JP3664603B2 - Mowing harvester - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
According to the present invention, as the cutting portion provided so as to be movable up and down on the front side of the traveling machine body and the end position of one work process along the outer periphery of the uncut stem pod group, The traveling apparatus is configured to perform a turning travel for switching a work stroke that causes the vehicle to make a forward turning turn toward the approaching side, and then to make a reverse turning turn at a location before the next work stroke that intersects the one work stroke. The present invention relates to a harvesting and harvesting machine provided with a turning control means for controlling the operation.
[0002]
[Prior art]
In a combine that is an example of the harvesting and harvesting machine, as shown in, for example, Japanese Patent Application Laid-Open No. Sho 62-163117, the orientation detection means such as a geomagnetic orientation sensor detects the orientation of the traveling machine body and rotates the traveling drive shaft. As a configuration for detecting the travel distance of the traveling machine body by a travel distance sensor that integrates pulses, it approaches the uncut stem group based on the detection information of the azimuth detecting means, the distance detection information of the travel distance sensor, and the like. There is a configuration in which turning control is performed so that the vehicle travels along a predetermined route so that the vehicle travels forward and turns toward the side, and then travels backward to a location before the next work process.
[0003]
[Problems to be solved by the invention]
In the above-described conventional technology, since the turning control is performed so that the vehicle travels along the set route based on the detection information of the geomagnetic azimuth sensor and the travel distance sensor, the airframe position with respect to the uncut stem group is accurately detected. As a result, there has been a problem that the turning travel for switching the work stroke with respect to the uncut stem group cannot be performed accurately. Incidentally, the reason why it is difficult to accurately detect the position of the airframe with respect to the uncut stem group in the above-mentioned prior art is that, for example, when a slip occurs between the traveling device and the ground, the detected value of the traveling distance sensor is the actual traveling value. An error occurs with respect to the distance.
In the above prior art, the turning angle when moving to the next adjacent stroke is set in advance based on the shape of the uncut stem group, for example, 90 degrees in a rectangular uncut stem group. Therefore, in the case where the outer shape of the uncut stem culm group at the location where the vehicle actually turns is an irregular shape such as an obtuse angle or an acute angle with respect to the above 90 degrees, for example, When the vehicle is swiveled, there is a possibility that the traveling machine body is not properly positioned at a position before the next work process.
[0004]
Therefore, in order to avoid the disadvantages as described above, detection means (for example, an ultrasonic sensor or the like) that detects a separation distance to the outer periphery of the uncut stem pod group is provided on the outer peripheral portion of the traveling aircraft body, It may be configured to detect the position of the traveling machine body with respect to the outer circumference of the uncut stem group based on the detection information of the detection means. At this time, as the detection means, it is installed at a position lower than the upper end portion of the uncut stem pod group, and the detection direction for the uncut stem pod group is set in the horizontal direction to the outer periphery of the uncut stem pod group It may be configured to detect the separation distance in the horizontal direction.
However, this type of cutting machine often travels in a wet paddy during the harvesting operation, and mud is sometimes scattered around. Therefore, if the detection means is provided at a low position as described above, mud soil may scatter and adhere to the detection means, and an appropriate detection operation may not be continued.
[0005]
The present invention was made paying attention to such a point, and its purpose is to accurately detect the position of the aircraft relative to the outer circumference of the uncut stem pod group with distance information in a state where distance detection can be performed well over a long period of time, The point is to provide a harvesting and harvesting machine capable of appropriately performing the turning for switching the operation stroke as described above.
[0006]
[Means for Solving the Problems]
According to the characteristic configuration of claim 1, the distance to the outer periphery of the uncut stem pod group is detected, and the position of the traveling machine body with respect to the outer periphery of the uncut stem pod is detected based on the information of the detection distance. Position detecting means is provided, and the turning control means is configured to execute the turning control based on detection information of the position detecting means, and the position detecting means is adapted to the outer circumference of the uncut stem group. In a state in which the distance detection direction is set to be inclined downward and in a state in which the distance detection direction is directed to the side of the aircraft, the vehicle is located on the side of the vehicle body and on the front side of the vehicle body where the cutting unit is located. And a non-contact type distance detecting means for detecting a separation distance to the detection object, and a detection distance information detected by the distance detecting means. The uncut stem Position discriminating means for discriminating the position of the traveling machine body relative to the outer periphery of the vehicle, and the position determining means approaches the uncut pod group as the position of the traveling machine body relative to the outer periphery of the uncut shoot group. It is configured to determine the stop position of the forward turning traveling that makes the forward turning toward the side.
[0007]
That is, the distance to the outer periphery of the uncut stem pod group is detected by the non-contact type distance detecting means, and the position of the traveling machine body with respect to the outer periphery of the uncut stem pod is determined based on the information of the detected distance, Based on the information, control the operation of the travel device so that it travels forward toward the side closer to the uncut stem group and then travels backward to the position before the next work process that intersects with one work process. To do.
[0008]
As a result, while directly detecting the position of the traveling machine body with respect to the outer periphery of the uncut stem pod group based on the detection distance to the outer periphery of the uncut stem pod group, turning between adjacent work strokes, for example, Even if a slip occurs between the traveling device and the ground, the turning movement for switching the work stroke can be accurately performed while accurately detecting the position of the machine body relative to the outer periphery of the uncut stem culm group. Even when the outer peripheral shape of the stalk group is a little deformed, it is possible to perform an appropriate turning travel.
[0009]
The distance detection means is provided in the traveling machine body in a state in which the distance detection direction with respect to the outer periphery of the uncut stem group is an obliquely downward set angle, and detects the separation distance to the detection object in a non-contact state. To do. In other words, the distance detection means detects the distance so that the distance detection direction with respect to the outer periphery of the uncut stem pod group is obliquely downward, for example, from a higher position on the upper side than the uncut stem pod group. It can also be provided.
Therefore, the distance detection means can detect the position of the machine body relative to the outer periphery of the uncut stem group accurately by the distance information and can appropriately perform the turning travel for switching the work stroke as described above. In such a state that the distance detection direction is obliquely downward, for example, by providing the distance detection from a high position on the upper side, there is little possibility that mud or the like is scattered and the detection operation is hindered, and the distance detection operation is performed. It becomes possible to perform well over a long period of time.
Further, in the above-described forward travel stroke, when the cutting operation of one work stroke is completed and the end position is reached, turning is performed toward the side closer to the uncut stem group, for example, traveling in the middle of the travel Even if a device slip or the like occurs, it is possible to accurately detect whether or not the target turning position at which turning should be stopped is reached based on the distance detection information. Can be done.
[0010]
According to a characteristic configuration of a second aspect of the present invention, in the first aspect, there is provided an angle adjusting means capable of changing and adjusting a distance detection direction of the distance detecting means.
[0011]
When the distance detection direction is fixed with respect to the traveling machine body, it is always only a part that is separated by a certain distance from the traveling machine body, and the distance from the traveling machine body differs depending on the work situation. Cannot be set as a detection target location, but as described above, by providing an angle adjusting means, the relative angle can be changed and adjusted to an appropriate state according to the working situation at that time. This makes it possible to more accurately detect the position of the aircraft relative to the outer periphery of the uncut stem group.
[0012]
According to the characteristic configuration of the third aspect, in the second aspect, an inclination angle detection unit that detects an inclination angle with respect to a horizontal reference posture of the traveling aircraft body is provided, and based on detection information of the inclination angle detection unit, Angle correction means for controlling the operation of the angle adjustment means is provided so that the relative angle between the distance detection direction and the vertical direction of the distance detection means is maintained at a set value.
[0013]
That is, the angle adjusting means is changed and adjusted based on the detection information of the inclination angle detecting means so that the relative angle between the detection direction of the distance detecting means and the vertical direction is always maintained at the set value. Even if the traveling machine body is inclined due to the unevenness of the field, etc., the distance detection direction of the distance detection means is directed to a fixed direction by correcting the relative angle to be a set value. It becomes possible to detect the body position with respect to the outer periphery of the uncut stem group more accurately.
[0014]
According to the characteristic configuration described in claim 4, in any one of claims 1 to 3, the distance detection unit transmits an ultrasonic wave toward the detection direction and then reflects an ultrasonic wave on a detection target. Is constituted by an ultrasonic sensor that detects a separation distance to the detection object based on a time until the signal is received.
[0015]
For example, when an optical sensor is used as the distance detection means, dust such as fine shavings and dust generated during the cutting operation travels on the light projecting / receiving part of the detection light, and the distance can be detected appropriately. Compared to disadvantages such as the possibility of disappearing, the above configuration allows the distance to be detected appropriately without being affected by dust, etc., and has an ultrasonic transmitter and receiver as much as possible. The distance detecting means can be configured with a simple configuration.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a combine as an example of a harvesting harvester according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the combine has a planted cereal on the front side of a traveling machine body 9 provided with a pair of left and right crawler traveling devices 1R and 1L, a threshing device 2, a control unit 4 and the like as the vehicle travels. The cutting part 3 for cutting the cocoon T is provided in a state in which it can be lifted and lowered by a hydraulic cylinder 23 for lifting and lowering.
[0019]
The mowing unit 3 is a triggering device 5 that causes a lying cereal husk, a cutting blade 6 that cuts the root of the culled cereal culm, and a threshing on the rear side of the aircraft while changing the mowing cereal to a sideways posture. A conveying device 7 for conveying toward the feed chain 8 is provided. An ultrasonic cutting height sensor S5 that detects the height of the cutting unit 3 with respect to the ground is provided at a lower rear side portion of the raising device 5, and the root of the harvested cereal rice bran is located at the transfer start end side of the transfer device 7. There is provided a stock sensor S0 that is turned on when touched and is turned off when the stock of the harvested cereal is not touched. That is, it is determined whether or not it is a cutting work state based on the detection information of the stock sensor S0.
[0020]
Next, the power transmission system of the combine and the control configuration will be described with reference to FIG.
The power of the engine E is transmitted to the hydraulic continuously variable transmission 10, and the output after the transmission of the transmission 10 is transmitted to the crawler travel devices 1 </ b> R and 1 </ b> L via the mission case 11. The transmission case 11 includes a forward / reverse switching mechanism (not shown) for switching the output after shifting of the transmission 10 to a forward or reverse state, and the output after shifting to the left and right crawler traveling devices 1L and 1R. A pair of left and right steering clutch brakes 17L, 17R are provided for intermittently transmitting and braking each crawler travel device 1L, 1R. When the left steering clutch brake 17L is turned off or braked, the aircraft turns left, and when the right steering clutch brake 17R is turned off or braked, the aircraft turns right.
[0021]
The continuously variable transmission 10 is speed-changed by an electric motor 13 for speed change operation, is interlocked with a speed change lever 12 provided in the control unit 4, and is electrically driven by an artificial speed change operation by the speed change lever 12. In order to give priority to the speed change operation by the motor 13, the electric motor 13 is linked via the friction transmission mechanism 14 in the link path between the speed change lever 12 and the speed change device 10.
Further, by controlling the supply of pressure oil to the cutting lift cylinder 23 and controlling the supply of pressure oil to the left and right steering clutch brakes 17L and 17R, and the solenoid valve 25 for raising and lowering the cutting part 3. A steering solenoid valve 19 for turning on and off each clutch and braking is provided.
[0022]
Further, the engine E, the threshing device 2 and the reaping part 3 are interlocked and connected via a belt tension type threshing clutch 33 and a reaping clutch 34, respectively. A threshing clutch lever 32 and a reaping clutch lever 31 for manually turning on and off the threshing clutch 33 and the reaping clutch 34 are provided in the control unit 4, and a threshing switch SW2 and a reaping switch that are turned on in accordance with the entering operation. SW1 is provided. A rotation speed detection sensor S1 that detects the rotation speed of the engine E and a pulse proportional to the output rotation speed of the transmission 10 that is transmitted to the input shaft of the mission case 11 are counted to detect a travel distance and a vehicle speed. A rotary encoder S2 is provided. The output of the engine E is raised by an accelerator lever (not shown) after the engine is started, and set to the working rotational speed.
Using the detection information such as the engine speed and the vehicle speed, the engine load is detected by the difference from the no-load speed of the engine E during the cutting operation, and the upper limit vehicle speed setting unit 22 provided in the airframe control unit 4 is used. The vehicle speed control is performed to automatically adjust the vehicle speed (specifically, the operating state of the shift electric motor 13) so that the engine load is maintained at the set load within a range not exceeding the set upper limit vehicle speed. ing.
[0023]
The lower part of the raising device 5 of the cutting part 3 is provided with a detection bar that comes into contact with the planted culm introduced into the cutting part 3 as it travels and swings backward on the machine body. A contact-type direction sensor S4 that detects the position of the planted culm in the horizontal direction of the machine body based on the swinging state of the detection bar is provided. The detection information of the direction sensor S4 is used as control information for steering control of the traveling machine body 9 when cutting and traveling along the outer periphery of the uncut stem pod group M.
[0024]
As shown in FIGS. 1, 2, and 4, a pair of distance L to a planted cereal bud T located in front of the machine body is detected at an already cut-off side (machine body right side) portion on the front side of the traveling machine body 9. Ultrasonic sensors S3a1 and S3a2 are provided side by side in the left-right direction with the detection direction facing the front of the aircraft. In addition, a pair of ultrasonic sensors S3b and S3c for detecting a distance L to the planted culm T located on the lateral side of the machine body is detected on the lateral side portion of the traveling machine body 9 on the uncut side (left side of the machine body). It is provided at a set interval in the longitudinal direction of the aircraft with the direction directed to the lateral side of the aircraft.
Each of the ultrasonic sensors S3a1, S3a2, S3b, and S3c includes a transmitter that transmits an ultrasonic wave toward the outer side of the body and a receiver that receives the ultrasonic wave reflected by the detection target. And it is comprised so that the distance to a detection target (planted grain cocoon T and the ground) may be detected based on the time from transmitting an ultrasonic wave until receiving it. The ultrasonic sensors S3a1 and S3a2 located at the front of the machine body and the ultrasonic sensor S3b located on the front side of the machine body are located above the planted culm T and the detection direction is outside the machine body. The ultrasonic sensor S3c located on the rear side of the fuselage lateral side is provided at a low position on the lateral side of the fuselage, and is configured to measure the distance by transmitting ultrasonic waves in a state of being directed obliquely downward on the side. ing.
Specifically, the ultrasonic sensors S3a1 and S3a2 located at the front of the fuselage are provided in the control cylinder 45 of the fuselage, and the ultrasonic sensor S3b located on the front side of the side of the fuselage is extended from the fuselage fixing part. It is attached to and supported by the stay 46.
[0025]
As shown in FIG. 9, the ultrasonic sensor S3b located on the front side of the aircraft lateral side is supported by the stay 46 so as to be swingable up and down around a horizontal axis X along the longitudinal direction of the aircraft. The transmission direction (distance detection direction) of the ultrasonic waves can be changed and adjusted along the vertical direction by the angle adjustment mechanism 47 (angle adjustment means). Although not described in detail, the angle adjustment mechanism 47 includes an electric motor and a gear type operation mechanism. As described above, the ultrasonic sensor S3b is configured to be able to change and adjust the relative angle along the vertical direction between the detection direction and the traveling machine body. The actual vertical swing adjustment position (corresponding to the relative angle information along the vertical direction between the distance detection direction and the traveling machine body) of the ultrasonic sensor S3b is detected by the angle detection sensor S6. It has become.
In addition, an inclination angle sensor S7 is provided for detecting a right and left inclination angle with respect to the horizontal reference plane of the traveling machine body 9, and the ultrasonic wave transmission direction (distance detection direction) by the ultrasonic sensor S3b is irrespective of the left and right inclination of the traveling machine body 9. The angle adjusting mechanism 47 is controlled so as to be always in a fixed direction.
[0026]
As shown in FIG. 2, a control device 16 using a microcomputer is provided, and the control device 16 includes a stock sensor S0, a rotational speed detection sensor S1, a rotary encoder S2, a direction sensor S4, a cutting height sensor S5, each super The detection information of the sonic sensors S3a1, S3a2, S3b, S3c, the angle detection sensor S6, the inclination angle sensor S7, the threshing switch SW2, the reaping switch SW1, and the upper limit vehicle speed setting device 22 are input. On the other hand, the control device 16 outputs drive signals for the electric motor 13 for shifting operation, the angle adjusting mechanism 47, the electromagnetic valve 25 for lifting and lowering, and the electromagnetic valve 19 for steering.
[0027]
As shown in FIG. 3, the combine sequentially performs each work process along each side M <b> 1 to M <b> 4 on the outer periphery of the uncut stem pod group M in a so-called swivel type for the rectangular uncut stem pod group M. When the cutting operation is performed and the end position of each work process is reached, the travel control is performed so as to move to the next adjacent work process. That is, using the control device 16, as the terminal position of one work process along the outer periphery of the uncut stem group M is reached, the vehicle turns forward toward the side approaching the uncut stem group M. Next, the turning control for controlling the operation of the crawler traveling device 1 so as to perform the turning traveling for switching the work stroke to make the backward turning traveling at the position before the next working stroke crossing the one working stroke. Means 100 are configured.
[0028]
Based on the detection distance information detected by the ultrasonic sensor S3b and the relative angle information along the vertical direction between the detection direction of the ultrasonic sensor S3b and the traveling machine body, the control device 16 It is comprised so that the position of the traveling body with respect to the outer periphery of a stalk group may be discriminate | determined, and it becomes the structure which controls the action | operation of the crawler running apparatuses 1R and 1L to make a turning run based on the discrimination | determination result. Therefore, the position determination means 101 is configured using the control device 16.
[0029]
The control device 16 sets the reference state when the traveling body is in the horizontal reference posture and the relative angle is at a set value, and based on the detection information of the inclination angle sensor S7, the ultrasonic sensor S3b. The operation of the angle adjustment mechanism 47 is controlled so that the transmission direction of the ultrasonic wave (distance detection direction) is always a constant direction. Therefore, the angle correction means 102 is configured using the control device 16.
[0030]
Hereinafter, the traveling control by the control device 16 will be specifically described with reference to the flowcharts of FIGS.
As shown in FIG. 6, when traveling starts from the start position of one work stroke along the outer periphery of the uncut stem culm group M, the traveling machine body 9 is cut along the work stroke based on the detection information of the direction sensor S4. Steering control for traveling, cutting height control for maintaining the ground height of the cutting unit 3 at an appropriate height based on the detection information of the cutting height sensor S5, and engine load as a target load within a range not exceeding the upper limit vehicle speed The vehicle speed control for controlling the vehicle speed so as to be maintained is executed until it is determined that the stock sensor S0 is turned off and has reached the end position of the work process. When it is determined that the end position of the work process has been reached, it is determined whether or not the cutting operation for the uncut stem culm group M has been completed. If the work process has not been completed, it is moved to the next adjacent work process. The turning control is executed. On the other hand, if the work is finished, the traveling is stopped and the control is finished.
[0031]
In the turning control, the control is executed as shown in FIGS. That is, the mowing unit 3 is raised and, as shown in FIG. 4 (a), first, the vehicle is caused to travel forward to a turning start position in a straight traveling state. Here, the fact that the traveling machine body 9 has reached the turning start position is that, as shown in FIG. 5, the distance detection signal b of the ultrasonic sensor S3b on the left front side of the machine body has first changed from a small distance to a large distance. Further, the determination is made when the aircraft further travels and the distance detection signal c of the ultrasonic sensor S3c on the left rear side of the aircraft changes from a small distance to a large distance.
[0032]
When the turning start position is reached, as shown in FIG. 4 (b), the left crawler traveling device 1L is braked to turn the traveling body 9 counterclockwise so that the front side of the body approaches the uncut stem group M. And the angle at which the traveling machine body 9 is positioned with respect to the uncut stem group M (for example, with respect to the next side) based on the detection distance information of the ultrasonic sensor S3b on the left front side of the machine during the turning (This operation corresponds to position determination processing), and when the angle reaches a set angle (for example, 45 degrees), the forward left turn traveling is stopped, and the left crawler traveling device Release the 1L brake operation.
When the left turn is executed, the operation of the angle adjustment mechanism 47 is controlled so that the ultrasonic transmission direction (distance detection direction) of the ultrasonic sensor S3b is always in an appropriate direction regardless of the left-right inclination of the traveling body. The angle correction control to be executed is executed. That is, when the traveling machine body 9 is in the horizontal reference posture, the ultrasonic sensor S3b detects the presence of the outer periphery of the uncut stem group M at the turning position where the angle θ corresponds to the set angle (for example, 45 degrees). The posture (see FIGS. 9A and 9B) that is the detection direction to be detected is set in advance as a reference posture in the angle adjustment mechanism 47. Then, the operation of the angle adjustment mechanism 47 is controlled based on the detection information of the tilt angle sensor S7 so that the detection direction is maintained even if the aircraft tilts left and right (see FIG. 9C).
[0033]
Then, the turning is performed while the ultrasonic sensor S3b detects the distance in the predetermined detection direction, the detection distance by the ultrasonic sensor S3b becomes shorter than the set value, and the presence of the outer circumference of the uncut stem group M is detected. When detected (see FIG. 9 (A)), the left turn traveling is stopped.
[0034]
Next, as shown in FIG. 4 (C), the vehicle travels backward from the turning stop position to the turning start position in a straight traveling state. Here, as shown in FIG. 5, the fact that the traveling vehicle body 9 has reached the turning travel start position is determined by the fact that the distance detection signal b of the ultrasonic sensor S3b on the left front side of the vehicle body has started to increase beyond a minimum value. Is done.
[0035]
At this time, as shown in FIG. 9 (d), the reference control in the angle adjusting mechanism 47 is changed downward (angle α2) when executing the left turn (angle α1), and the correction control is performed. By executing, the distance to the outer periphery of the uncut stem group M can be detected effectively even when the traveling machine passes near the outer periphery (corner) of the uncut stem group M.
[0036]
When the turning travel start position is reached, as shown in FIGS. 4C to 4D, the steering clutch brake 17R on the right side is turned off to cause the traveling machine body 9 to travel backward and turn left in a slow turning state. Then, as the traveling machine body 9 is positioned at a position before the next adjacent work stroke, the backward left-turning traveling is stopped. Here, the fact that the traveling machine body 9 is located at the front side of the next work process is that the distance detection signal a of the ultrasonic sensor S3a on the front side of the machine body is large and the planted culm T on the front side of the machine body It is judged by having changed to the state which detects. The ultrasonic sensors S3a1 and S3a2 on the front side of the aircraft are configured to transmit ultrasonic waves in a downward direction and in a detection direction in which the relative angle to the traveling aircraft is constant, like the ultrasonic sensor S3b on the left front side of the aircraft, The presence or absence of pedicles is determined based on the detection distance to the detection object.
Next, the distance detection signal a of the ultrasonic sensor S3a1 located on the left side of the pair of left and right ultrasonic sensors S3a1 and S3a2 on the front side of the machine body from the location before the next work process is the planted cereal grain on the front side of the machine body. Maintaining the state of detecting T, and traveling straight forward while controlling the steering solenoid valve 19 so that the distance detection signal a of the ultrasonic sensor S3a2 on the other side detects the large distance, After the mowing unit 3 is lowered, the mowing work in the next work process is started. As the cutting work is started and the stock sensor S0 is turned on, the steering control, the cutting height control, and the vehicle speed control are performed.
[0037]
In this embodiment, as the position of the traveling machine body 9 with respect to the outer periphery of the uncut stem group M determined by the position determining means 101, specifically, the stop position of forward left turn traveling (FIG. 4 (B)). Is used. Accordingly, a distance detecting means is constituted by the ultrasonic sensor S3b on the left front side of the machine body. Then, the distance detecting means and the position determining means 101 detect the distance to the outer periphery of the uncut stem pod group, and based on the information of the detected distance, the position of the traveling machine body with respect to the outer periphery of the uncut stem pod is determined. Position detecting means for detecting is configured.
[0038]
[Another embodiment]
(1) In the above embodiment, the inclination angle sensor S7 of the traveling machine body is provided, and based on the detection information, the detection direction of the distance detection means (ultrasonic sensor S3b) is set so as to be the detection direction in the reference state. Although the configuration for controlling the operation of the angle adjustment mechanism 47 is not limited to this configuration, the angle adjustment mechanism 47 may be manually adjusted, or instead of such a configuration, It is good also as a structure provided with the attitude | position change means to return so that an inclination attitude | position itself may become a reference attitude.
In the above-described embodiment, the distance detection means (ultrasonic sensor S3b) performs the distance detection operation in a state where the detection direction is fixed with respect to the traveling machine body. Alternatively, the distance may be measured while scanning within a predetermined range in the left-right direction.
[0039]
(2) In the above-described embodiment, only the ultrasonic sensor S3b on the left front side of the aircraft is provided with an angle adjustment means that can change and adjust the relative angle along the vertical direction between the distance detection direction and the traveling aircraft. However, it is also possible to provide an angle adjusting means for the forward / backward tilt of the airframe for other sensors (for example, the sensor S3a on the front side of the airframe), and without providing such an angle adjusting means. The relative angle between the detection direction and the traveling machine body may always be constant.
[0040]
(3) In the above embodiment, the ultrasonic sensor S3c on the left rear side of the machine body is low in order to reliably detect the presence or absence of the pedicle group in order to detect the turning start position after the completion of one work process. However, instead of such a configuration, for this sensor, for example, as shown in FIG. 10, the angle is changed by installing it at a high position as with the ultrasonic sensor S3b on the left front side of the aircraft. You may implement with various forms, such as comprising.
[0041]
(4) In the above-described embodiment, the stop position (FIG. 4 (b)) of the forward left turn traveling is detected only by the detection information of the ultrasonic sensor S3b on the left front side of the aircraft. As shown in FIG. 11, when determining the stop position of the forward left turn, the detection information Lb of the ultrasonic sensor S3b on the left front side of the aircraft and the detection information Lc of the ultrasonic sensor S3c on the left rear side of the aircraft Since the separation distance between them is determined in advance, the exact position of the traveling machine body relative to the uncut stem culm may be determined based on the detected information.
[0042]
(5) In the above embodiment, when the turning control unit 100 controls the operation of the traveling device based on the determination information of the position determining unit 101, the position of the traveling machine body 9 is used as the stop position of the forward left turn traveling. (Fig. 4 (b)) is used, but the contents of the turn control are corrected based on other airframe positions, for example, the airframe position information detected between the start position and the stop position of each turn. You may do it. Alternatively, any one of the start positions, or only two or more positions may be detected.
[0043]
(6) In the above embodiment, the distance detecting means for detecting the distance to the outer periphery of the uncut stem group M is provided with the ultrasonic distance detecting means in the traveling machine body 9. Optical distance detection means for projecting and receiving detection light with respect to the planted stem T may be used.
[0044]
(7) In the above-described embodiment, a pair of left and right steering clutch brakes for individually braking the travel devices 1L and 1R are provided. You may implement with various drive forms, such as providing a step transmission and making it the structure which can carry out a stepless transmission separately for each right and left, or making it a planetary gear type transmission mechanism.
[0045]
(8) In the above embodiment, the harvesting and harvesting machine is configured by a combine. However, for example, a harvesting and harvesting machine for rush may be used in addition to the combine.
[Brief description of the drawings]
FIG. 1 is a side view of a combine. FIG. 2 is a block diagram of a control structure of the combine. FIG. 3 is a plan view showing a route of harvesting by the combine. FIG. 5 is a time chart showing a time change of a distance detection signal. FIG. 6 is a flowchart showing a control operation. FIG. 7 is a flowchart showing a control operation. FIG. 8 is a flowchart showing a control operation. FIG. 10 is a side view of a combine according to another embodiment. FIG. 11 is a plan view illustrating distance detection operation according to another embodiment.
1L, 1R traveling device 9 traveling machine body 47 angle adjusting means 100 turning control means 101 position determining means 102 angle correcting means S3b distance detecting means

Claims (4)

A cutting portion provided on the front side of the traveling machine body so as to be movable up and down, and a side approaching the uncut stem group as it reaches the end position of one work process along the outer periphery of the uncut stem group. The operation of the traveling device is controlled so as to perform the turning travel for switching the work stroke to make the backward turning travel to the position before the next work stroke crossing the one work stroke. A harvesting and harvesting machine provided with a turning control means,
Position detecting means for detecting the distance to the outer periphery of the uncut stem pod group and detecting the position of the traveling machine body with respect to the outer periphery of the uncut stem pod based on the information of the detected distance is provided, and the turning control means Is configured to execute the turning control based on detection information of the position detection means,
The position detecting means includes
In the state where the distance detection direction with respect to the outer circumference of the uncut stem group is a set angle directed obliquely downward and in the state where the distance detection direction is directed to the aircraft lateral side, the cutting unit is located on the lateral side of the traveling aircraft. A non-contact type distance detecting means that is attached to and supported by a stay extending from the traveling machine body fixing portion so as to be located on the traveling machine body front side, and detects a separation distance to the detection target;
Based on the detection distance information detected by the distance detection means, comprising a position determination means for determining the position of the traveling machine body relative to the outer periphery of the uncut stem pod group,
The position determining means is configured to determine a stop position of the forward turning traveling for making a forward turn toward the side approaching the uncut stem group as the position of the traveling machine body with respect to the outer periphery of the uncut stem group. Cutting harvester.   The harvesting and harvesting machine according to claim 1, further comprising an angle adjusting means capable of changing and adjusting the distance detection direction of the distance detecting means. Inclination angle detection means for detecting an inclination angle with respect to a horizontal reference posture of the traveling machine body is provided,
An angle for controlling the operation of the angle adjusting means so that the relative angle between the distance detecting direction and the vertical direction of the distance detecting means is maintained at a set value based on the detection information of the tilt angle detecting means. The harvesting and harvesting machine according to claim 2, wherein a correction means is provided.   The distance detection means detects a separation distance to the detection target object based on a time from when the ultrasonic wave is transmitted in the detection direction until the ultrasonic wave reflected by the detection target is received. The harvesting and harvesting machine according to any one of claims 1 to 3, comprising an ultrasonic sensor.

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