JP3092306B2 - Driving direction control device in combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine, and more particularly to an improvement in a traveling direction control device.

[0002]

2. Description of the Related Art Conventionally, in this type of traveling direction control device,
A pair of sensors mounted near the tip of a divider (herbder) detect the presence or absence of a plant stock, and actuate a side clutch with a hydraulic cylinder according to the detection result to control the traveling direction of the combine.

[0003]

However, in such a conventional traveling control, since the distance between the strips is not taken into consideration, hunting occurs when the strips are narrow. There was a problem that the operator was shaken and the ride comfort was poor. Therefore, there is a problem in that the conventional automatic traveling direction control is inferior to manual direction control by a skilled operator.

Therefore, the present invention solves the above-mentioned problem,
It is an object of the present invention to automatically perform traveling control at the same level as manual direction control by a skilled worker.

[0005]

In order to achieve the above object, the present invention is configured as follows.

That is, a first aspect of the present invention is a combine harvester in which the traveling direction of the traveling section can be adjusted by the traveling direction adjusting means, wherein two row cutting direction sensors each having a detection piece to be brought into contact with an uncut kernel. Traveling speed detecting means for detecting the traveling speed of the combine, inter-strip distance detecting means for detecting the distance between the strips, the contact state of the detection pieces of the two cutting direction sensors, and the running speed From the detected traveling speed of the detection means, a deviation distance detection means for detecting a deviation distance from the uncut culm, an inter-strip distance detected by the inter-strip distance detection means, and a deviation distance detected by the deviation distance detection means An adjustment amount calculating means for calculating an adjustment amount of the traveling direction adjusting means from a combination of the driving direction adjusting means and a traveling direction control means for controlling the traveling direction adjusting means so as to obtain the calculated adjustment amount. .

Next, a second aspect of the present invention is a combine which can adjust the traveling direction of the traveling portion by the traveling direction adjusting means.
Two cutting direction sensors each having a detecting piece to be brought into contact with the uncut grain culm, a running speed detecting means for detecting a running speed of the combine, and one detecting piece of the two cutting direction sensors. Travel distance calculating means for calculating the distance traveled within the time from the time from the start of contact to the start of contact of the other detection piece and the travel speed detected by the travel speed detecting means, and the two cutting directions From the contact time of the detection piece of the sensor and the traveling speed detected by the traveling speed detecting unit, the proximity detecting unit that detects the degree of approach to the uncut culm, the distance calculated by the traveling distance calculating unit, and the approach Distance determining means for determining the distance between the strips based on a combination with the degree of approach detected by the degree detecting means, the contact state of the detecting pieces of the two cutting direction sensors, and the detection of the traveling speed detecting means. Running From the degree, the deviation distance detecting means for detecting the deviation distance from the uncut grain culm, and the distance between strips determined by the distance between strip determination means, from the combination of the deviation distance detected by the deviation distance detection means, The vehicle includes an adjustment amount calculating unit that calculates an adjustment amount of the traveling direction adjusting unit, and a traveling direction control unit that controls the traveling direction adjusting unit so that the calculated adjustment amount is obtained.

[0008]

According to the first aspect of the present invention, the traveling speed detecting means detects the traveling speed of the combine, and the inter-strip distance detecting means detects the distance between the strips. The deviation distance detecting means detects the deviation distance from the uncut kernel based on the contact state of the detecting pieces of the two cutting direction sensors and the traveling speed detected by the traveling speed detecting means. The adjustment amount calculating means calculates an adjustment amount of the traveling direction adjusting means from a combination of the strip distance detected by the strip distance detecting means and the shift distance detected by the shift distance detecting means. The amount of adjustment calculated in this way takes into account not only the deviation distance from the uncut kernels but also the distance between the strips. The traveling direction control means controls the traveling direction adjusting means so that the calculated adjustment amount is obtained.

Therefore, in the first invention, the amount of adjustment of the running direction adjusting means is determined in consideration of not only the deviation distance from the uncut kernel but also the distance between the strips, and the running direction is controlled. Therefore, hunting can be prevented irrespective of the distance between the strips, thereby improving the ride comfort of the operator without the body being swung right and left.

Further, in the second invention, the traveling speed detecting means detects the traveling speed of the combine. The traveling distance calculating means is configured to travel within the time from the time from the start of contact of one of the two cutting direction sensors to the start of contact of the other detecting piece and the traveling speed detected by the traveling speed detecting means. The calculated distance is calculated. The approach degree detecting means detects the approach degree to the uncut kernels based on the contact time of the detecting pieces of the two cutting direction sensors and the traveling speed detected by the traveling speed detecting means. The inter-strip distance determining means determines the inter-strip distance from a combination of the distance calculated by the traveling distance calculating means and the proximity detected by the proximity detecting means.

The shift distance detecting means detects the shift distance from the uncut culm based on the contact state of the detecting pieces of the two cutting direction sensors and the running speed detected by the running speed detecting means.
The adjustment amount calculating means calculates an adjustment amount of the traveling direction adjusting means from a combination of the strip distance determined by the strip distance determining means and the shift distance detected by the shift distance detecting means. The amount of adjustment calculated in this way takes into account not only the deviation distance from the uncut kernels but also the distance between the strips. The traveling direction control means controls the traveling direction adjusting means so that the calculated adjustment amount is obtained.

[0012] As described above, the traveling distance calculating means includes:
The distance traveled within the time from the start of contact of one detection piece of the two cutting direction sensors to the start of contact of the other detection piece is calculated. When the direction sensor for cutting is almost at the center between the strips, the magnitude of the running distance corresponds to the magnitude of the distance between the strips. However, when the row cutting direction sensor is at a position deviated from the center of the strip, the distance between the strips cannot be properly obtained from the traveling distance alone.

Therefore, in the second invention, the distance between the strips is determined in consideration of the degree of approach of the detection pieces of the two cutting direction sensors to the uncut kernels in addition to the running distance described above. Therefore, the distance between the strips can be obtained with high accuracy by utilizing the two stripping direction sensors.

Further, in the second invention, the traveling direction is controlled in the same manner as in the first invention by utilizing the distance between the stripes thus obtained. Hunting can be prevented irrespective of the size of the distance, so that the ride comfort of the worker can be improved without the body swinging right and left.

[0015]

Next, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows the arrangement of sensors according to the embodiment of the present invention. A pair of right and left cutting direction sensors 2, 3 used for controlling the running direction during cutting are provided on a combine weeder 1A.
Attach. In addition, a pair of side-cutting direction sensors 4 and 5 used for controlling the running direction during cross-cutting are mounted on the weeder 1B and the rear of the weeder 1B. The cutting direction sensors 2 and 3 have pivotable detection pieces 2A and 3A that come into contact with an uncut culm (crop) during the cutting to detect the presence or absence thereof. The cross-cutting direction sensors 4 and 5 have rotatable detection pieces 4A and 5A that come into contact with the uncut grain culm at the end of the uncut grain culm group and detect the presence or absence thereof at the time of cross-cutting. Further, cereal stalk sensors 6, 7 for detecting the presence or absence of cereal stalks are arranged at predetermined positions. In the figure, 8 is a raising device, 9 is a scraping device, and 10 is a cutter.

Next, the power transmission mechanism of this embodiment will be described with reference to FIG.

In FIG. 2, reference numeral 11 denotes an engine, and pulleys 13, 14, 1 are provided on an output shaft 12 of the engine 11.
5 are attached respectively. The pulley 13 is connected to the threshing unit 16 via a belt, and the pulley 14 is connected to the cutting unit 17 via a belt. The pulley 15 is connected to a pulley 19 of an input shaft of a hydraulic transmission 18 via a belt. The output side of the hydraulic transmission 18 is connected to the left and right crawlers 21R and 21L via braking mechanisms 20R and 20L including a clutch and a brake. In the braking mechanisms 20R and 20L, the braking force does not change once the brake is actuated. However, the braking mechanism may be a type that can adjust the braking force, and the type of the braking mechanism is not limited.

The hydraulic cylinders 22 for individually driving the braking mechanisms 20R and 20L are provided on the braking mechanisms 20R and 20L.
R and 22L are provided. And the braking mechanism 20
A traveling unit is constituted by R, 20L, crawlers 21R, 21L and the like. In order to detect the traveling speed of the crawlers 21R and 21L, a traveling speed sensor 23 composed of a photocoupler or the like is provided at the end of the intermediate shaft of the transmission mechanism of the traveling unit and around the periphery.

Next, an example of the control system of this embodiment will be described with reference to FIG.

In the figure, a microcomputer 30 comprises a CPU, a memory, and the like, and controls each section according to an input signal as described later. On the input side of the microcomputer 30, via the input interface 31, the above-mentioned direction-cutting direction sensors 2, 3, side-cutting direction sensors 4, 5, grain kernel sensors 6, 7, and running speed sensor 23 are respectively provided. Make an electrical connection. An output side of the microcomputer 30 is electrically connected via an output interface 32 to a right solenoid 33 for driving the hydraulic cylinder 22R, a left solenoid 34 for driving the hydraulic cylinder 22L, and the like.

Next, an example of the operation of the embodiment of the present invention thus configured will be described below.

Now, when the engine 11 starts, its power is transmitted to the input shaft of the hydraulic transmission 15 via the output shaft 12 and the pulleys 15 and 19. Next, when the driving clutch lever (not shown) in the driver's seat is set to the connection position, the braking mechanisms 20R and 20L are connected and the engine 1
1 is transmitted to the crawlers 21R and 21L to start traveling. Next, when the reaping and threshing clutch lever (not shown) in the driver's seat is set to the "reaping and threshing" position, the power of the engine 11 is transmitted to the threshing unit 16 and the reaping unit 17 to start the reaping and threshing operation.

In the embodiment of the present invention, along with such a traveling operation, the traveling direction for traveling along the crop so that the combine can perform the full-cutting operation without leaving uncut crops. The control is performed by the following fuzzy control.

First, the detection values of the cutting direction sensors 2 and 3 are input (S1), the detection value of the traveling speed sensor 23 is read, and the traveling unit (combine) is read from the detected value.
Is calculated. Next, the direction sensor 2 for cutting
From the "ON" start of the detection value of "1" (start of contact of the detection piece 2A to the uncut culm) to the "ON" of the detection value of the direction sensor 3 for cutting.
From the time T1 until the start (the start of contact of the detection piece 3A with the uncut culm) and the detected traveling speed V, or from the start of the ON of the direction sensor 3 for cutting to "O" of the direction sensor 2 for cutting.
From the time T2 up to the start of "N" and the detected traveling speed V, a distance traveled during the time T1 or the time T2 (hereinafter, referred to as an ON distance S1) is detected (S2). The magnitude of the inter-on distance S1 detected in this way corresponds to the magnitude of the distance between strips.

Subsequently, "O" of the direction sensor 2
The distance traveled in the “ON” state is detected from the time in the “N” state and the detected traveling speed V, and “O” is obtained from the time in the “ON” state of the cutting sensor 3 and the detected traveling speed V.
The distance traveled in the "N" state is detected, and the larger value of the two detected distances is determined as the ON distance S2 (S3). The on-distance S2 detected in this manner corresponds to the degree of approach to the uncut culm either on the left or right,
The larger 2 is, the closer to the uncut culm.

Next, the distance L between the strips is determined by the fuzzy control rule from the distance S1 between ON detected in step S2 and the ON distance S2 detected in step S3 (S4). In implementing such fuzzy control, a fuzzy control rule as shown in the table of FIG. 5 is adopted, and as is clear from the above, the antecedent is set to the on-distance S1 and the on-distance S2, After that, the distance is set to L between the strips. In the figure, the vertical column shows the value of the ON distance S2, the horizontal row shows the value of the ON distance S1, and the table shows the value corresponding to the distance L between the strips.

Here, the label of the ON distance S1 means ZO: standard NS: slightly short NB: short.

The label of the ON distance S2 means NB: short NS: somewhat short ZO: standard PS: slightly long PB: long.

Further, the label of the distance L between the strips means ZO: standard NS: slightly short NB: short.

The control rule shown in FIG. 5 is expressed in the following form. For example, if "the distance S1 between the on-states is ZO (standard)
If the ON distance S2 is NB (short), the distance between strips L
Should be ZO (standard). "become that way.

FIG. 6A shows the membership function of the on-distance S1, FIG. 6B shows the membership function of the on-distance S2, and FIG. Are shown below.

Next, a fuzzy inference method is used in the process of obtaining the distance L between the strips. That is, the ON distance S1
And the control rule to which the current state value of the ON distance S2 belongs, and selecting it from the rules of FIG. 5, for example, the following is obtained. ｛R1: ON distance S1 is ZO (standard) and ON distance S
If 2 is ZO (standard), the distance L between strips is ZO (standard)
It is. ｝ ｛R2: If the ON distance S1 is NS (slightly short) and the ON distance S2 is ZO (standard), the distance L between the strips is NS (slightly short). ｛｛R3: ON distance S1 is ZO (standard) and ON distance S
If 2 is NS (slightly short), the distance L between strips is ZO (standard). ｝ ｛R4: If the ON distance S1 is NS (slightly short) and the ON distance S2 is NS (slightly short), the distance L between the strips is NS
(Somewhat short).メ ン バ ー The membership functions of these control rules R1 to R4 are shown in FIG.

Therefore, assuming that the current value of the on-distance S1 is S1 'as shown in FIG. 7A and the value of the on-distance S2 is S2' as shown in FIG. R1
Is the value S1 'of the on-distance S1 and the value S of the on-distance S2
The degree of satisfying 2 ′ is 0.3 and 0.7, and an inference result as shown in FIG. 7C is obtained, where 0.3 is the degree of conformity in the control rule R1.

When the control rule R2 is the value S1 'of the distance S1 between the on-states,
And the degree of satisfying the value S2 ′ of the ON distance S2 is 0.8.
And 0.7, and the inference result as shown in FIG. 7C is obtained with 0.7 as the degree of conformity in the control rule R2. The degree to which the control rule R3 satisfies the value S1 'of the on-distance S1 and the value S2' of the on-distance S2 is 0.3 and 0.2.
An inference result as shown in (C) is obtained. Control rule R4
Is the value S1 'of the on-distance S1 and the value S of the on-distance S2
The degree of satisfying 2 ′ is 0.8 and 0.2, and an inference result as shown in FIG. 7C is obtained, where 0.2 is the degree of conformity in the control rule R4.

Then, by summing up these four inference results,
From the set of membership functions of the distance L between the strips thus obtained, the position of the center of gravity is determined as shown in the figure, and this is defined as the final distance L between the strips. Such an operation is performed by the microcomputer 30 as described above.

Subsequently, the flow returns to step S5 shown in FIG. 4, and "O" of the direction sensor 2 for cutting obtained in step S3.
From the distance traveled in the “N” state and the distance traveled in the “ON” state of the row cutting direction sensor 3, a difference between these two travel distances is obtained, and from the difference, a deviation distance from the uncut kernel culm △
Calculate L.

Next, the operating time of the left and right solenoids 33, 34 is determined according to the fuzzy control rules from the distance L between the strips obtained in step S4 and the deviation distance ΔL from the uncut kernels obtained in step S5. That is, the left and right crawlers 2
The braking time M for 1R and 21L is determined (S6). Then, a signal for operating the right solenoid 33 or the left solenoid 34 is output for the determined braking time M (S
7).

In implementing such fuzzy control,
The fuzzy control rule as shown in the table of FIG. 8 is adopted, and as is clear from the above, the antecedent part is set to the distance L between the strips and the shift distance ΔL from the uncut culm, and thereafter, The subject part is the braking time M of the left and right crawlers 21R and 21L. In the figure, the vertical column shows the value of the deviation distance ΔL, the horizontal row shows the value of the distance L between the strips, and the table shows the value corresponding to the braking time M.

Here, the label of the deviation distance ΔL from the uncut culm is as follows: NB: Large deviation to the left NS: Small deviation to the left ZO: Neutral (no deviation) PS: Small deviation to the right PB: Large deviation to the right Means

The label of the distance L between the strips means ZO: standard NS: slightly short NB: short.

The levels of the braking time M of the left and right crawlers 21R and 21L are as follows: NB: Long braking on the left NS: Little braking on the left ZO: No braking PS: Little braking on the right PB: Long braking on the right .

The control rule shown in FIG. 8 is expressed in the following form. For example, if the shift distance ΔL is PB (large shift to the right) and the distance L between the strips is ZO (standard), The braking time M should be NB (long to the left). "

FIG. 9 (A) shows the membership function of the deviation distance ΔL, FIG. 9 (B) shows the membership function of the distance L between the strips, and the membership function of the braking time M of the left and right crawlers 21R and 21L. FIG. 9C shows each of them.

Next, a fuzzy inference method is used in the process of obtaining the braking time M of the left and right crawlers 21R and 21L. That is, consider a control rule to which the current state value of the deviation distance ΔL and the distance L between the stripes belongs and select it from the rules in FIG. ｛R1: If the deviation distance ΔL is PB (large deviation to the right) and the distance L between strips is ZO (standard), the braking time M is NB
(Long to the left). ｛｛R2: If the shift distance ΔL is PB (large shift to the right) and the distance L between the strips is NS (somewhat narrow), the braking time M is N
S (slightly longer to the left). ｝ ｛R3: If the shift distance ΔL is PS (small shift to the right) and the distance L between the strips is ZO (standard), the braking time M is NS
(Slightly longer to the left). ｛｛R4: If the shift distance ΔL is PS (small shift to the right) and the distance L between strips is NS (slightly narrow), the braking time M is N
S (slightly longer to the left).メ ン バ ー The membership functions of these control rules R1 to R4 are shown in FIG.

Therefore, assuming that the value of the current deviation distance ΔL is ΔL ′ as shown in FIG. 10A and the value of the distance L between the stripes is L ′ as shown in FIG. Rule R1
Value ΔL ′ of the deviation distance ΔL and the value L ′ of the distance L between the strips
The degrees of satisfaction are 0.9 and 0.3, and the inference result as shown in FIG. 10C is obtained with 0.3 as the degree of conformity in the control rule R1. The degree to which the control rule R2 satisfies the value ΔL 'of the deviation distance ΔL and the value L' of the distance L between the stripes is 0.9 and 0.7, and 0.7 is defined as the degree of conformity in the control rule R2 in FIG. The inference result shown in ()) is obtained. The degree to which the control rule R3 satisfies the value ΔL 'of the deviation distance ΔL and the value L' of the distance L between the stripes is 0.1 and 0.3, and 0.1 is defined as the degree of conformity in the control rule R3 in FIG. The inference result as shown in C) is obtained. The degree to which the control rule R4 satisfies the value ΔL 'of the deviation distance ΔL and the value L' of the distance L between the stripes is 0.1 and 0.7.
An inference result as shown in (C) is obtained.

Then, by integrating these four inference results,
The braking of the left and right crawlers 21R and 21L obtained in this manner.
The position of the center of gravity is determined from the set of the membership functions at the time M as shown in the figure, and this is set as the final braking time M.

Such a calculation is performed by the microcomputer 30 as described above, and the left solenoid 34 or the right solenoid 33 is excited for the calculated braking time according to the calculated braking time. As a result, the hydraulic cylinder 22
R or the brake mechanism 20 by driving the hydraulic cylinder 22L.
R or the braking mechanism 20L is activated, and the left and right crawlers 21
Either R or 21L is braked for the braking time, and the direction is controlled.

As described above, in this embodiment, the ON distance is calculated from the contact state of the detection pieces of the two cutting direction sensors 2 and 3 and the traveling speed of the combine. When the direction sensors 2 and 3 are located substantially at the center between the strips, the distance between the strips is determined because the direction corresponds to the distance between the strips. However, when the direction sensors 2 and 3 are displaced from the center between the strips, the distance between the strips cannot be properly obtained from the ON distance alone.
Therefore, the distance between the strips is determined in consideration of the degree of approach of the detection pieces of the two cutting direction sensors 2 and 3 to the uncut grain culm. Utilization can accurately determine the distance between strips.
In addition, in this embodiment, the deviation distance ΔL from the uncut culm and the detected distance between the strips are set as the antecedent of the fuzzy control rule, and the braking time of the right and left crawlers is set as the consequent, and the time of the cutting is reduced. To control the running direction. Therefore, hunting can be prevented, thereby improving the ride comfort of the operator and suppressing the meandering of the body.

Next, another embodiment of the present invention will be described.

In this embodiment, the distance between the strips is not determined by fuzzy control as in the above-described embodiment, but is shown in FIG.
A special strip detecting sensor for obtaining the strip distance as shown in FIG. 11A or FIG. 11B is added.

11A, a pair of left and right actuators 42, 43 which come into contact with uncut kernels are rotatably mounted on a weeder 44, and the strip detecting sensor 41 shown in FIG. By detecting the rotation angle with a potentiometer, the distance between the strips is determined. In addition, the gap detecting sensor 45 shown in FIG.
Attaches a pair of left and right ultrasonic sensors 46 and 47 for emitting and receiving ultrasonic waves toward the left and right uncut culms to the herd 43, and from the output of the ultrasonic sensors 46 and 47, This is to find the distance. The other configuration of this embodiment is the same as that of the above-described embodiment, and a description thereof will be omitted.

Next, an example of the operation of the embodiment employing such a gap detecting sensor 41 will be described with reference to the flowchart of FIG.

First, the respective detection values of the cutting direction sensors 2 and 3, the running speed sensor 23, and the gap detection sensor 41 are input (S11 to S13). Subsequently, the traveling distance in the "ON" state is determined from the "ON" state of the cutting direction sensor 2 and the detected traveling speed V obtained from the detection value of the traveling speed sensor 23, and the "ON" state of the cutting direction sensor 3 is determined. O
The travel distance in the “ON” state is determined from the “N” state and the detected travel speed V, and the deviation distance ΔL from the uncut culm is calculated from the difference between these two travel distances (S15).

Next, the operating time of the left and right solenoids 33, 34 is determined according to the fuzzy control rules from the distance L between the strips obtained in step S14 and the deviation distance ΔL from the uncut culm obtained in step S15. That is, the braking time M of the left and right crawlers 21R and 21L is determined (S16).
Then, for the determined braking time M, the right solenoid 3
3 or a signal for operating the left solenoid 34 is output (S17).

[0056]

As described above, according to the first aspect of the present invention, the amount of adjustment of the traveling direction adjusting means is determined in consideration of not only the deviation distance from the uncut kernel but also the distance between the strips, and the traveling direction is controlled. Is performed, hunting can be prevented regardless of the distance between the strips, and the ride comfort of the operator can be improved without the body being swung right and left.

In the second invention, the traveling distance calculating means includes:
The distance traveled within the time from the start of contact of one detection piece of the two cutting direction sensors to the start of contact of the other detection piece is calculated. When the direction sensor for cutting is almost at the center between the strips, the magnitude of the running distance corresponds to the magnitude of the distance between the strips. However, when the row cutting direction sensor is at a position deviated from the center of the strip, the distance between the strips cannot be properly obtained from the traveling distance alone.

Therefore, in the second invention, the distance between the strips is determined in consideration of the approach of the detection pieces of the two cutting direction sensors to the uncut kernels in addition to the running distance described above. Therefore, the distance between the strips can be obtained with high accuracy by utilizing the two stripping direction sensors.

Further, in the second invention, the traveling direction is controlled in the same manner as in the first invention by utilizing the distance between the stripes thus obtained. Hunting can be prevented irrespective of the size of the distance, so that the ride comfort of the worker can be improved without the body swinging right and left.

[Brief description of the drawings]

FIG. 1 is a diagram showing an arrangement configuration of a sensor according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a power transmission system according to an embodiment of the present invention.

FIG. 3 is a block diagram illustrating an example of a control system according to the embodiment of the present invention.

FIG. 4 is a flowchart showing an example of the operation of the embodiment of the present invention.

FIG. 5 is a diagram showing an example of a fuzzy control rule for obtaining a distance between strips.

6A is a diagram illustrating a membership function of an on-distance S1, FIG. 6B is a diagram illustrating a membership function of an on-distance S2, and FIG. 6C is a diagram illustrating a membership function of a distance L between strips. FIG.

FIG. 7 is an explanatory diagram illustrating an example of fuzzy inference from a control rule.

FIG. 8 is a diagram illustrating an example of a fuzzy control rule for determining a braking time of right and left crawlers.

9A is a diagram showing a membership function of a gap distance, FIG. 9B is a diagram showing a membership function of a distance between strips, and FIG. 9C is a diagram showing a membership function of braking time of right and left crawlers. It is.

FIG. 10 is an explanatory diagram illustrating an example of fuzzy inference from a control rule.

FIG. 11 is a diagram showing an example of a gap detection sensor applied to another embodiment of the present invention.

FIG. 12 is a flowchart illustrating an example of the operation of another embodiment of the present invention.

[Explanation of symbols]

 2,3 Row Direction Sensor 4,5 Side Cut Direction Sensor 11 Engine 20R, 20L Brake Mechanism 21R, 21L Crawler 22R, 22L Hydraulic Cylinder 23 Running Speed Sensor 30 Microcomputer 41,45 Spacing Detection Sensor

Claims (2)

(57) [Claims] 1. A combine harvester in which a traveling direction of a traveling section can be adjusted by a traveling direction adjusting means, comprising: two cutting direction sensors each having a detection piece to be brought into contact with an uncut culm; and a traveling speed of the combine. Traveling speed detecting means for detecting, between-strip distance detecting means for detecting the distance between the strips, the contact state of the detection pieces of the two cutting direction sensors,
From the detected traveling speed of the traveling speed detecting means, a deviation distance detecting means for detecting a deviation distance from the uncut culm, a gap distance detected by the gap distance detecting means, and a gap distance detected by the gap distance detecting means From the combination with the shifted distance,
A travel direction control device comprising: an adjustment amount calculation unit that calculates an adjustment amount of the travel direction adjustment unit; and a travel direction control unit that controls the travel direction adjustment unit so as to have the calculated adjustment amount. 2. A combine which is capable of adjusting the running direction of a running section by running direction adjusting means, comprising: two row cutting direction sensors each having a detection piece to be brought into contact with an uncut culm; and a running speed of the combine. Traveling speed detecting means for detecting, from the time from the start of contact of one detection piece of the two cutting direction sensors to the start of contact of the other detection piece, and from the traveling speed detected by the traveling speed detecting means, Travel distance calculation means for calculating the distance traveled in time, contact time of the detection pieces of the two cutting direction sensors,
From the detected traveling speed of the traveling speed detecting means, the proximity detecting means for detecting the degree of approach to the uncut kernels, the distance calculated by the traveling distance calculating means, and the degree of proximity detected by the approach detecting means From the combination of the strip distance determining means for determining the distance between the strips, and the contact state of the detection pieces of the two direction cutting sensors for cutting,
From the detected traveling speed of the traveling speed detecting means, a deviation distance detecting means for detecting a deviation distance from the uncut culm, and a gap distance determined by the gap distance determining means, and detected by the gap distance detecting means. From the combination with the shifted distance,
A travel direction control device comprising: an adjustment amount calculation unit that calculates an adjustment amount of the travel direction adjustment unit; and a travel direction control unit that controls the travel direction adjustment unit so as to have the calculated adjustment amount.