JP3084171B2 - 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 relates to a mowing unit provided at a front portion of a fuselage, wherein a plurality of weeding tools are provided at intervals in a lateral direction of the body. A pair of left and right steering control sensors for detecting the lateral distance between the stem and culm row introduced to the left and right sides of the specific weeding tool and the weeding tool are provided; Steering control means for operating a steering device of the aircraft is provided such that the specific weeding tool is maintained in an appropriate setting state with respect to the stem and stalk rows on both left and right sides based on information of the sensor. The present invention relates to a steering control device for a reaper.

[0002]

2. Description of the Related Art In the above-described steering control device of a reaper and harvester, for example, when a stalk and stalk planted in a field is harvested by a combine as a reaper and harvester, the stalk and culm are displaced from an appropriate position of the machine body steering position. Conventionally, a pair of left and right steering control sensors provided at the rear side of a specific weeding tool among a plurality of weeding tools to prevent the occurrence of inconveniences such as uncut leaves and stepping down The horizontal spacing between the weeding tool and the left and right stem culm rows is detected, for example, the left and right horizontal spacings are equal, that is, the specific weeding tool is located at the center of the left and right stem culm rows. And the steering control was performed with the setting appropriate. Accordingly, if the lateral distance from the left stem / culm row is larger than the right side, it is determined that the body position is shifted to the right side, and the steering device is operated, and for example, the left traveling device (for example, a crawler traveling device, etc.) ), The clutch is turned on and off, and the aircraft is steered to the left. On the other hand, if the horizontal distance from the left stem / culm row is smaller than the right, it is determined that the aircraft position is shifted to the left. Thus, the power transmission to the right traveling device is similarly disengaged by a clutch or the like to steer the aircraft to the right.

[0003]

However, even if the position of the fuselage deviates from the proper state (center position between the rows of stems and culms), for example, to the right side, the orientation of the fuselage (the angle of approach with respect to the rows of stalks and culms) is more than that in the straight ahead direction. When facing to the left, the aircraft is steered to the left as the vehicle travels without operating the steering device, and the displacement of the aircraft is reduced. Since the steering device is operated to steer the aircraft to the left side, there is a problem that unnecessary steering operation is performed, and the steering operation causes the aircraft to steer to the left more than necessary. The aircraft deviates greatly to the left from the state, and it is necessary to make a large steering operation to the right to correct this, the aircraft swings greatly left and right, and it becomes a so-called hunting state, and it follows the stem row But There has been a problem that the ride becomes worse as well as below.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object not to control the steering based only on the displacement of the fuselage but to consider the orientation of the fuselage more appropriately. It is an object of the present invention to perform an accurate steering control to eliminate the disadvantages of the related art.

[0005]

According to a first characteristic configuration of the steering control device of the reaper, the steering control means is configured to calculate a difference between detection values of the pair of left and right steering control sensors. While determining the position of the body with respect to the stem line, and determining the approach angle of the body with respect to the stem line from the temporal change of the difference between the detection values of the pair of left and right steering control sensors, and, It is configured to execute the steering control based on information on the position and the approach angle.

A second characteristic configuration is that the steering control means is arranged such that when the stem / culm row is out of the detection range of one of the pair of left / right steering control sensors, the stem / culm is removed. The row is configured to determine the position of the aircraft based on the detection value of the other sensor within the detection range, and to determine the approach angle of the aircraft based on a temporal change in the detection value of the other sensor. There is in the point.

A third characteristic configuration is that the steering control means is configured to control the airframe based on information from the pair of left and right steering control sensors a predetermined time after the steering device is operated. And the approach angle is determined.

A fourth characteristic configuration is that the steering control means is configured such that the position of the body is shifted from the proper setting state to the uncut side, and the angle of entry of the body is changed from the proper setting state to the uncut side. In the case of tilting, the position of the body deviates from the setting appropriate state to the mown side, and the steering angle is larger than when the approach angle of the body is inclined from the setting appropriate state to the mown side. It is configured to operate the steering device.

[0009]

According to the first characteristic configuration of the present invention, the values detected by the pair of left and right steering control sensors, that is, the stem and stalk rows introduced on both left and right sides of a specific herbage tool and the herbage tool are used. The position of the body with respect to the row of stems is determined from the difference in the lateral spacing, and the approach angle of the body with respect to the row of stems is determined from the temporal change in the difference between the detection values of the steering control sensors. Then, based on the information of the determined position and approach angle of the aircraft,
The steering device of the airframe is operated so that the specific weeding tool is maintained in the proper setting state with respect to the stem and culm row. Hereinafter, the steering control will be described by way of example. In the setting appropriate state, for example, the specific weeding tool is located at the center of the stem row on both the left and right sides, and the direction of the weeding tool is stem. The steering device is set as a state parallel to the culm row, and in the case where the position of the body is shifted to the right from the above-mentioned setting appropriate state, for example, when the approach angle of the body is directed to the left side from the straight ahead direction, the steering device is The steering device is not operated, but the steering device is operated so that the aircraft is steered to the left when the approach angle of the aircraft is in the straight traveling direction and when the aircraft is oriented to the right side of the straight traveling direction.

According to the second characteristic configuration, when the detection value of one of the pair of left and right steering control sensors cannot be obtained, the detection value of the other sensor, that is, the specific value is not obtained. The position of the aircraft with respect to the stem and culm row is determined from the lateral distance between the stem and culm row introduced on one side of the grass tool and the weeding tool, and the time for the stem and culm row is determined from the temporal change in the detection value of the other sensor. The approach angle of the aircraft is determined, and the aircraft is steered based on the determined information on the position and the approach angle of the aircraft so that the specific weeding tool is maintained in the proper setting state with respect to the stem and culm row. The device is activated. In this case, the setting appropriate state is, for example, the value of the horizontal interval obtained with respect to the stem and culm planted at the appropriate interval, and the value detected by the sensor is held at the appropriate horizontal interval value. Set as state.

According to the third characteristic configuration, the steering device is operated based on the determined position and approach angle of the aircraft based on the information of the pair of left and right steering control sensors, and the steering is performed. Based on the information of the pair of left and right steering control sensors after a predetermined time after the operation of the device (for example, a delay time from the operation of the steering device to the actual steering of the aircraft), the next steering operation is performed. The position and approach angle of the fuselage are determined for operation of the steering device.

Further, according to the fourth characteristic configuration, the position of the body determined based on the information of the pair of left and right steering control sensors deviates from the proper setting state to the uncut side, and the determined body. When the approach angle of the aircraft is inclined from the proper setting state to the uncut side, the position of the aircraft deviates from the proper setting state to the already-cutted side, and the approach angle of the aircraft is inclined from the proper setting state to the already-cutted side. The steering device is operated with a larger steering amount even if the degree of the deviation and the degree of the inclination are the same as compared with the case where the steering device is present.

[0013]

Therefore, according to the first characteristic configuration of the present invention, not only the displacement of the body from the proper state with respect to the stem / culm row, but also the information of the approach angle of the body with respect to the stem / culm row, Since the steering device of the airframe is operated, unnecessary steering operation is avoided and the operation of the airframe is avoided as compared with the conventional case where the steering device of the airframe is operated based only on the displacement of the airframe. The directional state does not become a hunting state, and thus, it is possible to eliminate the drawbacks of the above-described conventional technology, to improve the followability to the stem and culm row, and to realize the steering control that also improves the riding comfort.

According to the second characteristic configuration, even when one of the pair of left and right steering control sensors becomes undetectable due to, for example, a lack of stock or the like, the position of the body with respect to the stem and culm row is also determined. And the approach angle, the effect of the first characteristic configuration can be maintained, and steering control with higher reliability can be performed.

Further, according to the third characteristic configuration, even when there is a delay time from when the steering device is operated to when the result of the steering operation actually appears in a change in the direction of the body, the body of the body is not affected. The detection accuracy of the position and the approach angle can be secured, and steering control with more excellent reliability has been enabled.

Further, according to the fourth characteristic configuration, the steering control is performed in a state where the steering sensitivity to the cut side is larger than the steering sensitivity to the uncut side, so that the body to the uncut side is controlled. Can effectively be avoided, and thus the occurrence of inconveniences such as depressing of the stem can be more accurately prevented, and steering control with more excellent reliability can be performed.

[0017]

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 3, the combine has a reaping unit 3 attached to the front of a body V equipped with a pair of right and left crawler traveling units 1 so as to be able to move up and down. A threshing device 2 is provided at the rear side of the cockpit 17 for threshing the stems and mushrooms harvested by the mowing unit 3.

The cutting unit 3 includes a plurality of weeding tools 4.
A to 4D are supported and provided by the frame 9 in a state of being spaced apart in the width direction of the fuselage.
Between D, a plurality of routes L1 to L3 for introducing stems and stems are formed. Then, a device 5 for causing the stems and culms introduced into each of the paths L1 to L3, a clipper-type cutting blade 6 for cutting the root of the stems caused, and the cut and stems are locked on the rear side of the machine body. The transport device 19 for transporting
In this order, the plurality of weeding tools 4A to 4D are provided in a state of being sequentially arranged on the rear side. However, among the plurality of stem culm introduction paths L1 to L3, the path L3 located at the most mown side has at least a lateral width of at least a tip portion other than two so that stems for two rows can be introduced simultaneously. Are formed so as to be larger than the lateral width of the paths L1 and L2 located on the uncut side. Reference numeral 8 denotes a feed chain for transporting the cut stems transported by the transport device 19 to the threshing device 2. or,
At a position on the lower side in the transport direction of the cutting blade 6, a stock sensor S0 for contacting the stock of the cutting stem and culm to detect whether or not the cutting operation is being performed is installed.

Left and right sides of a specific weeding tool 4B (a weeding tool 4B located one cut-away side of the most unsealed weeding tool 4A) among the plurality of weeding tools 4A to 4D. The path L of
A pair of left and right steering control sensors S1 and S2 for detecting the lateral spacing between the stem and culm row introduced into the first and the second stem L2 and the weeding implement 4B are provided. That is, the steering control sensors S1, S
Reference numeral 2 denotes a first sensor S1 which is provided at the uncut side surface of the specific weeding implement 4B and detects the lateral interval between the stem and culm row introduced into the left path L1 and the cut end of the path. A second sensor S2 that is provided at the cut side surface of the specific weeding tool 4B and detects a lateral interval between the stem and culm row introduced into the right path L2 and the path uncut side end; It is constituted by.

The first and second sensors S1 and S2 have the same structure except that they are symmetrical as shown in FIG. 4, and are rotatable rearward. Each of the sensor bars 10 is provided in a state of being urged to return to the left and right stem and culm arranged in a line in the longitudinal direction of the machine, respectively, and the rotation angle at which each sensor bar 10 is rotated to the rear of the machine by contact with the stem and culm. Potentiometer R1 (R2) for detecting
Is provided. That is, with the traveling of the body V, the root of the stem and culm introduced between the paths L1 and L2 comes into contact with the sensor bar 10, and the sensor bar 10 is rotated at an angle corresponding to the stem and culm contact position. It turns to the rear of the fuselage. By detecting the rotation angle, the potentiometer R1 (R2) increases the detection signal En that becomes larger as the lateral distance between the stem and culm rows on the left and right sides and the mounting position of each sensor, that is, the end of the path, becomes smaller. Is output. The sensor bar 10 is
The length of the stem is set so as to simultaneously contact two stems. The above-mentioned lateral interval is set to 6 from the position closest to the route end to the side farther from the route end at regular intervals.
Two ranges 0 to 5 are set, and a side farther than the range 5 is set as a range 6. When the weeding implement 4B is located in the center of the properly planted stem / culm row, the detected values of the left and right lateral intervals are in the range 3 respectively.

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 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 traveling 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, and 13L and 13R are the aforementioned rotation speed sensors. A steering hydraulic cylinder for turning on / off the steering clutches 12L and 12R, and 14L and 14R are the steering hydraulic cylinders 13
This is an electromagnetically operated steering control valve for controlling the supply of hydraulic oil to the L and 13R. Although not shown, the output of the continuously variable transmission 16 is transmitted to the mowing unit 3 via a mowing clutch and the like, and is also transmitted to the threshing apparatus 2.

Control device 11 using microcomputer
The control device 11 includes the stock sensor S0, the first and second sensors S1 and S2, the rotation speed sensor S4, and the engine rotation speed sensor S.
5 are input. In addition, a manual automatic changeover switch S for switching the operation between manual operation and automatic operation.
W1 is provided, and a signal from the manual automatic changeover switch SW1 is also input to the control device 11. The control device 11 outputs a drive signal for the steering control valves 14L and 14R.

The controller 11 outputs a drive signal for operating the continuously variable transmission 16 via an actuator (not shown). And
When the load on the engine E increases, the engine speed decreases, and the engine speed sensor S5 functions as an engine load detecting means. Therefore, the control device 11 detects the detection information of the engine speed sensor S5 during automatic operation. , The vehicle speed is automatically controlled 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. Although not shown, a manual shift lever for manually shifting the vehicle speed during the manual driving and a steering lever for manually turning on and off the steering clutches 12L and 12R are provided on the cockpit 17. is set up.

By the way, as shown in FIG. 2, since the stems and stems are planted at intervals on a plant basis, even if there is no change in the position of the body V with respect to the stem and stem rows, FIG. As shown in the figure, the potentiometer R1 (R2)
Varies in a cycle corresponding to the inter-strain distance H of the stem-and-stem row. Then, the control device 11 detects a laterally-spaced detection value A of the weeding implement 4B and the stem and culm rows on both the left and right sides , which is detected based on the voltage of the potentiometer R1 (R2).
(B) (one of the values in the range 0 to 6) is sampled and stored at each time when the vehicle travels a predetermined distance Δh set to a relatively short distance, and as described later (FIG. 7).
(See (b)) A value (the value closest to 0) corresponding to the minimum value of the detection values sampled during the set time t2 is set to a value corresponding to the horizontal interval detected by the first sensor S1 . The detection value A and the detection value B of the lateral interval detected by the second sensor S2 are used.

Using the control device 11, the specific weeding implement 4B is adapted to the stem and culm rows on both left and right sides based on the information of the first and second sensors S1 and S2. The steering clutch 12
The steering control means 100 for operating the L, 12R is configured. The steering control means 100 is configured to
And detection of the horizontal interval detected by the second sensors S1 and S2
The position of the body V with respect to the stem row is determined from the difference (A−B) in the values, and the first and second sensors S
1, the difference between the detected values of the horizontal intervals detected in S2 (AB)
The approach angle of the body V with respect to the stem / culm row is determined from the temporal change of the stem, and the steering control is executed based on information on the position and the approach angle.

The steering control means 100 will now be described. The difference d between the detected value A of the lateral interval detected by the first sensor S1 and the detected value B of the lateral interval detected by the second sensor S2 = AB is the position d of the body V with respect to the stem and culm row. Therefore, the horizontal distance detected by both sensors S1, S2
When the detection value are equal (e.g., A = B = 3), i.e.,
When the specific weeding tool 4B is located at the center of the left and right stem rows, the value of the position d becomes 0, and from this state, the specific weeding tool 4B shifts to the right (that is, the airframe V). Is steered to the right), the value of the position d becomes positive, and if it is shifted to the opposite side, the value of the position d becomes negative. Further, assuming that the change amount of the difference AB when the vehicle travels a set distance, for example, twice the distance 2H of the inter-stock distance H is Δ (AB), the approach angle θ of the body V with respect to the stem and culm row is: Formula θ = Δ (AB) / 2H
When θ = 0, the body V is in a state of traveling straight along the direction of the row of stems and culms.

In the above, when both the position d of the body V and the value of the approach angle θ are 0, the body V is determined to be in the proper setting state with respect to the stem and culm row, and the setting proper state is maintained. Steering is controlled. Specifically, a control output u corresponding to the disengagement time of the left and right steering clutches 12L, 12R is determined based on the determined position d and the approach angle θ, and the left and right control outputs u are determined based on the control output u. Steering control is performed by energizing the steering control valves 14L and 14R. Note that the control output u is calculated based on the difference AB corresponding to the position d and the approach angle θ of the body V and the change amount Δ (A
-B) is stored in advance as a table (not shown), and the steering control means 100 obtains the control output u with reference to this table.

The control output u is calculated by fuzzy inference based on the membership functions shown in FIGS. 8 to 10 and the control rules shown in FIG. FIG. 8 is a membership function of the detected value difference AB (corresponding to the position d of the aircraft V), and FIG. 9 is a variation Δ of the detected value difference AB.
FIG. 10 shows a membership function of (AB) (corresponding to the approach angle θ of the aircraft V), and FIG. 10 shows a membership function of the control amount z used as a weight function when calculating the control output u. The control rule uses the difference AB and the variation Δ (AB) as two fuzzy variables in the antecedent part.
The control amount z is described as a consequent part. And the difference A
The degree of conformity (grade) of −B and its variation Δ (AB) to the control rule is determined by the smaller of the degrees of conformity to the membership function (FIGS. 8 and 9). I do. Also, based on the degree of conformity determined in this way,
The control amount z is obtained from the membership function (FIG. 10). When a plurality of control rules are applied to the difference AB and the change amount Δ (AB), the control amount z for each control rule is obtained by the above-described procedure, and the control amount z is calculated. The value obtained by averaging the loads is defined as the final control amount z.

Then, the actual control output u is obtained by multiplying the final control amount z by the basic output set for a predetermined time. Here, the control output u is the steering control valve 14L, 1
When the control output u is a positive value, it indicates that the left steering clutch 12L is disengaged to steer to the left (uncut side), and the control output u is a negative value. Indicates that the right-hand steering clutch 12R is disengaged and the vehicle is steered to the right (the cut side). As can be seen from the control rule (FIG. 11), for example, the machine V is positioned farther to the right (cut side) than the proper state (for example, if d = AB = 5). For example, even in the case where the degree of conformity of PB is 1, the approach angle θ of the body V is largely inclined to the left (uncut side) (for example, Δ (AB)).
= -4 is equivalent to NB fitness level 1).
As a result of the fuzzy inference, the control amount z becomes 0, the control output u becomes 0, and the steering control valves 14L and 14R are not operated. That is, even when the body V is largely displaced from the proper state, unnecessary steering operations are not performed when the body V is oriented in a direction in which the above-described displacement is reduced.

Further, after the steering control valves 14L and 14R are energized based on the control output u until the steering clutches 12L and 12R are actually disengaged, and the steering clutches 12L and 12R are disengaged. Since there is a delay time between when the airframe V actually changes the traveling direction after that, the result of operating the steering clutches 12L and 12R based on the control output u is detected by the first and second sensors S1 and S2. There is a delay of a predetermined time before it appears as a change in the value. Therefore,
The steering control means 100 includes a steering clutch 12L, 1
1st and 2nd after a predetermined time t1 after activating 2R
It is configured to determine the position d and the approach angle θ of the body V based on the information of the sensors S1 and S2. That is, as shown in FIG. 7B, the sampling operation is not performed until the predetermined time t1 elapses after the output of the clutch operation signal, and among the data sampled during the set time t2 after the elapse of t1. Of the detection values A, B
And The time t2 is set to be at least longer than the time required to travel the inter-stock distance H, and the clutch operation is performed each time the vehicle travels a distance 2H that is twice the inter-stock distance H. Then, the control output u is calculated by determining the position d and the approach angle θ of the body V from the obtained detection values A and B, and the next clutch operation signal is output based on this.

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, it is determined whether the operation is manual operation or automatic operation based on the state of the manual automatic changeover switch SW1. Then, usually, since the manual operation is selected in the initial operation, the process returns to the beginning of the flow unless the control end is instructed. In the manual operation, the driver manually performs the steering operation while observing the planting state of the stem and culm in the field, and the state where the body steering position is appropriate with respect to the stem and culm row, that is, the weeding implement The steering is performed so that 4A to 4D are positioned at the center between the rows of stems and culms. At the same time, manually change the speed. Then, the manual automatic changeover switch SW1 is switched to the automatic operation side when the body steering position with respect to the stem / culm row becomes appropriate.

When it is confirmed that the driving has been switched to the automatic driving, the vehicle speed control and the steering control are performed.
In the steering control (FIG. 6), as shown in FIG. 7B, it is determined whether or not a time t1 has elapsed since the steering clutches 12L and 12R were operated. Are the first and second sensors S1, S2 every time the vehicle travels the predetermined distance Δh only when the time t1 has not elapsed and the time t2 has not elapsed.
2 is sampled and stored. If the time t2 has elapsed after the time t1 has elapsed, the minimum value of the sampled data is determined, and the minimum value is determined.
Are the detected values A and B of the first and second sensors S1 and S2. Next, the difference (A
-B) and its time change Δ (AB), the position d and the approach angle θ of the body V with respect to the stem and culm row are obtained as described above. Then, the control output u corresponding to the position d and the approach angle θ is selected from the table obtained by the fuzzy inference, and the steering clutch 1 is selected based on the control output u.
Operate 2L, 12R.

[Alternative Embodiment] In the above embodiment, the control output u is obtained by fuzzy inference based on both the position d of the vehicle V and the approach angle θ in all cases, regardless of the value of the position d of the vehicle V. However, when the value of the position d of the body V is small, for example, when the difference AB between the detection values is in the range of −2 to +2, and the specific weeding tool 4B is the left and right stem / culm rows, Is not greatly deviated from the center position of the vehicle V, the control output u is obtained based only on the position d of the body V, so that the control can be simplified.

In the above embodiment, the specific weeding implement 4
B, a pair of left and right steering control sensors S1, S2
Has described the case where both of the sensor bars 10 detect the lateral spacing with the stem and culm row (the state in which both sensor bars 10 are in contact with the stem and culm). May not detect stems and stems. Therefore, the steering control means 100 is connected to the pair of left and right steering control sensors S.
When the stem / culm row deviates from one of the detection ranges of S1 and S2, the position d of the body V is determined from the detection value of the other sensor in which the stem / culm row is within the detection range, and , From the change in the detection value of the other sensor over time,
It is also possible to determine the approach angle θ. Specifically, for example, as shown in FIG.
Horizontal stems稈列is detected by the sensor of the direction which is within the detection range
When the value of the detected value A (or B) of the interval is 3, the membership function corresponding to the position d of the airframe V is set as the center position, and as shown in FIG. When the value of the change amount ΔA (or ΔB) of the detection value of the sensor whose row is within the detection range is 0, the body V
A membership function corresponding to the approach angle θ of

In the above-described embodiment, the rotation speed sensor S4 for detecting the traveling distance detects that the vehicle has traveled a distance 2H twice the inter-stock distance, and a pair of left and right steering control sensors S1 during this traveling. , S2, the time change amount Δ (AB) of the difference between the detected values of the lateral intervals is divided by the distance 2H to determine the approach angle θ of the body V with respect to the stem and culm row. In addition to this, for example, in consideration that the accuracy of the approach angle θ does not need to be as strict as the position d, the traveling distance is obtained by multiplying the traveling speed by the vehicle speed set to a predetermined value during normal work traveling, and The approach angle θ can be determined by dividing the temporal change amount Δ (AB) of the difference between the detection values by the distance, thereby simplifying the control configuration.

Further, in the above-described embodiment, based on the information of the pair of left and right steering control sensors S1 and S2 after a predetermined time t1 after the steering clutches 12L and 12R as the steering devices are operated. Although the position d and the approach angle θ of the body V are determined, the result of the steering operation appears as a change in the actual traveling direction of the body V in a relatively short time after the steering device is operated. In this case, it is not always necessary to wait for the predetermined time.

In the above-described embodiment, the steering control is performed such that the steering sensitivity to the cut side (the right side in the traveling direction) is the same as the steering sensitivity to the uncut side (the left side in the traveling direction). The steering sensitivity to the cut side (right side in the traveling direction) is set to be larger than the steering sensitivity to the uncut side (left side in the traveling direction) in order to minimize the plunge of the body V to the uncut side. May be controlled. That is, in this case, the steering control means 1
00 is the time when the position d of the machine V is deviated from the proper setting state to the uncut side and the approach angle θ of the machine V is inclined from the proper setting state to the uncut side. The steering clutch 1 with a larger steering amount than when the position d deviates from the proper setting state to the already cut side and the approach angle θ of the machine body V is inclined from the proper setting state to the already cut side.
It is configured to operate 2L, 12R. Specifically, for example, as shown in FIGS. 13A and 13B, the difference (A−B) between the detected values of the lateral intervals detected by the sensor
And a membership function such that a waveform such as NB or NS appears with a smaller value (absolute value) when the value of the variation Δ (AB) is on the minus side than on the plus side. Is configured.

In the above embodiment, the specific weeding tool 4B provided with the pair of left and right steering control sensors S1 and S2 is located at the center of the left and right stem and culm rows, and its direction (the airframe). Is set to the proper setting state when the direction of movement is parallel to the stem / culm row, it is also possible to set any other state to the proper setting state. For example, the setting proper state may be such that the specific weeding tool 4B is parallel to the stem culm row at a position slightly shifted from the center of the left and right stem culm rows to the cut side.

In the above embodiment, the steering device of the machine body V is constituted by the pair of steering clutches 12L and 12R for turning on and off the power transmission to the right and left crawler traveling devices 1. Alternatively, for example, a pair of brakes that perform a braking operation on the left and right crawler traveling devices 1 may be configured.

In the above embodiment, a pair of left and right steering control sensors S1 and S2 are used as contact type sensors for detecting the rotation angle of a sensor bar that rotates against the stem and pivots rearward of the fuselage. Although configured, a non-contact type using, for example, a photoelectric sensor or the like may be used. In addition, the position of the specific weeding tool 4B, which is the installation location, can be appropriately changed to the position of another weeding tool.

In the above embodiment, the steering control sensor S
The value corresponding to the minimum value among a plurality of data obtained by sampling the outputs of S1 and S2 at a predetermined cycle is set as the detected value of the horizontal interval between the weeding implement 4B and the stem line. The value corresponding to the result of the moving average processing of the sensor output is used as the above detection value, or the rotation operation of the sensor bar is provided with a damper function to slow down the movement, and is averaged by a mechanical mechanism. A value corresponding to the detected sensor output may be used as the detection value.

Further, in the above embodiment, four weeding tools 4A to 4D are provided, and three stem culm introduction paths L1 are provided between each weeding tool.
To L3, and furthermore, the route L3 located on the most cut side.
Is shown wider than the other paths L1 and L2, but the specific configuration such as the number and width of the weeding tools and 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.

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 plan view of the front of the combine.

FIG. 3 is a schematic side view of the combine.

FIG. 4 is a plan view of a steering control sensor.

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 detection operation and a steering control operation of a steering control sensor.

FIG. 8 is an explanatory diagram of a membership function.

FIG. 9 is an explanatory diagram of a membership function.

FIG. 10 is an explanatory diagram of a membership function.

FIG. 11 is an explanatory diagram of a control rule.

FIG. 12 is an explanatory diagram of a membership function according to another embodiment.

FIG. 13 is an explanatory diagram of a membership function according to another embodiment.

[Explanation of symbols]

 V fuselage 3 Reasoning processing unit 4A-4D Weeding implement S1, S2 Steering control sensor 12L, 12R Steering device 100 Steering control means

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Yoshiaki Takeuchi 64 Ishizukita-cho, Sakai-shi, Osaka Kubota Sakai Works Co., Ltd. (56) References JP-A-59-187705 (JP, A) JP-A-5959 −216503 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01B 69/00

Claims (4)

(57) [Claims] A plurality of weeding tools (4A to 4D) are provided in a mowing processing unit (3) attached to a front portion of a body (V) at intervals in a body width direction. A pair of left and right operations for detecting the horizontal spacing between the stem and culm row introduced on the left and right sides of a specific weeding tool (4B) among the weeding tools (4A to 4D) and the weeding tool (4B). Direction control sensors (S1, S
2), and a pair of left and right steering control sensors (S
1, S2), the specific weeding tool (4
B) The steering device (12L, 12L,
12R) is a steering control device of a reaper equipped with a steering control means (100) for operating the steering control means (100), wherein the steering control means (100) comprises a pair of left and right steering control sensors (S1, S1). The position of the body (V) with respect to the stem row is determined from the difference between the detected values of S2), and the change over time of the difference between the detected values of the pair of left and right steering control sensors (S1, S2) is determined. Steering control of a reaper harvester configured to determine an approach angle of the body (V) with respect to the stem row and to execute the steering control based on information on the position and the approach angle. apparatus. 2. The steering control means (100), when the stem / culm row is out of a detection range of one of the pair of left and right steering control sensors (S1, S2), outputs the stem. The position of the body (V) is determined based on the detection value of the other sensor whose culm row is within the detection range, and the approach angle of the body (V) is determined based on the temporal change of the detection value of the other sensor. The steering control device for a reaper according to claim 1, wherein the steering control device is configured to make a determination. 3. The steering control means (100) includes information on the pair of left and right steering control sensors (S1, S2) after a predetermined period of time after operating the steering devices (12L, 12R). 3. The steering control device for a reaper according to claim 1, wherein the position and the approach angle of the machine body (V) are determined based on the following. 4. The steering control means (100) is configured such that the position of the body (V) deviates from the proper setting state to the uncut side, and the approach angle of the body (V) changes from the proper setting state to the uncut state. When the body (V) is tilted to the side, the position of the body (V) deviates from the proper setting state to the already cut side, and the approach angle of the body (V) is inclined to the already cut side from the proper setting state. The steering device (12L,
12R) is configured to operate.
4. The steering control device for a reaper according to 2 or 3.