshold (RNC3), uncut leaves are left. In order to prevent this, the steering operation is performed to the right, that is, to the already cut side, regardless of the detection value of the second sensor (S ₂ ) on the uncut side.

The already-cutting side sensor detection value (S ₃₎ (AD3n) is preset threshold (AD-R3) or to become number (RN3) setting a threshold value (RNC
3) If the difference is less than the detection value (AD2n) of the second sensor (S ₂ ) located on the cut side of the two uncut side sensors (S ₁ ) and (S ₂ ), and counting the difference (AD2n-AD3n) setting a threshold number of times as the (AD-R5) or (RN4) between the detection value of the most existing mowing side sensor (S ₃₎ (AD3n), the number (RN4) is preset threshold (RNC4) With the above, the steering operation is performed to the left turn, that is, the uncut side.

When the number of times (RN4) at which the difference (AD2n-AD3n) is equal to or greater than the set threshold (AD-R5) is less than the set threshold (RNC4), the difference (AD2n-AD3n) is set at the set threshold (AD-R6). The following number of times (RN5) is counted, and as the number of times (RN5) becomes greater than or equal to the set threshold value (RNC5), a right turn, that is, a steering operation to the cut side is performed.

In other words, in the + 1-row mode, two stems and culms between the most-rewarded weeding tool (4D) and one of the weeding tools (4C) from the weeding tool (4D). In order to be introduced, both the approach of the stem and the stem to the second sensor (S ₂ ) and the approach to the cut-side sensor (S ₃ ) increase. Therefore, it is determined on the left or right side with respect to the set appropriate cutting position based on the difference between the detection value of the second sensor (S ₂ ) and the detection value of the already-cut side sensor (S ₃ ). It is trying to make it.

The steering control in each cutting mode described above is repeatedly executed until the stock sensor (S ₀ ) is turned off.

(Another embodiment)

In the above-described embodiment, the case where the determination between the cutting mode and the +1 cutting mode is made based on only the information of the cut-side sensor (S ₃ ) is exemplified. As described above, information of a plurality of sensors may be used.

In addition, in the + 1-row mode, two stems and stems are introduced into the stem-and-stem introduction route (L ₃ ) on the most cut side. The vehicle travels in a state where the position as a whole is shifted toward the cut side. As a result, the value of the lateral spacing from the end of the uncut side path (L ₂ ) detected by the uncut side second sensor (S ₃ ) is also small, and the detected value is a value in the case of the line cutting type. More frequently.

Therefore, as shown in FIG. 13, while the airframe (V) travels the set distance (1 m), the second sensor (S ₂ ) on the uncut side detected at every set distance (5 cm). The number of times (N5), that is, the frequency, at which the sum of the detected value and the detected value of the cut side sensor (S ₃ ) is equal to or greater than the cutting type discrimination value (A ₅ −AD) as the setting value for cutting type discrimination. Frequency of cutting style discrimination as setting frequency for setting of cutting style discrimination (K3)
If the size is larger, the cutting style is determined, and if the size is smaller, the +1 cutting style is determined. This is more accurate than the case where the determination is made based only on the information of one sensor (S ₃ ). Can be determined.

In the above-described embodiment, the case where the cutting mode is determined based on the detection value of the sensor while the body (V) travels the set distance is exemplified. The reaping type may be determined based on the value.

Further, the specific configuration of each unit required for implementing the present invention can be variously changed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

The drawings show an embodiment of a mowing type discriminating device of a mowing harvester according to the present invention. FIG. 1 is a schematic plan view of a mowing processing unit, FIG. 2 is a schematic side view thereof, and FIG. ,
FIG. 4 is an explanatory view of the positional relationship between the weeding tools and the stems and culms in the row cutting format, FIG. 5 is an explanatory diagram of the positional relationship between the weeding tools and the stems and culms in the horizontal cutting format, and FIG. FIG. 8 is an explanatory diagram of a positional relationship between a weeding tool and a stem in a cutting mode, FIG. 8 is a block diagram of a control configuration, FIG. 8 is a flowchart of a control operation, FIG. 9 is a flowchart of a cutting type determination process, FIG. Is a flowchart of steering control in a row cutting style,
The figure shows a flowchart of steering control in the side-cutting mode.
FIG. 12 is a flowchart of the steering control in the + 1-row mode, and FIG. 13 is a flowchart of a cutting mode determination process in another embodiment. (S ₁ ): the first sensor on the uncut side, (S ₂ ): the second sensor on the uncut side, (S ₃ ): the sensor on the cut side,
(L ₁ ), (L ₂ ), (L ₃ )… multiple routes of stem and stem introduction, (K
1) Setting frequency for reaping type determination, (K2), (K3)
... Setting frequency for determining the cutting style, (3) cutting processing section, (101) cutting type determining means.

Claims (3)

(57) [Claims] 1. A path (L ₃ ) on the most-removed side of a plurality of stem-and-culm introduction paths (L ₁ ), (L ₂ ), and (L ₃ ) arranged in parallel in a cutting processing section ( ₃ ). At least the lateral width of the tip portion is formed larger than the other ones, and the stem and culm to be introduced into another path other than the most mown side path (L ₃ ) and the path to which the stem and culm are introduced A first sensor (S ₁ ) for detecting a lateral distance from the cut edge of the path in the above, a stem and a stem introduced into a path other than the most cut path (L ₃ ), and the stem A second sensor (S ₂ ) for detecting a lateral interval between the culm and the uncut end of the route in the route where the culm is introduced, and based on information from the sensors (S ₁ ) and (S ₂ ) The cutting style for the stems and stems introduced into the multiple stem and stem introduction routes (L ₁ ), (L ₂ ), and (L ₃ ) forms a row in the traveling direction of the airframe (V) Type discriminating device of a reaper and harvester provided with a cutting type discriminating means (101) for discriminating whether the type is a line-cutting type arranged in a row or a side-cutting type arranged in a direction intersecting the line-cutting type. Wherein the mowing type determination means (101) is configured to detect the value detected by the first sensor (S ₁ ) and the second sensor (S ₂ ) while the body (V) travels a set distance or a set time. The frequency at which the sum with the detection value of ()) is greater than the setting value for cutting type determination is the setting frequency for cutting type determination (K1).
If it is larger, it is determined that the cutting format is the horizontal cutting format, and the frequency is the setting frequency (K
1) A reaping type discriminating device of a reaper that is configured to determine that the reaping type is the streaking type when the reaping type is smaller. 2. The cutting type discriminating device of a reaper and harvester according to claim 1, wherein the stem and stalk introduced into the most cut side path (L ₃ );
A cut-side sensor (S ₃ ) for detecting a lateral interval of the route from a cut-side edge of the route is provided, and the cutting type determining means (101) determines that the machine (V) determines a set distance or a set time. During traveling, the frequency at which the sum of the detection value of the first sensor (S ₁ ) and the detection value of the second sensor (S ₂ ) becomes larger than the setting value for cutting type determination is determined by the setting for cutting type determination. Frequency (K1)
If it is smaller, the frequency at which the detection value of the cut side sensor (S ₃ ) becomes larger than the setting value for the line cutting type while the machine (V) travels the set distance or the set time. Is smaller than the setting frequency (K2) for the cutting mode discrimination, it is determined to be the normal cutting mode among the cutting modes, and is larger than the setting frequency (K2) for the cutting mode discrimination. And a cutting type discriminating device of a reaper, which is configured to determine that the cutting type is the +1 cutting type. 3. A cutting type discriminating apparatus for a reaper and harvester according to claim 1, wherein the stem and stalk introduced into the most cut side path (L ₃ );
A cut-side sensor (S ₃ ) for detecting a lateral interval of the route from a cut-side edge of the route is provided, and the cutting type determining means (101) determines that the machine (V) determines a set distance or a set time. During traveling, the frequency at which the sum of the detection value of the first sensor (S ₁ ) and the detection value of the second sensor (S ₂ ) becomes larger than the setting value for cutting type determination is the setting frequency for cutting type determination. When it is smaller than (K1), while the body (V) travels the set distance or the set time, the detection value of the cut side sensor (S ₃ ) and the second
If the frequency of the sum of the detection value of the sensor (S ₂ ) and the setting value for the cutting mode discrimination is larger than the setting frequency for the cutting mode discrimination (K3), And if the frequency is smaller than the setting frequency (K3) for determining the cutting style, it is determined to be the +1 cutting style among the cutting styles. Reaper type identification device of reaper harvester.