JP2843718B2 - Cutting type identification device of reaper and harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applied to a reaping unit.
Of the stem and culm introduced into the route
An interval detecting means for detecting an interval in the vehicle;
The interval is smaller than the set interval based on the information of the step.
In this case, it is determined that the type is the cutting style, and the interval is
If it is larger than the set interval, it is determined to be the side cut type
The present invention relates to a reaping type discriminating device of a reaper, which is provided with a discriminating means for determining the reaping type.

[0002]

2. Description of the Related Art A reaping type discriminating device of the above-mentioned reaper and harvester includes:
For example, when harvesting by introducing a stem culm planted in a row in a field by a combine as a reaper and harvester into a path formed between a plurality of weeding tools provided at the tip of the machine body, the stem culm is The cutting style (see FIG. 5) in which the same row as that at the time of planting is formed in the machine body traveling direction, or
A side-cutting style (Fig. 6)
In each case, in order to prevent the culm from being left uncut, or to trample the culm with a weeding tool, make sure that each weeding tool is at an appropriate distance from the stem and culm. It is used to obtain control information for steering control of the aircraft so as to travel along the stem and row.

[0003] For this purpose, conventionally, for example, a switch-type stem / culm detection sensor provided with a sensor bar swinging to the rear side of the machine body in contact with the stem / culm introduced into the above-mentioned route has been used.
Turn on by touching the culm and then turn on by touching the stem
The distance traveled up to
And then compare the detection interval with the set interval to
Had to determine the lateral mowing reaper format (e.g., Japanese Patent Sho 62-122506 and JP No. 1-9
No. 8405 ).

[0004]

However, in the above-mentioned conventional means, for example , the position of a stem and a stalk introduced into the path
Moves sideways away from the sensor bar
And the degree of contact of the stem with the sensor bar is small.
If the stalk detection sensor does not turn on,
The distance between the stem and stem in the machine direction cannot be detected properly.
Therefore, there is a possibility that erroneous determination of the reaping type may occur.

The present invention has been made in view of the above circumstances, and an object of the present invention is to solve the above-mentioned drawbacks of the prior art by changing the position of a stem and culm introduced into the path in the lateral direction of the path.
Even if it fluctuates, the distance between the stem and stem
An object of the present invention is to make it possible to perform appropriate detection and to avoid erroneous determination of the reaping format to ensure the determination accuracy.

[0006]

The first characteristic feature of the harvester cutting type discriminating apparatus reaper according to the invention To achieve the above object, according to the distance detected
The means comprises a lateral spacing of the stem from the end of the path.
To the end of the path with the fulcrum as the pivot point
Stem position detected as the swing angle of the contact piece swinging toward the side
Detection sensor and travel distance detecting means for detecting travel distance
The stem and stem position detection sensor and the travel distance detection means
Detection of the stem / culm position detection sensor based on the information of the step
Information is sampled for each predetermined mileage,
While traveling the set distance corresponding to the planting distance in the body traveling direction
Of the stem and stalk position detection sensor sampled at different times
The maximum detected value among the detected values of
Each time, and after the maximum value is determined,
Based on the distance traveled until the next maximum
For calculating the spacing of the stem in the body advancing direction
Means .

[0007] The second characteristic configuration is similar to the first characteristic configuration.
In addition, the traveling distance detecting means includes a time measuring means and a vehicle speed.
And vehicle speed detecting means for detecting the vehicle speed .

[0008] The third characteristic configuration is the first or second characteristic.
In the signature configuration, the calculating means may include a stem stem position detection cell.
Only when the sensor detection value is greater than or equal to the set value.
The point is that it is configured to obtain a large value .

[0009]

According to the first characteristic configuration of the present invention, the stem from the end of the stem and culm introduced into the stem and culm introduction path of the mowing processing unit .
The lateral spacing is determined by the swing fulcrum at the end of the path and the contact with the stem.
Detected as the swing angle of the contact piece that swings backward by touch
The stalk and culm position detection information is sampled every predetermined traveling distance.
Along with the planting distance in the
Stalks sampled while traveling a set distance
The detection value that becomes the maximum value among the culm position detection information is
Obtained every time the vehicle runs away
The distance traveled before the next maximum value in the direction is found
Is used to determine the spacing of the stem in the body advancing direction.
Can be The interval in the machine body traveling direction is smaller than a set interval set in a range between, for example, the interval between the stems and stems in the case of the line cutting mode and the interval of the side cutting mode longer than the interval of the line cutting mode. In this case, it is determined to be in the form of a row cutting, and conversely, when it is large, it is determined to be in the form of a side cutting.

Further, according to the second characteristic configuration, the above-mentioned first aspect is provided.
In the characteristic configuration, time is measured when the aircraft travels
The vehicle speed is detected and the timing information and vehicle speed are
The traveling distance is detected from the information .

[0011] According to a third feature configuration, the first or the second embodiment is used.
Is the detection of the stem / culm position detection information in the second characteristic configuration.
When the output value is equal to or more than the set value, the maximum value is obtained.
However, if the detected value is not equal to or greater than the set value, the maximum value
Do not ask .

[0012]

Therefore, according to the first characteristic configuration of the present invention, the horizontal direction from the end of the stem culm in the stem culm introduction route.
Detection of a contact type stem / culm position detection sensor that detects the direction spacing
Planting while sampling the output value for each predetermined mileage
Each time you travel the set distance corresponding to the distance,
The maximum value of multiple detected values
The distance adjacent to the value of the stem position in the advancing direction of the stem
Is detected as an interval in the aircraft's direction of travel.
As with technology, a switch-type stem / culm detection sensor
After the sensor bar contacts the stem and turns on,
Distance in the advancing direction of the aircraft
When the position is detected, for example, the stem and stem position moves
And the degree of contact of the stem with the sensor bar is small.
If the stalk detection sensor does not turn on,
Inability to properly detect the spacing of stems and stems in the machine direction
In contrast to the disadvantages, the present invention
If the degree of contact of the stem with stems fluctuates,
The maximum value of the detected waveform that changes according to the hit state
Detect the position of the stem and culm, and determine
It is possible to appropriately detect the distance, and thereby it is possible to avoid erroneous determination of the reaping type as much as possible and to secure the determination accuracy.

Further, according to the second characteristic configuration, the time measuring means and
The traveling distance detecting means is constituted by the vehicle speed detecting means.
Therefore, while simplifying the configuration of the traveling distance detection means,
The effect of the first feature configuration can be maintained.

Further, according to the third characteristic configuration, the position of the stem / culm is
The maximum value is obtained only when the detected value is equal to or greater than the set value.
Therefore, the value is smaller than the value detected by the regular stem
Appropriate detection of stem / culm position by eliminating the effects of grandchildren, weeds, etc.
Therefore, the effect of the first or second characteristic configuration can be maintained.

[0015]

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. 2 and 4, a threshing device 2 is mounted on a fuselage V equipped with a pair of right and left crawler traveling devices 1 in the combine, and a mowing processing unit 3 is provided at the front of the fuselage V.
Is provided so as to be able to move up and down freely, and a driver's seat 17 is provided at the upper part of the fuselage.

A plurality of weeding tools 4A, 4B, 4C, 4D are provided at the tip of the reaping unit 3 in a state supported by a support frame 9 at intervals in the machine body width direction. Paths L1, L2, L3 for introducing a plurality of stems and stems are formed between the weeds 4A, 4B, 4C, 4D. Then, the cause device 5 for causing the stems and culms introduced into each of the routes L1, L2, and L3, the clipper-type cutting blade 6 for cutting the root of the stems and the cut stems and stalks to the rear side of the machine. A transporting device 7 for locking and transporting is provided in a state where the transporting devices 7 are sequentially arranged rearward of the plurality of weeding tools 4A, 4B, 4C, and 4D in that order. However, at least the width of the leading end portion of the plurality of stem culm introduction paths L1, L2, and L3, which is the path L3 located closest to the cut side, can be introduced simultaneously so that two rows of stem culms can be introduced. Are formed larger than the lateral widths of the paths L1 and L2 located on the other uncut side. A stock sensor S0 is provided at a position on the lower side in the transport direction of the cutting blade 6 to contact the stock of the cutting stem to detect whether or not the cutting operation is being performed. A feed chain 8 for transporting the cut stems and culms transported by the transport device 7 to the threshing device 2 is provided.

The cutting processing unit 3 includes a plurality of steering control sensors S for detecting a lateral distance from the end of the stem culm introduced into each of the stem culm introduction paths L1, L2, L3.
1, S2, and S3 are provided at the uncut side surface position of the weeding implement 4B, which is located on the already cut side of the weeding implement 4A, which is one more than the unleavened weeding implement 4A, and introduced into the path L1 on the most uncut side. Sensor S1 for detecting the lateral distance between the stem and stem to be cut and the end of the path already cut
And the stem culm and the path uncut that are provided at the cut-side side position of the weeding tool 4B that is located one cut-off side more than the uncut mowing side 4A and are introduced into the middle path L2. A second sensor S2 for detecting a lateral distance from the side end portion, and a stem and culm provided at the uncut side surface position of the weeding tool 4D on the most cut side and introduced into the path L3 on the most cut side. A third sensor S3 for detecting a lateral distance from the end of the path already cut.

The plurality of steering control sensors S1, S
The configuration of S2 and S3 will be substantially the same. As shown in FIG. 3, the distal end is pivotally supported at the rear side position of the weeding implements 4B and 4D and is positioned rearward of the fuselage. Swingable sensor bars 10 are arranged in a row at a predetermined distance in the longitudinal direction of the machine (the distance in the case of row cutting is about H1 = 17 cm, and the distance in the case of side cutting is H2 = about 30 cm). It is provided in a state where it is urged to return to the culm side (Fig. 5
And FIG. 6), and a potentiometer R is provided for detecting an angle at which the sensor bar 10 swings rearward of the fuselage by contact with the stem. That is, the stem of the stem and stem introduced between the weeding tools 4A, 4B, 4C, and 4D is brought into contact with the sensor bar 10 as the body V travels,
The sensor bar 10 rotates to the rear side of the aircraft at a swing angle corresponding to the position where the stem and stem come into contact with the swing fulcrum. By detecting the swing angle, the potentiometer R becomes larger as the mounting position of each sensor with respect to the stem culm arranged in the body traveling direction, that is, the lateral distance from the end of the stem culm introduction path becomes smaller. Voltage En (where n = 1, 2, 3, 3)
And outputs of the steering control sensors S1, S2, and S3). From above, this
A plurality of steering control sensors S1, S2, S3
Lateral spacing of the culm from the end of the path L1, L2, L3
To the end of the path with the fulcrum as the pivot point
Of the sensor bar 10 as a contact piece that swings toward
Stem and stalk position detection sensors S1, S2, which detect as a moving angle
Functions as S3 .

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 for operating the transmission of the driving force to the crawler traveling device 1 on the left and right, respectively, so that the driving force can be turned off. It is configured to perform a turning operation. In the figure, S4 is a rotation speed sensor as running distance detecting means for detecting the running distance based on the input rotation speed to the transmission case 15. S5 is an engine speed sensor for detecting the speed of the engine E, 13L and 13R are steering hydraulic cylinders for turning on and off the steering clutches 12L and 12R, and 14L and 14R are steering steering cylinders. It is an electromagnetically operated steering control valve for controlling the supply of hydraulic oil to the hydraulic cylinders 13L, 13R. Although not shown, the output of the engine E is transmitted to the threshing device 2 via a threshing clutch or the like, and the output of the continuously variable transmission 16 is transmitted to the reaping unit 3 via a reaping clutch or the like. Have been.

Control device 11 using microcomputer
The control device 11 receives signals from the stock sensor S0, the steering control sensors S1, S2, S3, the rotation speed sensor S4, and the engine rotation speed sensor S5, and A signal from a manual / automatic changeover switch SW1 for switching the operation between manual operation and automatic operation is input. Further, the control device 11 outputs a drive signal for the steering control valves 14L and 14R.

The control device 11 outputs a drive signal for gear shifting operation to the continuously variable transmission 16 via an actuator (not shown) for operating the same. When the load on the engine E increases, the number of revolutions of the engine E decreases, so that the revolution number sensor S5 functions as an engine load detecting means. The vehicle speed is automatically controlled based on the information so that the engine load is maintained in an appropriate range. 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.

Further, the control device 11 is configured to perform automatic steering control so that the steering position is in an appropriate state based on the detection information of the steering control sensors S1, S2, S3 during automatic driving. Have been. In other words, at the time of cutting, the stems on both sides of the weeding implement 4B are both located at equal intervals from the weeding implement 4B based on the two sensor information of the first sensor S1 and the second sensor S2. While the state of contact with the sensor bar 10 is set to the appropriate steering state, at the time of side mowing, the stems and stems are spaced at a predetermined interval from the weeding implement 4D on the most mown side based on the sensor information of the third sensor S3. The position where the vehicle is located is set as a proper steering state, and control is performed so as to maintain the proper steering state. As shown by the dotted line in FIG. 7, the signal waveforms appearing at positions other than the normal stem and culm positions arranged at the distances H1 and H2 are considered to be those of grandchildren or weeds. This is ignored as information for the vehicle, so that the accuracy of the steering control is not reduced.

Although not shown, a manual shift lever for shifting the vehicle speed during manual operation and the steering clutch 1 are provided.
A manual steering lever for manually turning on and off the 2L and 12R is provided in the driver's seat 17.

Since the stem is planted at a predetermined distance H1, H2 in the longitudinal direction of the body as described above, the stem is intermittently brought into contact with the sensor bar 10. That is, the signal level from the potentiometer R changes intermittently. Therefore, as shown in FIG. 7, the control device 11 sets the output signal of the potentiometer R to a distance sufficiently shorter than the distances H1 and H2 so as to sample the output signal at an interval sufficiently shorter than the cycle of the intermittent change. The potentiometer R is set every time the set predetermined traveling distance Δh (this becomes the sampling interval).
Is configured to sample the voltage En from In the figure, (a) shows a signal waveform in the case of row cutting, and (b) shows a signal waveform in the case of side cutting.

[0026] In addition, by using the control device 11, stems稈位
The steering control sensors S1 as location detection sensor,
S2, S3 and the steering control sensor based on information from the rotation speed sensor S4 as a traveling distance detecting means.
The detection information of S1, S2, and S3 is provided for each predetermined traveling distance Δh.
The planting distance H in the advancing direction of the fuselage.
Before sampling while traveling the set distance corresponding to 1
Detection of a plurality of steering control sensors S1, S2, S3
The maximum detected value is calculated for each set distance.
The maximum value is determined, and then
Based on the distance traveled until the next maximum is found
Calculating means 1 for determining the spacing in the machine body traveling direction of the serial Kuki稈
02 is configured. As described above, the interval detecting means K for detecting the interval of the stem and stem introduced into the stem and stem introduction paths L1, L2 and L3 in the body traveling direction is provided by the steering control sensors S1, S2 and S3, and the rotation. Number sensor S4
And the arithmetic means 102.

Further, as shown in FIG. 7, using the control device 11, based on the information of the interval detecting means K, the stems and limbs introduced into the stem and limb introduction routes L1, L2 and L3 are used. The interval in the body advancing direction of the aircraft is a set interval, for example, the distance H of the stem and culm in both the cutting mode and the side cutting mode.
1, an interval corresponding to the middle of H2 ((H1 + H2) / 2 =
= About 23.5 cm), it is determined that the type is the cutting type, and the interval is set to the set interval ((H
If it is larger than (1 + H2) / 2), a determination means 101 is provided which determines that the mode is the side-cutting type. Furthermore,
The discriminating means 101 is used to improve detection accuracy.
As shown in a flowchart described later (see FIG. 9), when the interval is close to the distance H1 in the case of the row cutting, that is, H1-
When the value is between α and H1 + α (here, α is set to, for example, about 2 to 3 cm), it is determined that the type is a row cutting mode, and when the interval is close to the distance H2 in the case of side cutting, If the value is between H2−α and H2 + α, it is determined that it is the side-cutting type.

Next, the operation of the control device 11 will be described with reference to the flowcharts shown in FIGS. 8 and 9. If the stock sensor S0 changes from the OFF state to the ON state, the start of the harvesting operation is confirmed. Then, first, it is checked whether or not the reaping type determination processing has been completed. If the reaping type determination processing has not been completed, the determination processing (FIG. 9) is executed. On the other hand, if the process of discriminating the reaping type has been completed, it is determined whether the operation is the manual operation or the automatic operation from the state of the manual automatic changeover switch SW1. Then, usually, the manual operation is selected in the initial stage of the operation, and the process returns to the beginning of the flow when there is no instruction to end the control. In the manual operation, the driver manually performs steering and shifting operations so as to follow the stem line, and when the body steering position becomes appropriate with respect to the stem line position, the manual automatic changeover switch is operated. Switch SW1 to the automatic operation 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 reaping type determination process (FIG. 9), a predetermined traveling distance Δh is determined based on information from the rotation speed sensor S4.
Each time the vehicle travels, each steering control sensor S
Voltage En from the potentiometer R of S1, S2, S3
(N = 1, 2, 3) and the traveling distance data are sampled, and this sampling is repeated until the traveling distance travels the distance H1. When it is confirmed by the information of the rotation speed sensor S4 that the vehicle has traveled the distance H1, the maximum value of the plurality of data of the voltage En of the potentiometer R sampled during this time is used for each steering control. Each of the sensors S1, S2, and S3 is obtained, and if these maximum values are equal to or more than a certain value, the respective traveling distance data at the maximum values are stored as dn (n = 1, 2, 3). If the maximum value is not equal to or greater than a certain value, the dn
No value is stored. That is, the calculating means K is
The detected values of the steering control sensors S1, S2, S3 are set values
Only when it is above, the maximum value is obtained.
Have been.

Next, as described above, the difference between the dn value obtained this time and the old dn value obtained last time, that is, the distance Δ
When the value of dn is a value between H1−α and H1 + α,
The cutting counter is incremented by +1 and the value of the interval Δdn is H2
If the value is between -α and H2 + α, the horizontal cutting counter is incremented by +1. On the other hand, when the value of the interval Δdn is other than the above, −1 is subtracted from each of the cutting counter and the side cutting counter. However, the counter value is not made negative. Note that a row cutting counter and a side cutting counter are provided for each of the steering control sensors S1, S2, and S3, and a total of six counters are provided. Then, at least one of the three cutting counters, or at least one of the three lateral cutting counters is a preset number N (for example, set to about 3 to 5). When the above is completed, it is determined that the cutting format is the line cutting format or the horizontal cutting format, respectively.

Another Embodiment Next, another embodiment of the traveling distance detecting means will be described.
In this example, the rotation speed sensor S4 functions as a vehicle speed detection unit that detects the vehicle speed v, and the control unit 11 is used to constitute a timer unit 103. And
The timing means 103 and the rotation as a vehicle speed detecting means
The traveling distance detecting means 103, S
4 are configured. That is, the time is measured by the timer 103
By multiplying the vehicle speed v by the time
A corresponding mileage is required.

In the above embodiment, in order to improve the detection accuracy of the cutting mode, the interval between the stems and stems is set to the distance H1 at the time of cutting.
Alternatively, when the distance is close to the distance H2 at the time of the horizontal cutting, it is determined that the type is the row cutting or the side cutting, but without doing so, the interval between the stems and culms is set at a set interval, for example, the distance H1 at the time of the line cutting and the horizontal cutting. Intermediate interval (H1 + H2) / 2 with distance H2 when mowing
It is also possible to simplify the control configuration by determining the cutting format only by determining the magnitude of v). In the above-described embodiment, the cutting and side-cutting counters for determination are provided in correspondence with the respective steering control sensors S1, S2, S3. However, all the steering control sensors S1,
There is no need to provide a row cutting counter and a side cutting counter corresponding to S2 and S3. Further, in the above embodiment, when at least one of the three cutting or side-cutting counters reaches a set number N or more, each cutting type is determined. When the number of the counters becomes equal to or more than the set number N, each cutting type may be determined. As described above, the specific configuration of the determination unit 101 can be variously changed.

In the above embodiment, the stem / culm position detecting sensors S1, S2, S3 constituting the interval detecting means K, ie,
From the end of the route L1, L2, L3 for the introduction of the stem culm of the stem culm
The sensor that detects the lateral spacing is also configured as a contact-type steering control sensor that contacts the stem and detects the contact position. Separately, a stem and stem position detection sensor may be provided.

Further, in the above embodiment, the traveling distance detecting means and the vehicle speed detecting means are constituted by the rotation speed sensor S4 for detecting based on the input rotation speed to the transmission case 15, but the invention is not limited to this. is not.

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 various other automatic or manual traveling harvesters.

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

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

FIG. 2 is a schematic front plan view of the combine.

FIG. 3 is a schematic plan view of a stem / culm position detection sensor.

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

FIG. 5 is an explanatory view showing the position of a stem and culm in a path for introducing a stem and culm in the form of a streak.

FIG. 6 is an explanatory view showing the position of a stem culm in a path for introducing a stem culm in a side-cutting mode.

FIG. 7 is an explanatory diagram of the sampling of stem and stem position detection information and the operation of determining the cutting type.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

[Explanation of symbols]

Reference Signs List 3 reaper processing unit L1 route L2 route L3 route K interval detecting means 101 discriminating means S1 stem / culm position detecting sensor S2 stem / culm position detecting sensor S3 stem / culm position detecting sensor S4 running distance detecting means and vehicle speed detecting means 102 calculating means 103 timing means 103, S4 running distance detecting means

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshio Tominaga 64 Ishizukita-cho, Sakai City, Osaka Prefecture Inside the Kubota Sakai Works (72) Inventor Yoshiaki Takeuchi 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Co., Ltd. (56) References JP-A-1-98405 (JP, A) JP-A-62-122506 (JP, A) JP-A-3-117405 (JP, A) (58) Fields investigated (Int. . ^6, DB name) A01B 69/00 G05B 13/02 G05B 1/02

Claims (3)

(57) [Claims] An interval detecting means (K) for detecting an interval in a body traveling direction of a stem and culm introduced into a stem and culm introduction path (L1, L2, L3) provided in a mowing processing unit (3).
Based on the information of the interval detecting means (K), if the interval is smaller than the set interval, it is determined that the type is the cutting mode, and if the interval is larger than the set interval, the side cutting is performed. A reaping type discriminating device for a reaper , comprising: a discriminating means (101) for discriminating the type of the culm. ) From the end
The lateral spacing is determined by the end of the path as the pivot point
Detected as the swing angle of the contact piece that swings backward by touch
And stalk position detecting sensors (S1, S2, S3), mileage detecting means (S4) for detecting mileage, the stalk and position detecting sensors (S1, S2, S3) and
Based on the information of the travel distance detecting means (S4),
The detection information of the culm position detection sensor (S1, S2, S3)
Sampling is performed for each predetermined traveling distance, and
While traveling a set distance corresponding to the planting distance in the direction
The pulled stem and stem position detection sensor (S1, S2,
The detection value that becomes the maximum value among the plurality of detection values of S3) is
Calculated for each set distance traveled, and after the maximum value is determined
Until the next maximum value adjacent to the aircraft
The distance between the stem and stem in the body advancing direction based on the traveling distance
A cutting type discriminating device for a reaper, comprising a calculating means (102) for obtaining a distance. 2. A reaping type discriminating device for a reaper according to claim 1, wherein said traveling distance detecting means (103, S4) comprises time measuring means.
(103) and a vehicle speed detecting means (S4) for detecting a vehicle speed.
A reaping type discriminating device for a reaper, which is composed of: 3. A type determination apparatus reaper of claim 1 or according 2 reaper harvester, said calculating means (K), said stem culm position sensor (S
1, S2, S3) when the detected value is equal to or greater than the set value.
A cutting type discriminating device for a reaper, which is configured to obtain the maximum value .