JP2774423B2 - Steering control of reaper - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises an introduction position detecting means for detecting a deviation between an introduction position in a lateral width direction of an object to be cut introduced into a cutting processing unit mounted on an airframe and a proper setting position, Based on the detection information of the introduction position detecting means,
To maintain the introduction position at the set appropriate position,
The present invention relates to a steering control device of a reaper equipped with steering control means for operating the steering device of the airframe.

[0002]

2. Description of the Related Art The above-mentioned steering control device of a reaper and harvester is used, for example, when cutting a stem culm as a reaping target planted in a field by a combine as a reaper and harvester.
Conventionally, in order to prevent the occurrence of defects such as uncut stems and stems, the deviation between the introduction position in the lateral width direction of the stem and stems introduced into the cutting processing unit and the set proper position is detected at every preset sampling time. In order to control the steering so that the stem culm introduction position is maintained at the proper setting position based on the deviation detection information, for example, a clutch for turning on and off power transmission to crawler traveling devices provided on both right and left sides of the machine body, etc. Is operated by turning off the steering device for a predetermined time set in accordance with the deviation amount, and the body is steered to the clutch side on which the operation has been performed.

[0003]

However, in the above-mentioned prior art, for example, a storage portion (for example, a tank) for storing grains as a harvested crop is biased to one side (for example, a cut side) in the lateral width direction of the machine body. In the initial stage of the harvesting operation, the amount of grain stored in the storage unit is small and the weight balance in the lateral width direction of the machine is lighter on the storage unit side than on the other side. The steering position of the aircraft shifts to the opposite side (that is, the uncut side) from the part side, that is, the introduction position of the stem / culm tends to shift to the light storage part side. Accordingly, in this case, the steering control is performed so that the clutch on the storage unit side is disengaged and the above-mentioned shift is reduced, but this clutch operation is executed after the shift is detected at every set sampling time. If the deviation becomes too large before the next clutch operation, it may not be possible to completely correct the deviation. In particular, when the traveling speed becomes high, the interval between clutch operations with respect to the traveling distance becomes long, so that the above problem is likely to occur. As a result, the stem culm introduction position may deviate greatly from the setting appropriate position, and there is a possibility that a problem such as uncut stem culm may occur.

[0004] The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle in which even if the weight balance in the lateral width direction of the body is heavier on one side than on the other side.
The object of the present invention is to minimize the shift of the introduction position of the object to be cut from the proper setting position to the side where the weight balance is light.

[0005]

According to a first aspect of the present invention, there is provided a steering control apparatus for a reaper, comprising: a weight balance detecting means for detecting a weight balance of the machine body in a lateral width direction; In a state where the weight balance detecting means detects a balance state where one side is heavier than the other side, the direction control means performs steering for shifting the introduction position from the appropriate setting position to the side where the weight balance is lighter. The control sensitivity of the steering is controlled to be more sensitive than the control sensitivity of the steering when the introduction position is shifted from the set proper position to the side where the weight balance is heavy.

The second characteristic configuration provides a preferable configuration of the first characteristic configuration, wherein the weight balance detecting means is provided so as to be biased to one side in the lateral width direction. Based on the detection information of the storage amount detection sensor that detects the storage amount of the harvested crop in the storage unit for harvested crop storage,
It is configured to determine the weight balance.

A third characteristic configuration provides a preferable configuration of the first characteristic configuration, wherein the weight balance detecting means includes a detection information of a tilt sensor for detecting a lateral inclination of the body. The configuration is such that the weight balance is determined on the basis of the weight balance.

[0008]

According to the first characteristic configuration of the present invention, when a balance state in which one side in the lateral direction of the body is heavier than the other side is detected, the introduction position of the object to be cut in the lateral direction is set to the proper position. Since the steering control sensitivity for the shift of the weight balance to the lighter side is more sensitive than the steering control sensitivity for the shift of the introduction position from the proper setting position to the side with the higher weight balance, the steering control is performed. Thus, the tendency that the introduction position of the object to be cut is shifted from the proper setting position to the side where the weight balance is light is suppressed, and the introduction position is maintained at the proper setting position.

According to the second characteristic configuration, when a storage section for storing harvested crops is provided so as to be biased to one side in the lateral direction of the machine body, the harvested crop in the storage section is stored. The storage amount is detected, and the weight balance is determined based on the detected information.

Further, according to the third characteristic configuration, the left-right inclination of the body is detected, and the weight balance is determined based on the detected information.

[0011]

Therefore, according to the first characteristic configuration of the present invention, when the weight balance in the lateral direction of the fuselage is such that one side of the fuselage is heavier than the other side, the introduction position of the object to be cut is the proper position. The conventional problem that the weight shifts to the side where the weight becomes lighter is effectively avoided, and the shift does not increase even in high speed running, which is a problem in particular.
A highly reliable steering control device for a reaper and harvester, which does not cause any trouble such as uncut leaves, has been obtained.

Further, according to the second characteristic configuration, the weight balance is determined based on the detection information of the storage amount in the storage unit for storing the harvested crops, so that the storage amount changes with the progress of the harvesting operation. Also in this case, the weight balance is accurately detected, so that the effect of the first characteristic configuration can be reliably realized.

Further, according to the third characteristic configuration, the weight balance is accurately determined based on the detection information of the left-right inclination state of the body, and thus the effect of the first characteristic configuration can be reliably realized.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine as a reaper will be described below with reference to the drawings.

As shown in FIGS. 1, 2 and 4, the combine is provided with a reaping unit 3 at the front of a body V equipped with a pair of right and left crawler traveling devices 1 so as to be able to move up and down. A threshing device 2 is provided for threshing the stems and culms as the object to be mowed by the mowing unit 3, and a tank 18 is provided as a storage unit for storing kernels, which are harvested crops from the threshing device 2. The boarding section 17 arranged in front of it
Are provided so as to be biased toward one side (the cut side) in the width direction of the body V.

As shown in FIG. 2 and FIG. 4, a plurality of weeding tools 4A, 4B, 4C, 4D arranged side by side at an interval in the lateral width direction of the machine body are provided at the front end of the mowing unit 3. 9 and are supported by
Between A, 4B, 4C and 4D, a plurality of stem and stem introduction routes L
1, L2 and L3 are formed. Then, a device 5 for causing the stem culm introduced into each of the stem culm introduction routes L1, L2, and L3, a clipper-type cutting blade 6 for cutting the stem of the stem culm caused, and a cutting stem culm, A transport device 19 that locks and transports the rear side is provided in a state in which the plurality of weeding tools 4A, 4B, 4C, and 4D are sequentially arranged rearward in this order. However, among the plurality of stem-and-culm introduction routes L1, L2 and L3, at least the width of the leading end of the route L3 located at the most cut side is different so that two rows of stems and stems can be simultaneously introduced. Are formed so as to be larger than the lateral width of the paths L1 and L2 located on the uncut side. In addition, at the position of the transport device 19 at the start end in the transport direction,
A stock sensor S0 for detecting whether or not the harvesting operation is being performed by contacting the stock of the cutting stem is installed, and the harvesting stem is transported by the transport device 19 to the threshing device 2. Is provided with a feed chain 8 for transporting the sheet.

The cutting processing unit 3 includes steering control sensors S1 and S2 for detecting the lateral distance between the stem and culm introduced into each of the stem and culm introduction paths L1, L2 and L3 and the end of the path. The stem culm and the path already cut which are provided at the uncut side surface position of the weeding implement 4B which is located one cut side more than the uncut side weeding implement 4A and are introduced into the most uncut side path L1 A first sensor S1 for detecting a lateral distance from the side end portion, and a middle part provided at a cut-side side position of a weeding implement 4B located one cut-away side of the weeding implement 4A on the most uncut side. Second detecting the lateral distance between the stem and culm introduced into the path L2 of the path and the uncut side end of the path
And a sensor S2.

The structure of the steering control sensors S1 and S2 will be substantially the same.
As shown in FIG. 3, a sensor bar 10 that is rotatable rearward of the fuselage is provided in a state where the sensor bar 10 is urged toward the stem and culm side arranged in a line in the longitudinal direction of the fuselage, and the sensor bar 10 contacts the stem and culm. And a potentiometer R for detecting the turning angle of the rear end of the fuselage. That is, as the body V travels, the stems of the stems and limbs introduced into the stem and culm introduction paths L1, L2, and L3 abut on the sensor bar 10, and the sensor bar 10 is moved from the pivot point. It turns to the rear side of the fuselage at a turning angle corresponding to the contact position. The sensor bar 10
Has a length set so as to simultaneously contact about two stem stalks. And the potentiometer R is
By detecting the rotation angle, it is possible to output a detection signal En that becomes larger as the mounting position of each sensor of the stem and culm lined up in the body traveling direction, that is, the lateral distance from the end of the stem and culm introduction path becomes smaller. It has become. The appropriate introduction position in the lateral width direction of the stem / culm is set in a range between the position where the sensor bar 10 is not in contact with the stem / culm and the angular position rotated from the position by the set rotation angle Δθ. By the steering control sensors S1 and S2, the mowing unit 3
An introduction position detecting means for detecting a deviation between the introduction position in the lateral width direction of the stem and stem introduced into the stalk and the proper setting position is configured.

Next, the control structure of the combine will be described. As shown in FIG. 1, the output of the engine E is transmitted to a hydraulic type continuously variable transmission 16 via a belt, and the output of the continuously variable transmission 16 is transmitted to the transmission. After passing through the case 15, the crawler traveling device 1 is driven. The transmission case 15 is provided with steering clutches 12L and 12R as steering devices of a machine body V that respectively separates and controls the transmission of the driving force to the crawler traveling device 1 on the left and right sides. It is configured to perform a turning operation around the traveling device 1 as a turning center. In the figure, S4 is a rotation speed sensor for detecting a vehicle speed, a running distance, and the like based on the rotation speed input to the transmission case 15, S5 is an engine rotation speed sensor for detecting the rotation speed of the engine E, 13L, 13R. Is a steering hydraulic cylinder for turning the steering clutches 12L and 12R on and off, and 14L and 14R are electromagnetically operated steering controls for controlling supply of hydraulic oil to the steering hydraulic cylinders 13L and 13R. It is a valve. Although not shown, the output of the continuously variable transmission 16 is transmitted to the mowing unit 3 via a mowing clutch or the like, and the threshing device 2
Has been transmitted to. A weight sensor S for detecting the weight of the grains in the tank 18 is provided at the bottom of the tank 18.
6 (see FIG. 2), and the weight sensor S6
A storage amount detection sensor for detecting the storage amount of grains in the tank 18 is configured.

Control device 11 using microcomputer
The control device 11 receives signals from the stock sensor S0, the steering control sensors S1 and S2, the rotation speed sensor S4, the engine rotation speed sensor S5, and the weight sensor S6. At the same time, a signal is input from a manual / automatic changeover switch SW1 for switching the operation between manual operation and automatic operation. Also, the control device 11 outputs the steering control valve 1.
Drive signals for 4L and 14R are output. still,
Although not shown, a manual shift lever for shifting the vehicle speed during manual driving and a steering lever for manually turning on and off the steering clutches 12L and 12R are provided in the riding section 17.

The control device 11 outputs a drive signal to the continuously variable transmission 16 via an actuator (not shown) for operating the continuously variable transmission 16 to perform a speed change operation. When the load on the engine E increases, the number of revolutions of the engine E decreases. Therefore, the revolution number sensor S5 functions as an engine load detecting unit.
The control device 11 is configured to automatically control the vehicle speed based on the detection information of the rotation speed sensor S5 so that the engine load is maintained in an appropriate range during the automatic driving. That is, when the engine speed is lower than the proper speed, the speed is reduced, while when the engine speed is higher than the proper speed, the speed is increased.

Also, the control device 11 is used to maintain the stem culm introduction position at the set proper position based on the detection information of the steering control sensors S1 and S2.
A steering control means 100 for operating the steering clutches 12L and 12R, and a weight balance detecting means 101 for detecting a weight balance in the lateral width direction of the body V based on the detection information of the weight sensor S6 are configured. I have. The steering control means 100 sets the position of the stem culm to the setting position when the weight balance detecting means 101 detects a balance state in which one side in the width direction of the body V is heavier than the other side. The control sensitivity of the steering when the weight balance shifts from the proper position to the light side is more sensitive than the control sensitivity of the steering when the introduction position of the stem / culm shifts from the set appropriate position to the heavy side. It is configured to perform steering control.

Next, the weight balance detecting means 101 will be described. When the kernel weight K detected by the weight sensor S6 is a set value Ks (K = Ks), the right and left of the machine body V in the lateral width direction are determined. It is determined that both sides have the same weight balance. That is, the machine body V is configured such that when the kernel weight K is the set value Ks (K = Ks), the weights on the left and right sides in the lateral width direction are equal. Therefore, if the kernel weight K is smaller than the set value Ks (K <Ks), the left side of the body V is in a weight balance state heavier than the right side, and the kernel weight K is larger than the set value Ks (K>). If Ks), it is determined that the right side of the body V is in a weight balance state heavier than the left side. The set value Ks is set to the weight of the kernel when the kernel is stored in the tank 18 in a predetermined amount (for example, half of the tank capacity).

Referring to the steering control means 100, as shown in FIG. 7, the detection signal En from the potentiometer R is used to detect a sampling time (e.g., the time required to travel between the plants in the row of stems and culms). Standard value is T
s), the steering control sensor S
1 and S2, so that the sensitivity of the steering control is increased by shortening the sampling time. That is, as shown in FIG. 8A, for example, when the kernel weight K is smaller than the set value Ks (K <Ks), the left side of the steering control sensors S1, S2 The sampling time of one sensor S1 is set to half of the standard value Ts (FIG. (A)), while the sampling time of the second sensor S2 on the right side remains the standard value Ts (FIG. (B)). Then, based on the sampling data of the first sensor S1 on the left side, the clutch disengaging time Toff of the right steering clutch 12R is set according to the amount of deviation of the stem and stem introduction position from the set appropriate position to the right side, and
Based on the sampling data of the second sensor S2 on the right side, the disengagement time Toff of the left steering clutch 12L is set in accordance with the amount of deviation of the stem and stem introduction position from the set appropriate position to the left.

Therefore, the right steering clutch 12R is disengaged at a shorter time interval than the left steering clutch 12L. As a result, the left side of the body V is heavier than the right side, so that the body V Is steered to the left, that is, the control sensitivity of the steering is shifted to the right side where the weight of the stem culm is shifted from the set appropriate position to the right side, and the body V is steered to the right, ie, the stem culm Can be made more sensitive than the steering control sensitivity to the shift of the introduction position to the left side where the weight is heavy from the appropriate setting position. When the kernel weight K is larger than the set value Ks (K> Ks), as shown in FIG. 8B, the sampling time of the second sensor S2 on the right is set to the standard value Ts. In half, the left steering clutch 12L is turned off at a shorter time interval than the right steering clutch 12R, and in this case, the stem culm introduction position is shifted to the left where the weight is lighter than the set appropriate position. The control sensitivity of the steering for the shift can be made more sensitive than the control sensitivity of the steering for the shift of the stem culm introduction position from the appropriate setting position to the right side where the weight is heavy.

Next, the operation of the control device 11 will be described with reference to the flowcharts shown in FIGS. 5 and 6. If the stock sensor S0 changes from the OFF state to the ON state, the start of the harvesting operation is confirmed. Then, the operation state is determined from the state of the manual automatic changeover switch SW1. Then, normally, since the manual operation is selected at the beginning of the operation, the process returns to the beginning of the flow unless the control end is instructed. In the manual operation, the driver performs the gear shift and the steering operation by the manual operation as described above, and automatically operates the manual automatic changeover switch SW1 when it is confirmed that the stem / culm introduction position is at an appropriate position. Switch to the side. Then, when automatic operation is confirmed from the state of the changeover switch SW1, the vehicle speed control and the steering control are executed.

In the steering control, first, the weight K of the kernel in the tank 18 detected by the weight sensor S6 is compared with a set value Ks, and the weight K of the kernel is set to the set value Ks
If it is smaller than the two steering control sensors S1, S
2, the sampling time of the first sensor S1 on the left side is shortened to の of the standard value Ts.
The sampling time of the sensor S2 is maintained at the standard value Ts. On the other hand, if the weight K of the kernel is larger than the set value Ks, the sampling time of the second sensor S2 on the right is shortened to １ ／ of the standard value Ts, but the sampling time of the first sensor S1 on the left is reduced. Is maintained at the standard value Ts. If the weight K of the kernel is the set value Ks, the sampling time of the two steering control sensors S1 and S2 is maintained at the standard value Ts. Thereafter, as long as the magnitude relationship between the grain weight K and the set value Ks does not change, the set sampling time is maintained.

Next, when the stem and stem introduction position deviates from the sampling data of the steering control sensors S1 and S2 to the uncut side (left side in the traveling direction), a predetermined time Toff set according to the deviation amount. ', Left steering clutch 12
In the case where the stem stem introduction position is shifted to the cut side (the right side in the traveling direction) while the cutting operation of L is performed, a predetermined time Toff set according to the shift amount, the right steering clutch 12R.
(See FIG. 8). When the stem and stem introduction position is at the appropriate setting position, the steering clutches 12L and 12R are not turned off to maintain the current steering state.

[Alternative Embodiment] In the above embodiment, the weight sensor S is used as the storage amount detection sensor as the weight balance detecting means.
6 is described as an example, but in addition to this, for example, as shown in FIGS. 1 and 2, an inclination sensor S7 for detecting the left-right inclination state of the body V is installed. It is also possible to make a configuration based on the detection information of the tilt sensor S7. FIG. 9 shows a flow of the steering control of the control device 11 in this case.
If the body V is tilted leftward by the tilt sensor S7, the two steering control sensors S1 and S2 are used.
Of the above, the sampling time of the first sensor S1 on the left is shortened to の of the standard value Ts, while the sampling time of the second sensor S2 on the right is maintained at the standard value Ts. On the other hand, if the body V is tilted rightward and tilted to the right, the sampling time of the second sensor S2 on the right is shortened to １ ／ of the standard value Ts, but the sampling time of the first sensor S1 on the left is standard. The value Ts is maintained. If the aircraft V is not inclined and is in a horizontal state, the sampling times of the steering control sensors S1 and S2 are maintained at the standard value Ts. The control after setting the sampling time is the same as in the case of the weight sensor S6 (FIG. 6).

Also, in the above embodiment, the control sensitivity of the steering when the stem / pull introduction position is shifted from the proper setting position to the side where the weight balance is light is changed to the side where the stem / culm introduction position is shifted from the proper setting position to the side where the weight balance is heavy. The steering control means 100 is configured so that the control sensitivity of the steering to the deviation is made more sensitive than the stem culm introduction position is shifted to either the uncut side or the already cut side. However, it may be configured to be executed only when, for example, the stem and stem introduction position is shifted to the cut side (that is, the machine V is shifted to the uncut side).

In the above embodiment, the steering control sensitivity is made sensitive by the steering control sensors S1 and S2.
Is realized by shortening the sampling time with respect to the standard value T
s and its half value Ts / 2 are shown in two steps, but in addition to this, for example, the weight balance in the lateral width direction of the body V is changed from the state where the weights on the left and right sides are equal to each other on the other side. As the weight becomes heavier, the sampling time may be shortened from the standard value Ts so that the control sensitivity is continuously increased.

Further, the configuration for making the steering control sensitivity more sensitive is as follows.
Other than the method of shortening the sampling time, for example, without changing the sampling time, based on the sampling data of the sensors S1 and S2,
The amount of deviation of the stem and stem introduction position from the appropriate setting position is determined by the clutch disengagement times Toff and To of the steering clutches 12L and 12R.
It is also possible to adopt a configuration in which the conversion coefficient ff ′ is realized by increasing the conversion coefficient. More specifically, as shown in FIG. 11, for example, the amount of deviation of the stem / culm introduction position from the appropriate setting position (sensor S1,
Even if the detection data of S2 is the same, when the kernel weight K is smaller than the set value Ks (K <Ks), the left first sensor among the steering control sensors S1 and S2 is used. The clutch disengagement time Toff of the right steering clutch 12R obtained from the detection data of S1 is converted by a large conversion coefficient (for example, twice) (FIG. 10 (a) (a)), while the right second sensor S2 is converted. Time To of the left steering clutch 12L obtained from the detection data
ff ′ is converted by a standard conversion coefficient (FIG. 10 (A)
(B)). As a result, since the left side of the airframe V is heavier than the right side, the airframe V is steered to the left side (the introduction position of the stem / culm shifts from the set appropriate position to the right side where the weight is lighter). In addition, the control sensitivity of the steering when the body V is steered to the right (the introduction position of the stem / culm shifts from the set appropriate position to the heavy left side) can be made more sensitive. Grain weight K is larger than set value Ks (K> Ks)
10 (b), (a) and (b), in this case, conversely, in this case, the clutch disengagement of the left steering clutch 12L obtained from the detection data of the right second sensor S2 is performed. A conversion coefficient having a large time Toff ′ (for example, 2
Times).

In the above-described embodiment, the steering device of the machine body V is constituted by a pair of steering clutches 12L and 12R for turning on and off the power transmission to the left and right crawler traveling devices 1, respectively. The body V is steered to the side of the disengaged clutch by operating the clutches 12L and 12R. For example, in addition to the steering clutches 12L and 12R as a steering device for the machine V, It is also possible to provide a pair of left and right brake devices, and to operate the brake devices on the same side in accordance with the clutch disengagement operation.

A storage amount detecting sensor for detecting the storage amount of the harvested crop in the storage section 18 for storing the harvested crop is also provided.
Not limited to the weight sensor S6, for example, a pressure sensor is installed at a predetermined height position on the inner surface of the side wall of the tank 18, which is a storage portion, and when the pressure sensor detects a pressure equal to or higher than a set pressure, the storage amount is reduced in the machine lateral width direction. May be configured to determine that the weight balance has become equal to or greater than the set amount corresponding to the state where the weight balances are equal.

Further, in the above embodiment, the storage portion (tank 18) for storing the harvested crops is provided so as to be biased toward the already cut side in the lateral width direction of the machine body, but is provided so as to be biased toward the uncut side. You may do so. Further, the storage unit is not limited to a tank for storing grain, and, for example, in the case of a hay harvester as a reaper, a hay as a reaper may be placed and stored.

Further, in the above embodiment, the introduction position detecting means S1 and S2 for the object to be cut are replaced by two steering control sensors which rotate to the rear side of the machine body in contact with the stem as the object to be cut. S1 and S2 are constituted by means for detecting the rotation angle of the sensor bar.
The number of S1 and S2 is not limited to two, and the detection method is not limited to the above-described contact type. For example, when the stem / culm row is linear, stems are moved from one end to the other end of the field. A beam light may be projected parallel to the culm row, and the beam light may be received by an optical sensor installed on the side of the fuselage to detect a deviation of a stem culm introduction position from an appropriate position. The specific configuration of the means S1 and S2 can be variously changed.

In the above embodiment, the weeding tools 4A, 4B,
The four stems 4C and 4D are provided to form three stem culm introduction paths L1, L2, and L3 between the respective weeding tools, and the width of the path L3, which is the most cut side, is set to the other uncut side. Are wider than the paths L1 and L2 located in the above, but the specific configuration such as the number and width of the weeding tools and the paths is not limited to those of the above-described embodiment, and can be changed as appropriate.

In the above embodiment, the present invention is applied to a combine harvester. However, the present invention can be applied to other types of automatic or manual traveling harvesters.

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

[Brief description of the drawings]

FIG. 1 is a block diagram of a control configuration of a combine.

FIG. 2 is a plan view of a main part of a front part of the combine.

FIG. 3 is a schematic plan view of an introduction position detection unit for an object to be cut;

FIG. 4 is a schematic front side view of the combine.

FIG. 5 is a flowchart of a control operation.

FIG. 6 is a flowchart of a control operation.

FIG. 7 is an explanatory diagram of a sampling operation of introduction position detection information.

FIG. 8 is a time chart of a control signal to the steering device.

FIG. 9 is a flowchart of a control operation according to another embodiment.

FIG. 10 is a time chart of a control signal to a steering device according to another embodiment.

FIG. 11 is an explanatory diagram of a control sensitivity change according to another embodiment.

[Explanation of symbols]

 V body 3 mowing processing unit S1, S2 introduction position detecting means 12L, 12R steering device 100 steering control means 101 weight balance detecting means 18 storage unit S6 storage amount detection sensor S7 inclination sensor

Claims (3)

(57) [Claims] 1. A reaping unit (3) mounted on an airframe (V).
Position detecting means (S1,
S2) is provided, and the introduction position detecting means (S1, S2)
The steering control means (10) for operating the steering devices (12L, 12R) of the body (V) based on the detection information of (2) so as to maintain the introduction position at the appropriate setting position.
0) is provided, wherein a weight balance detecting means (101) for detecting a weight balance in the lateral width direction of the body (V) is provided, wherein the steering control means ( 100) means that when the weight balance detecting means (101) detects a balance state where one side is heavier than the other side, the introduction position shifts from the appropriate setting position to the side where the weight balance is lighter. A harvester and harvester, wherein the steering control sensitivity is set to be more sensitive than the steering control sensitivity to the introduction position being shifted from the set proper position to the side where the weight balance is heavy, and the steering control is performed. Steering control device. 2. The weight balance detecting means (101).
Is based on the detection information of the storage amount detection sensor (S6) for detecting the storage amount of the harvested crop in the storage section (18) for storing the harvested crop, which is provided to be biased to one side in the width direction. The steering control device for a reaper according to claim 1, wherein the steering control device is configured to determine a weight balance. 3. The weight balance detecting means (101).
2. The steering control device for a reaper according to claim 1, wherein the weight control device is configured to determine a weight balance based on detection information of a tilt sensor (S <b> 7) that detects left-right tilt of the machine body (V).