JPH03112403A - Orientation controlling device in reaping harvester - Google Patents

Abstract

PURPOSE:To make hardly generate hunting of orientation-controlling according to difference of detected value in not reaped side sensor and detected value in reaped side sensor with an orientation-controlling means. CONSTITUTION:In a case of lower number of a detected value of reaped side sensor S3 to be higher than the set yield value, number of the difference between detected value of a second sensor S2 positioned near reaped side among two not-reaped side sensors S1 and S2 and the detected value of reaped side sensor S3 becomes larger than the set yield value is counted. According to said number to be larger value than the set yield value, orientation operation is performed to left-hand revolution, namely to not-reaped side.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention provides a method in which the width of at least the tip of the path closest to the cutting side among the plurality of stem rod introduction paths arranged in parallel in the reaping processing section is a cut-side sensor that is formed larger than that of the cut-out side sensor and detects a lateral distance between the stem rod introduced into the path on the most cut side and an end on the cut side of the cut path, and a cut-side sensor introduced into the other paths The operation of a reaping harvester is provided with an uncut side sensor for detecting a lateral distance between a stem rod and an uncut side end of the route, and is provided with a steering control means for controlling the steering based on information from the sensor. The present invention relates to a direction control device.

[Conventional technology]

In the above-mentioned type of reaping/harvesting machine, the reaping work is normally carried out with each stem rod introduced into each stem rod introduction path. In order to be able to do this, at least the width of the tip of the path closest to the mowing side is made larger than the other widths, so that it is possible to introduce two stalks into the path closest to the mowing side. It's Nishide.

Therefore, in the middle cutting operation, there is a sensor on the cut side that detects the lateral distance between the stem rod introduced into the route on the most cut side and the edge on the cut side of the route, and a sensor on the cut side that detects the horizontal distance between the stem rod introduced into the route on the most cut side and the end on the cut side of the route. By controlling the steering based on information from the unmown side sensor that detects the lateral distance between the stem rod and the unmown end of the route,
A state is maintained in which two doses of stem rods are introduced into the route closest to the already-cut side among the plurality of stem rod introduction paths.

For this reason, conventionally, when the lateral distance between the end of the route detected by the sensor on the mowed side and the edge of the mowed side becomes smaller than a set appropriate value, the steering operation is performed toward the unmoved side, and the sensor on the unmoved side When the detected lateral distance from the uncut side end of the path becomes smaller than a set value, the steering operation is performed toward the already cut side (see, for example, Japanese Patent Laid-Open No. 58-224603).

[Problem to be solved by the invention]

In the process of splitting in the middle, two stem rods are usually introduced into the path where one rod is introduced, so it is important to consider the dead zone for the appropriate setting of the horizontal distance between the stem rod and the end of the route. The width will be narrower than when introducing a single stem rod.

Therefore, in the above-mentioned conventional structure in which the steering operation is performed based on the lateral distance between the path end and the stem rod detected by each sensor, there is a disadvantage that hunting tends to occur in the control.

However, although hunting can be made less likely to occur by reducing the amount of steering operation per operation, the control response to large deviations is delayed, which may result in uncut mowing or overturning stems. Another disadvantage is that the control configuration becomes complicated.

The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to make hunting in steering control less likely to occur without complicating the control configuration.

[Means to solve the problem]

In the steering control device for a reaping harvester according to the present invention, at least the width of the tip of the path closest to the cutting side among the plurality of stem rod introduction paths arranged in parallel in the reaping processing section is larger than that of the other paths. a cut-side sensor that detects the lateral distance between the stem rod introduced into the path on the most cut side and the end of the cut side of the path; An uncut side sensor for detecting a lateral distance from the cut side end is provided, and a steering control means for controlling steering based on information from these sensors is provided, and its characteristic configuration is as follows. It is as follows.

In a first characteristic configuration, the steering control means is configured to perform steering control based on a difference between a detection value of the uncut side sensor and a detected value of the already cut side sensor. .

Further, in the second characteristic configuration, the steering control means is configured to control the steering control means to control the direction of the uncut side when the lateral distance from the cut side end of the route detected by the cut side sensor is smaller than a set value. Regardless of the difference between the detection value of the sensor and the detection value of the already-mown side sensor, the steering operation is performed toward the already-mown side.

[For production]

Even if the lateral distance from the end of the path to the stem stick is slightly closer to the uncut side or the cut side as long as the stem stick is within the route, there is no need for actual steering operation. .

Therefore, in the first characteristic configuration, by controlling the steering based on the difference between the detected value of the uncut side sensor and the detected value of the already cut side sensor, the steering operation can be performed even if the dead zone for the appropriate interval is narrow. Since the frequency is reduced, hunting is less likely to occur in the control response.

However, if the stem sticks are biased toward the already-cut side of the stem stick introduction path, there is a risk that uncut areas will be left uncut.

Therefore, in the second characteristic configuration, in addition to the first characteristic configuration, if the lateral distance from the end of the route on the mowed side detected by the mowed side sensor is smaller than a set value, Regardless of the difference between the detection value of the mowing side sensor and the detection value of the already mowed side sensor, the steering operation is performed on the already mowed side.

〔Effect of the invention〕

Therefore, with the first characteristic configuration, hunting is less likely to occur in the control response, so the aesthetic appearance of the mowing trace can be improved without reducing the followability to the stalk.

Further, in the second characteristic configuration, it is possible to prevent the occurrence of uncut areas while preventing hunting in the control response.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figures 1 and 2, a combine harvester, which is an example of a reaping harvester, has a pair of left and right crawler running devices (1).
A thresher (2) is mounted on a body (v) equipped with a threshing device (2), and a reaping processing section (3) is attached to the front part of the body (V).

The reaping processing section (3) includes a plurality of weeding tools (4A) arranged side by side at intervals in the width direction of the machine body.

(4B), (4C), (4D) and their weeding tools (
4A), (4B).

(4C) and (4D), a triggering device (5) that triggers the stalk, a clipper-type cutting blade (6) that cuts the base of the raised stalk, and a machine that moves the clipped stalk. Conveying devices (7) for locking and conveying to the rear side are provided in a state in which they are sequentially lined up from the front side of the machine body to the rear side of the machine body in that order.

That is, the plurality of weeding tools (4A), (4B),
(4C).

(4D), a plurality of stem-rod introduction routes (L
L), (Lm), and (L3) are formed.

In Fig. 2, (8) is a feed chain that conveys the reaped stalks transported by the conveying device (7) to the threshing device (2), and (So) is a feed chain that contacts the stock base of the reaped stalks. This is a stock sensor for detecting whether or not a reaping operation is in progress, and is provided in the transport path of the transport device (7).

However, the plurality of weeding tools (4A), (4B), (
4C).

Weeding tool (4D) located on the most mowed side of (4D)
The distance between the weeding tool (4C) and the weeding tool (4C) located on the uncut side by one level from the mowing tool (4D) on the most cut side is the distance between the weeding tool (4C) and (4D). The other weeding tool (4A) is located on the uncut side so that two rows of stalks can be introduced.
It is formed larger than the interval between (4B) and (4C). That is, the plurality of stem-rod introduction routes (Ll),
(Ll), (L3), the route (L
In 3), at least the width of the tip portion is larger than that of the other portions. Further, the triggering device (5) includes the plurality of weeding tools (4A) and (4B).
, (4C), and (4D).

The reaping processing section (3) includes each of the weeding tools (4A).

A plurality of steering control sensors (Sl), (S2), (S3) detecting the lateral distance from the end of the path to the stem rod introduced between (4B), (4C), and (4D) are installed. , installed on the support frame (9) of the weeding tool (4A to 4D) with one sensor (S3) of them located at the rear side of the weeding tool (4D) on the most mowed side. It is being

That is, the sensor (S3) located at the rear side of the weeding tool (4D) on the most mowed side is connected to the stem rod introduced into the most mowed route (L3) and the already mowed side end of the route. Two sensors (Sl) located at the rear side of the other weeding tool correspond to the already-mowed side sensor that detects the lateral distance from the other weeding tool.
S2) is a first sensor (Sl) on the uncut side that detects the lateral distance between the stem rod introduced into the other route and the cut end of the route in the other route; This corresponds to a second Yancer (S2) on the uncut side that detects the lateral distance between the introduced stem rod and the uncut side end of the route in another route.

However, the sensor (S3) located at the rear side of the weeding tool (4D) on the most mowed side is connected to the triggering device (5D).
), and the other sensor (Sl), (32) is provided to perform a detection action on the stem rod on the front side of the stem rod.
It is provided so as to perform a detection action on the stem rod on the rear side of the triggering device (5).

the plurality of steering control sensors (SL), (S2);
.

(S3) has the same configuration, and as shown in FIG.
10) and a potentiometer (R) that detects the rotation angle toward the rear of the aircraft body.

By the way, since the stem rods are planted intermittently along the direction of movement of the aircraft, the sensor bar (10)
If the length is short, the stem will contact the stem intermittently, and the potentiometer (R) will output a signal that changes intermittently, and the signal corresponding to the cutting position will not be continuous. There is a disadvantage that you will not be able to obtain it. Therefore, in order to maintain the length of the sensor bar (10) so that a plurality of stem rods aligned in the direction of movement of the aircraft can be kept in contact with each other at the same time, the stalk rods are planted to a length (300 mm) according to the spacing. It is set to .

That is, as the body (V) moves, the weeding tool (
4A to 4D), the stem base of the stem rod introduced during the period (4A to 4D) continuously contacts the sensor bar (10), and the sensor bar (10)
The potentiometer (R) rotates toward the rear of the machine at a rotation angle corresponding to the position of contact with the stem rod from its rotation fulcrum, and the potentiometer (R
), each sensor is attached to the stem rods lined up in the aircraft's direction of travel, so that the smaller the position, that is, the horizontal distance from the end of the stem rod introduction path, the larger the signal is output. .

Next, the plurality of steering control sensors (St).

Using (S2) and (S3), a control configuration for controlling the steering so that the aircraft (V) automatically travels along the stems lined up in the aircraft traveling direction will be described.

As shown in FIG. 7, the crawler traveling device (1) includes:
A driving transmission (1) that changes the output of the engine (E)
1) to the transmission case (12). The mission case (12) includes the crawler traveling device (
1) are equipped with steering clutches (13L) and (13R) that operate the transmission of driving force to the left and right sides separately, and the steering operation is performed with the side of the crawler traveling device (1), which has been operated to cut off the driving force, as the turning center. is configured to do so.

In the figure, (S4) is a rotational speed sensor for detecting the traveling distance and traveling speed based on the input rotational speed to the transmission case (12), and (14L) and (14R) are the steering clutches. (14L) and (14R) are steering hydraulic cylinders for turning and operating the steering hydraulic cylinders (14L) and (14R), and (15) is an electromagnetically operated steering cylinder that controls the supply of hydraulic oil to the steering hydraulic cylinders (14L) and (14R). Control valve for (16)
are the plurality of steering control sensors (SL).

The operation of the steering control valve (15) is controlled based on the information of (Sz) and (Sa) so that the aircraft (V) automatically travels along the stem rods lined up in the aircraft traveling direction. This is a control device using a microcomputer, which constitutes a steering control means (100) for controlling the steering direction.

To explain the operation of the control device (16), the eighth
As shown in the figure, basically the stock sensor (So
) changes from OFF to ON and the mowing operation is started, and while the steering control sensor ( Based on the information in (Sl), (32), and (33), the mowing type for the stalks lined up in the direction of movement of the aircraft is determined, and the discrimination is continued until the stock head sensor (So) turns from ON to OFF and the mowing work is completed. Steering control is performed to maintain the appropriate mowing position range that is set according to the type of mowing that has been done.

To explain the above-mentioned cutting method, - In boat fishing, stem rods are planted so as to form rows in the direction.
D) The planting of the stem rods is carried out in a row-cutting format (see Figure 4) in which the stem rods are planted in a direction parallel to the direction so that a row of stem rods for each drug is introduced; (see Figure 5), which runs in a direction that intersects the rows of rows, and a weeding tool (4D) on the most mowed side to divide the mowing work range in advance, for example. There are three types of cutting methods: the middle splitting method (see Fig. 6), in which two rows of stem rods are introduced between the weeding tool (4C) on the uncut side of the weeding tool (4C).

In the following description, the intermediate cutting type will be referred to as the +1 row cutting type.

Therefore, in the row mowing method, one row of stalks is introduced between each weeding tool, so basically, the weeding tool (4B) on the uncut side is Based on the information of the first sensor (Sl) and second sensor (S2) on the uncut side attached to the rear side, both sensors (S
L) and (S2), the steering control is performed so that the detected reaping position, that is, the lateral distance from the end of the stem rod introduction path, is maintained within a preset dead zone. However, in order to prevent uncut mowing, use the weeding tool (4D) on the most mowed side.
), if the detection position of this already-cut side sensor (S3) is deviated from the set position to the un-cut side, The machine (■) is steered toward the already cut side to correct the running direction.

In the horizontal cutting method, since the cutting mode is such that the cutting tool runs in a direction that intersects the rows of stems, the machine of the cutting tool (4D) is basically designed to prevent uncut areas. The cut side is adjusted so that the position in the width direction is maintained within the set appropriate cutting position range with respect to the row of uncut stem rods on the most cut side located at the boundary between the cut part and the uncut part. The steering will be controlled based on the information from the sensor (S,).

In the above-mentioned +1 row cutting method, the above-mentioned most cutting individual leather dividing tool (4D
) and the weeding tool (4D) on the uncut side of the weeding tool (4D).
C), so basically the two uncut side sensors (Sl
), (S2), based on the information of the second sensor (S2) located on the already-cut side and the information of the already-cut side sensor (S3), the splitting tools (4C), (4D) During this period, the steering control is performed so as to maintain the state in which two doses of stem rods are introduced.

Next, the reaping type determination process will be described based on the flowchart shown in FIG.

The three steering control sensors (Sl), (82
) and (83) at a set distance (for example, 5
cm), and the cutting format is determined based on the sampled information. However, although it will not be described in detail, automatic steering cannot be performed by the control device (16) until the mowing type is determined, so the operator must manually operate the vehicle from the start of the work until the set distance is traveled. You will have to operate in the opposite direction.

That is, each steering control sensor (S + ) is sampled at every set distance (for example, 5 cm).

The sum of the detection values of the two uncut side sensors (Sl) of (S2) and (S3) and (32) (ADl+AD2n)
The number of times (K
4), and the already-cut side sensor (S3)
The detection value (AD3n) of the preset threshold (A, -AD
) or more (N3) is counted.

Then, while traveling a set distance (for example, 1 m) from the time when the mowing work is started, the sum of the detection values of the two non-mow side sensors (Sl) and (St) (ADl + AD
2n) is equal to or greater than a preset threshold value (A, -AD) is determined whether or not the number of times (K4) is equal to or greater than a preset threshold value (Kl), and if it is equal to or greater than the preset threshold value (K1), the horizontal It is designed to determine that it is a cutting type.

In other words, in the horizontal cutting mode, the two uncut side sensors (SL) run in a direction that intersects the rows of planted stems.

This takes advantage of the fact that (S2) comes into contact with the stem rod more frequently than in the row cutting type.

If it is determined that the horizontal mowing type is not used, the number of times (N3) that the detected value (AD3n) of the already mowed side sensor (S3) is equal to or greater than the preset threshold (A, -AD) is set to the set threshold (
K2) or less, and if it is less than or equal to a set threshold (N2), it is determined to be row cutting type, and if it exceeds the set threshold value (N2), it is determined to be +1 row cutting type. It's Nishide.

In other words, the distance between the most mowed side weeding implement (4D) to which the already mowed side sensor (S3) is attached and the unmown side weeding implement (4C) from that weeding implement (4D). is wider than the spacing between the other uncut side weeding tools, so in the row mowing format where one dose of stem rod is introduced between each weeding tool, the already cut side sensor (S3) sensor bar (1
0) becomes less frequent, and as a result, the number of times (N3) that the detection value (AD3n) of the already-cut side sensor (S3) is equal to or higher than the preset threshold (A3-AD).
is below the set threshold value (N2), but in the case of +1 row mowing type, the above-mentioned most-cutting side dividing tool (4D) and its dividing tool (
Since two stem rods are introduced between the weeding tool (4C) on the uncut side and the one on the uncut side (4D), the already cut side sensor (
The frequency at which the stem rod comes into contact with the sensor bar (10) of S3) is higher than that of the row cutting type, and
The detection value (AD3n) of 3) is equal to the preset threshold (A3-
By utilizing the fact that the number of times (N3) where the number of times (N3) is greater than the set threshold value (N2) is greater than the set threshold value (N2), the row cutting format and the +1 row cutting format are discriminated.

Next, steering control according to each cutting type will be explained.

To explain the steering control in the row cutting type,
As shown in FIG. 10, in the same manner as in the determination of the mowing type, while traveling a set distance (l m), the detected value of the already-mowed side sensor (S3) and the The detected values of the non-mowing side sensor (S) and (S2) are sampled, and based on the sampled values, the steering operation is performed in either the left or right direction, that is, the steering operation is performed toward the non-mowing side. It is designed to determine whether to steer the vehicle toward the mowed side, or to maintain the straight-ahead state (steering neutral).

That is, first, the detection value (AD3n) of the already-mowed side sensor (S3) is set to a preset threshold value (AD-R3).
Count the number of times (RN3) or more, and count the number of times (RN3)
) is greater than or equal to the set threshold value (RNC3), that is, the frequency with which the lateral distance detected by the mowed side sensor (S, ) is smaller than the set value while the aircraft (v) travels the set distance is If the number of times is greater than the set number, in order to prevent uncut leaves, the uncut side sensors (31), (S
Regardless of the detected value of 2), the steering operation is performed to turn right, that is, to the already-mowed side.

Detection value (AD3n) of the already-mowed side sensor (S3)
If the number of times (RN3) that is equal to or greater than a preset threshold value (AD-R3) is less than the set threshold value (RNC3), the most unmown side sensor of the unmown side sensors (Sl) and (S2) The detection value (ADln) of the first sensor (Sl) of
The number of times (RNI) that is equal to or higher than the set threshold value (AD-R1) is counted, and if the number of times (RNI) is equal to or higher than the set threshold value (RNCI), the steering operation is performed to turn left, that is, to the non-mowing side. It is.

If the number of times (RNI) that the detection value (ADln) of the first sensor (Sl) is equal to or higher than the set threshold value (AD-R1) is less than the set threshold value (RNCI), the unmown side sensor (31) , (S2), the detected value (AD2n) of the second sensor (S2) on the mowed side is the set threshold value (AD2n).
-R2) or more is counted (RN2), and if the number of times (RN2) is greater than or equal to the set threshold value (RNC2), the steering operation is performed to turn right, that is, to the already-mowed side.

However, each number of times counted (RNI), (RN2),
When (RN3) is less than each set threshold value, that is, when the lateral distance from the end of the path to the stem rod is within the set dead zone, the steering neutral state is maintained. In addition, when the aircraft (■) travels the set distance (1 m), the respective number of times (RNI), (RN2).

The value of (RN3) will be cleared to zero.

To explain the steering control in the horizontal mowing format,
As shown in FIG. 11, basically, the steering operation is performed only based on the detected value (AD3n) of the already-mowed side sensor (S, ).

That is, in the same manner as the control in the row cutting type,
While traveling the set distance (1 m), the set distance (5 cm)
), the detected value (AD3) of the already-cut side sensor (S3)
n) and its detected value (AD3n)
Count the number of times (RN7) and (RN8) that are outside the set dead zone (AD-R7 to AD-R8), respectively, and as the number of times exceeds the set thresholds (RNC7) and (RNC8), each left and right The vehicle will be steered in the corresponding direction. However, the width of the set dead zone in this horizontal mowing format is determined by the width of the dead zone in the row mowing format (the set threshold value (AD-R) of each of the uncut side sensors (SL) and (St)).
1), which corresponds to a value between (AD-R2)).

To explain the steering control in the +1 row mowing format, as shown in FIG. The detection value (AD2n) of the second sensor (S2) and the detection value (AD3n) of the most mowing side sensor (S3)
While the steering operation is carried out based on the difference between the two and the first mowing side sensor (S3), the steering operation is also carried out based on the detected value (AD3n) of the most mowing side sensor (S3).

That is, in the same manner as the control in the row cutting type,
While traveling the set distance (1 m), the set distance (5 cm)
> detected value (AD3) of the already-cut side sensor (S3)
n), count the number of times (RN3) that the detected value (AD3n) is equal to or higher than the set threshold value (AD-R3), and as the number of times (RN3) becomes equal to or higher than the set threshold value (RNC3), In order to prevent uncut leaves, the steering operation is made to turn to the right, that is, to the already cut side, regardless of the detected value of the second sensor (S2) on the uncut side.

Detection value (AD3n) of the already-mowed side sensor (S3)
If the number of times (RN3) at which the The detected value (AD2n) of the second sensor (S2) located
) and the detection value (AD3) of the most mowing side sensor (S3)
The difference (AD2n - AD3n) from the set threshold (A
The number of times (RN4) that is equal to or greater than D-R5) is counted, and as the number of times (RN4) becomes equal to or greater than a set threshold value (RNC4), the steering operation is performed to turn left, that is, to the uncut side.

The difference (AD2n-AD3n) is the set threshold value (AD-R
5) The number of times (RN4) or more is the set threshold (RNC4)
If the difference (AD2n-AD3n) is less than or equal to the set threshold (ADR6), count the number of times (RN5) that the difference (AD2n-AD3n) is less than or equal to the set threshold (ADR6), and as the number of times (RN5) becomes greater than or equal to the set threshold (RNC5), the right It is designed to turn, that is, to steer towards the mowed side.

In other words, in the +1 row cutting format, the above-mentioned most cutting side side tool (
4D) and the weeding tool (4D) on the one uncut side of the weeding tool (4C), the second sensor (S2) The degree of approach of the stem rod to and the degree of approach to the already-cut side sensor (S3) both become high. Therefore, the second sensor (
Based on the difference between the detected value of S2) and the detected value of the already-mown side sensor (S3), it is determined whether the mowing position is shifted to the left or right with respect to the set appropriate mowing position.

In addition, the steering control in each of the reaping formats explained above is as follows:
This process will be repeated until the stock sensor (SO) turns off.

[Another example]

In the above-mentioned embodiment, the case where the reaping type is automatically determined is illustrated, but the reaping type may also be instructed manually. Further, the specific configuration of each part necessary for carrying out the present invention can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the steering control device for a reaping harvester according to the present invention, in which FIG. 1 is a schematic plan view of the reaping processing section, FIG. 2 is a schematic side view thereof, and FIG. 3 is a steering control sensor. 4 is an explanatory diagram of the positional relationship between the weeding tool and the stem rod in the row mowing format, and FIG. 5 is an explanatory diagram of the positional relationship between the weeding tool and the stalk in the horizontal mowing format. Figure 6 is an explanatory diagram of the positional relationship between the weed divider and stem rod in the +1 row mowing format, Figure 7 is a block diagram of the control configuration, Figure 8 is a flowchart of control operation,
FIG. 9 is a flowchart of the cutting type determination process, the first
Diagram O is a flowchart of steering control in row cutting format;
FIG. 11 is a flowchart of steering control in horizontal mowing mode, and FIG. 12 is a flowchart of steering control in +1 row mowing mode. (S2)...Unmown side sensor, (S3)...
...Already cut side sensor, (Ll), (L2),
(L3)... Multiple stem-rod introduction routes, (3)...
. . . Reaping processing section, (100) . . . Steering control means.

Claims (1)

[Claims] 1. At least in the route (L_3) closest to the mowing side among the plurality of stem rod introduction routes (L_1), (L_2), and (L_3) arranged in parallel in the reaping processing unit (3). A mowed side sensor whose tip has a wider width than the others and detects the lateral distance between the stem rod introduced into the route (L_3) on the most mown side and the end of the mowed side of the route. (S_3), and an uncut side sensor (S_2) that detects the lateral distance between the stem rod introduced into the other route (L_2) and the uncut end of the route, and these sensors (S_2), A steering control device for a reaping/harvesting machine, which is provided with a steering control means (100) that performs steering control based on the information of (S_3), wherein the steering control means (100) is arranged on the uncut side sensor(
A steering control device for a reaping harvester configured to perform steering control based on a difference between a detected value of S_2) and a detected value of the already-cut side sensor (S_3). 2. The steering control device for a reaping and harvesting machine according to claim 1, wherein the steering control means (100) is configured to move the steering control means (100) along the side of the end of the route detected by the already cut side sensor (S_3). If the interval is smaller than the set value, the detection value of the uncut side sensor (S_2) and the already cut side sensor (S_2)
_3) A steering control device for a reaping harvester configured to steer toward the already harvested side regardless of the difference from the detected value.