JPH07102005B2 - Steering controller for reaper harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention has a lateral width of at least the tip end portion of a path on the most cut side among a plurality of stem rod introduction paths arranged in parallel in a cutting processing section that is different from other lateral widths. The cut-side sensor that detects the lateral distance between the stem rod and the path cut-side end, which is formed larger than the cut-side path, is introduced into the other path. A first sensor on the uncut side for detecting the lateral distance between the stem and the end of the path already cut on another path, and a stem introduced into another path and the uncut side on the other path A steering control device for a harvesting harvester, which is provided with a second sensor on the uncut side for detecting a lateral distance from an end portion, and steering control means for controlling steering based on information from the sensors. .

[Conventional technology]

In a mowing harvester, it is necessary to control the steering so that the cutting processing section automatically travels while maintaining the state in which the stems are introduced within the width of each of the multiple stem introduction routes. Due to the morphology, it is necessary to support different types of mowing types.

That is, there are a line cutting type in which a stem runs along a direction parallel to a planting direction forming an ordinance, and a side cutting type in which a stem runs along a direction intersecting the row.

Therefore, basically, in the cutting mode, in order to maintain the state in which each one row of stem rods is introduced into each of the multiple stem introduction routes, the stems and the already cut stems in the uncut side route are maintained. The steering control is performed based on the lateral distance between the side end or the uncut side end. On the other hand, in the horizontal cutting type, there may be a case where multiple stem rods are introduced into each of the multiple stem rod introducing routes, so basically, the most existing stem rod in the most trimmed side is introduced. Steering control will be performed based on the lateral distance between the stem and the end of the cut side in the path of the most cut side so that the state where uncut stem rods on the cut side are introduced is maintained. .

Therefore, in the related art, a first sensor and a second sensor for cutting a row are provided to detect a lateral distance between a stem rod and a path end in a path on the uncut side other than the path on the most cut side. A sensor on the cutting side is provided as a sensor for horizontal cutting to detect the lateral distance between the stem and the end of the path in the path on the most cut side. The sensor and the sensor on the cut side were switched and used (for example, Japanese Patent Laid-Open No.
-165703 gazette).

[Problems to be Solved by the Invention]

By the way, if the width of the dead zone for the appropriate value of the lateral distance between the stem and the path end detected by the sensor is increased,
It will not follow fine irregularities on the stem row, and as a result the aesthetic appearance of the cut will be improved, but there is a risk that the entire cutting section will run unbalanced and leave uncut. There is.

The present invention has been made in view of the above circumstances, and an object thereof is to improve the aesthetics of a cut mark while preventing uncut residue.

[Means for Solving the Problems]

The steering control device of the mowing harvester according to the present invention has a lateral width of at least the tip end portion in the most slaughtered path of the plurality of stem rod introduction paths arranged in parallel in the mowing processing section, which is larger than other widths. The formed cutting side sensor that detects the lateral distance between the stem and the path cut side end, which is introduced into the path on the most cut side, and the stick and the other introduced on the other path. The first sensor on the uncut side that detects the lateral distance from the already cut side end of the path in the path, the side of the stem rod introduced into another path and the uncut side end of the other path A second sensor on the uncut side for detecting the interval is provided, and steering control means for controlling the steering based on the information of those sensors is provided. The characteristic configuration is as follows. .

That is, the steering control means controls the aircraft when the frequency at which the lateral interval detected by the already-cut side sensor is smaller than the set value while the aircraft travels the set distance is larger than the set number of times. In the point that the steering operation is performed on the already cut side and the steering control is performed based on the information of the first sensor and the second sensor on the uncut side when the number of times is smaller than the set number of times. is there.

[Work]

Normally, the steering control is performed based on the information of the first and second sensors on the uncut side, while the steering is controlled based on the information of the cut-side sensor, which is introduced into the most cut-side path. If the frequency with which the lateral distance between the stem and the end of the path that has already been cut is smaller than the set value is greater than the set number of times, that is, the entire cutting unit is biased toward the uncut side. In order to increase the dead zone of control in the operation control by the uncut side sensor so that it does not follow fine irregularities in the stem row, By using the information from the side sensor, it is possible to prevent uncut areas from occurring.

〔The invention's effect〕

Therefore, it is possible to improve the aesthetics of the cut mark without lowering the followability to the stalk by effectively utilizing the configuration originally provided in the device.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1 and FIG. 2, a combine harvester as an example of a harvester has a pair of left and right crawler traveling devices (1).
The threshing device (2) is mounted on the machine body (V) provided with the, and the cutting unit (3) is mounted on the front part of the machine body (V).

The reaping processing section (3) comprises a plurality of weeding tools (4A), (4B), (4) juxtaposed in the lateral direction of the machine body at intervals.
C), (4D) and those weeding tools (4A), (4B), (4
C) and (4D), a triggering device (5) that causes a stem to be introduced, a clipper-type cutting blade (6) that cuts the root of the stem that has been caused, and a trimmed stem to the rear of the machine body. And a transfer device (7) for locking and transferring to the side.

That is, the plurality of weeding tools (4A), (4B), (4C),
A plurality of multiple stem rod introduction paths (L ₁ ), (L ₂ ), (L ₃ ) are formed in each of (4D).

In Fig. 2, (8) is a feed chain that conveys the cutting stalks conveyed by the conveying device (7) to the threshing device (2), and (S ₀ ) is a contact point with the stock of the cutting stalks. A stock origin sensor for detecting whether or not a cutting operation is being performed, and is provided in the carrying path of the carrying device (7).

However, the plurality of weeding tools (4A), (4B), (4C),
A weeding tool (4D) located on the furthest mown side of (4D) and a weeding tool (4C) located on the uncut side one more than the weeding tool (4D) on the most trimmed side. The spacing between them is
In order to be able to introduce two rows of stem rods between C) and (4D),
Weeders (4A), (4B), (4C) located on the other uncut side
Are formed larger than the spacing between. That is, the lateral width of at least the tip end of the path (L ₃ ) on the most trimmed side of the plurality of stem rod introduction paths (L ₁ ), (L ₂ ) and (L ₃ ) is larger than that of the other paths. Has been formed. or,
The triggering device (5) includes the plurality of weeding tools (4
It is provided on the rear side of A), (4B), (4C), and (4D).

The reaping processing section (3) includes the weeding tools (4A), (4
B), (4C), a plurality of steering control sensors (S ₁ ), (S ₂ ), (S ₃ ) for detecting the lateral distance from the end of the path to the stem introduced between (4) ) Position one of the sensors (S ₃ ) at the rear side of the grass cutting tool (4D) on the most mown side, the supporting frame (9) of the grass cutting tool (4A to 4D). ) Is provided.

That is, the sensor (S ₃ ) located at the rear side position of the weeding tool (4D) on the most mown side introduces the stem and the path mowing on the path (L ₃ ) on the most mown side. Two sensors (S ₁ ) and (S ₂ ) that are located on the rear side of other weeding tools and correspond to the already-cut side sensor that detects the lateral distance from the side edge.
However, the first on the uncut side that detects the lateral distance between the stem introduced into the other path and the end on the cut side of the path in the other path.
The sensor (S ₁ ) and the second sensor (S ₂ ) on the uncut side that detects the lateral distance between the stem introduced into the other path and the uncut side end in the other path, respectively. Will correspond.

However, the sensor (S ₃ ) located at the rear side position of the weeding tool (4D) on the most mown side has a function of detecting the stick on the front side of the raising device (5). The other sensors (S ₁ ) and (S ₂ ) are provided so as to detect the stalk on the rear side of the triggering device (5).

The plurality of steering control sensors (S ₁ ), (S ₂ ),
Explaining the configuration of (S ₃ ), they have the same configuration, and as shown in FIG. 3, the sensor bar (10) is biased to return to the front side of the machine body, and the sensor bar (10).
And a potentiometer (R) for detecting the rotation angle of the rear of the machine body.

By the way, since the stem rod is planted in a discontinuous state along the traveling direction of the body, if the length of the sensor bar (10) is short, it will intermittently abut against the stem rod and the potentiometer will be used. (R) outputs a signal that changes intermittently, which is disadvantageous in that a signal corresponding to the cutting position cannot be obtained continuously. Therefore, the length of the sensor bar (10) is set to a length (300 mm) according to the planting interval of the stalks so that a state in which a plurality of stalks lined up in the machine advancing direction are in contact at the same time I am doing it.

In other words, as the machine body (V) travels, the roots of the stems introduced between the weeding tools (4A to 4D) continuously contact the sensor bar (10), and the sensor bar (Ten)
Is rotated to the rear side of the machine body from the rotation fulcrum at a rotation angle corresponding to the contact position of the stem rod, and from the potentiometer (R), the mounting position of each sensor to the stem rods arranged in the machine body traveling direction, that is, the stem The smaller the horizontal distance from the end of the rod introduction path, the larger the signal output.

Next, the plurality of steering control sensors (S ₁ ),
Using (S ₂ ) and (S ₃ ), a control configuration for controlling the steering so that the machine body (V) automatically travels along the stem rods aligned in the machine body traveling direction will be described.

As shown in FIG. 7, the crawler traveling device (1) is
A transmission (1) for traveling that changes the output of the engine (E)
It is driven by the driving force transmitted from 1) to the mission case (12). The crawler traveling device (1) is provided in the mission case (12).
Steering clutches (13L) and (13R) are provided for turning and turning the driving force transmission to and from the left and right, respectively, so that the crawler traveling device (1), which has turned the driving force, can be steered around the turning center. Is configured.

In the figure, (S ₄ ) is a rotation speed sensor for detecting the traveling distance and traveling speed based on the input rotation speed to the mission case (12), and (14L) and (14R) are for the steering. A steering hydraulic cylinder for disengaging the clutches (14L) and (14R), and (15) is the steering hydraulic cylinder (14L),
Electromagnetically operated steering control valve for controlling the supply of hydraulic oil to (14R), (16) is information from the plurality of steering control sensors (S ₁ ), (S ₂ ), (S ₃ ). The steering control means (100) for controlling the operation of the steering control valve (15) based on the above so as to automatically control the machine body (V) to automatically travel along the stems lined up in the machine body traveling direction. ) Is a control device using a microcomputer.

The operation of the control device (16) will be described. Basically, as shown in FIG. 8, the stock origin sensor (S ₀ ) is
While traveling the set distance detected based on the information of the rotation speed sensor (S ₄ ) from the time when the cutting operation is started from OFF to ON, the plurality of steering control sensors (S 4 ₁ ), (S ₂ ) and (S ₃ ) are used to determine the cutting style for the stems lined up in the machine's traveling direction, the stock sensor (S ₀ ) is turned off and the cutting work is completed. Until then, the steering control is performed so that the proper cutting position range set according to the determined cutting type is maintained.

Explaining the cutting method, since the stems are generally planted so as to form rows in the planting direction, each of the weeding tools (4A to 4D)
A row cutting method (see FIG. 4) of running in a direction parallel to the planting direction of the stem rod so that each row of stem rods is introduced between A horizontal cutting type (see FIG. 5) that runs in the direction intersecting with the line, and for example, to divide the cutting work range in advance, the grass cutting tool (4D) on the most already cut side and the grass cutting tool (4D) There are three types of cutting methods: the middle cutting method (see Fig. 6) in which two rows of stem rods are inserted between the cutting tool (4C) on the uncut side. Incidentally, in the following description, the middle division format is +1.
This is called the "cutting style".

Therefore, in the above-mentioned mowing method, since one row of stem rods is introduced between each weeding tool, basically, the weeding tool on the uncut side (4B) is Based on the information of the first sensor (S ₁ ) and the second sensor (S ₂ ) on the uncut side, which are attached to the rear part, both sensors (S ₁ ),
The steering control is performed so that the cutting position detected by (S ₂ ), 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 areas, the information of the already-cut sensor (S ₃ ) attached to the rear side of the grass cutter (4D) on the most already-cut side is used,
If the detected position of the already cut side sensor (S ₃ ) is deviated to the uncut side from the set position, the machine body (V) is steered to the cut side to correct the traveling direction. is there.

In the horizontal cutting type, since the vehicle is traveling in the direction intersecting the row of stems, basically, the main body is to prevent uncut residue, and the body of the previously cut side weeding tool (4D) is basically used. The position in the width direction is set so that it is maintained within the set proper cutting position range with respect to the row of the most cut uncut stems located on the boundary between the cut and uncut portions. Steering control will be performed based on the information from the sensor (S ₃ ).

In the +1 row cutting method, the grass cutting tool on the most already cut side (4D)
From the weeding tool (4D) and the weeding tool (4C) that is one uncut side from the weeding tool (4D), two rods of stem are introduced,
Basically, the two uncut sensors (S ₁ ),
Second sensor located on the already cutting side of the (S ₂₎ (S ₂₎
On the basis of the information of the cutting position sensor (S ₃ ) and the information of the already cut side sensor (S ₃ ), the operation is performed so as to maintain the state in which the two-row stem rod is introduced between the both weeding tools (4C) and (4D). Direction control.

Next, the reaping type discrimination processing will be described based on the flowchart shown in FIG.

While traveling the set distance (for example, 1 m) from the time when the stock origin sensor (S ₀ ) is turned on and the cutting work is started, the three steering control sensors (S ₁ ), (S ₂ ), Each of the detection values of (S ₃ ) is sampled for each set distance (for example, 5 cm), and the cutting mode is determined based on the sampled information. However, although not described in detail, the control device (1
Since automatic steering according to 6) cannot be performed, the operator will manually perform the steering operation while traveling the set distance from the start of this work.

That is, two uncut side sensors (S ₁ ), (S ₁ ) among the steering control sensors (S ₁ ), (S ₂ ), (S ₃ ) sampled for each set distance (for example, 5 cm) the sum of the detected value (AD1 + AD2n) along with counts the number of times (N4) as a threshold value (a ₄ -AD) or a preset of _2), the detected value of the already mowing side sensor (S ₃₎ (AD3n) in advance Set threshold (A ₃ −
Count the number of times (N3) above AD).

Then, the sum (AD1 + AD2n) of the detection values of the _two uncut side sensors (S ₁ ) and (S ₂ ) is preset while traveling a set distance (for example, 1 m) from the time when the cutting operation is started. It is determined whether or not the number of times (N4) that is equal to or greater than the threshold value (A ₄ −AD) is equal to or greater than the set threshold value (K1), and the set threshold value (K
1) If it is more than the above, it is determined that it is the horizontal cutting format.

In other words, in the horizontal cutting type, the two uncut side sensors (S ₁ ) and (S ₂ ) come into contact with the stem rod because they run in a direction intersecting the row of planted stem rods. It uses the fact that the hit frequency is higher than that of the pruning method.

If it is determined that it is not the lateral mowing format, the threshold (A ₃ of the detected value of the already mowing side sensor (S ₃₎ (AD3n) is preset
-AD) or more times (N3) is less than or equal to the set threshold value (K2). If it is less than or equal to the set threshold value (K2), it is determined to be a pruning type and the set threshold value (K2). ), It is determined to be the +1 line cutting type.

In other words, between the most already-cut side weeding tool (4D) to which the above-mentioned already-cutting side sensor (S ₃ ) is attached and the weeding tool (4C) from the weeding tool (4D) to one uncut side Since the spacing is wider than the spacing between the other weeders on the uncut side, in the row cutting type in which one stem of rods is introduced between each weeding tool, The frequency with which the stalk comes into contact with the sensor bar (10) of (S ₃ ) becomes low, and as a result, the detection value (AD3n) of the already trimmed sensor (S ₃ ) is set to a preset threshold value (A ₃ −
The number of times (N3) that is more than AD) is less than or equal to the set threshold value (K2), but in the case of the + 1-row cutting type, the grass cutting tool (4D) on the most already cut side and the grass cutting tool (4D) Since the stem rod for two rows is introduced between the weeding tool (4C) on the uncut side, the frequency with which the stem bar contacts the sensor bar (10) of the sensor on the already cut side (S ₃ ). It is higher than the strip cutting format, threshold detection value (AD3n) previously set for the already-cutting side sensor _{(S 3) (a 3 -AD} ) or more and becomes the number (N3) is larger than the set threshold value (K2) By utilizing this, it is possible to discriminate between the line cutting type and the +1 line cutting type.

Next, steering control according to each mowing type will be described.

Explaining the steering control in the strip cutting type,
As shown in FIG. 10, in the same way as the above-mentioned discrimination of the cutting type, while traveling the set distance (1 m), the set distance (5c
For each m), the detection value of the already cut side sensor (S ₃ ) and the detection values of the uncut side sensors (S ₁ ) and (S ₂ ) are sampled, and either the left or right side is sampled based on the sampled value. Direction, that is, whether to steer to the uncut side, to steer to the cut side, and to maintain the straight state (steering neutral) is there.

That is, first, the detection value (AD3n) is counted setting preset threshold number of times as the (AD-R3) or (RN3), the number (RN3) setting a threshold value of the already-cutting side sensor (S ₃₎ ( RN
C3) or more, that is, the frequency at which the lateral interval detected by the already-cut side sensor (S ₃ ) is smaller than the set value while the machine body (V) travels the set distance is greater than the set number of times. In some cases, in order to prevent the uncut portion, the steering operation is performed to the right, that is, to the cut side regardless of the detection values of the uncut side sensors (S ₁ ) and (S ₂ ). .

The detected value of the already mowing side sensor (S ₃₎ If the set threshold value (AD3n) is preset (AD-R3) or to become number (RN3) is less than the set threshold value (RNC 3), the non-cutting side sensor (S _1), and counts the number (RN1) the detected value of the first sensor of the most outstanding cutting side (S ₁₎ (AD1n) is preset threshold (AD-R1) or more of (S _2), When the number of times (RN1) is greater than or equal to the set threshold value (RNC1), the steering operation is performed to the left, that is, to the uncut side.

The number of times (RN1) that the detection value (AD1n) of the first sensor (S ₁ ) becomes equal to or more than the set threshold value (AD-R1) is the set threshold value (RNC).
If it is less than 1), the non-cutting side sensor (S _1), (already cutting side of the second sensor of the S ₂₎ (S ₂₎
The number of times (RN2) that the detected value (AD2n) of the is equal to or greater than the set threshold value (AD-R2) is counted, and that number (RN2) is set threshold value (RNC2).
In the case of the above, the steering operation is made to the right, that is, to the already mowed side.

However, the counted number of times (RN1), (RN2), (RN3)
Is less than each set threshold value, that is, if the lateral distance from the path end with respect to the stem is within the set dead zone,
The steering neutral state will be maintained. Further, when the machine body (V) travels the set distance (1 m), the values of the respective times (RN1), (RN2), (RN3) are cleared to zero.

Explaining the steering control in the horizontal cutting type,
As shown in FIG. 11, basically, the steering operation is performed based only on the detection value (AD3n) of the already-cutting side sensor (S ₃ ).

That is, in the same way as the control in the above-mentioned cutting mode,
While traveling the set distance (1 m), by sampling the detected value of the already-cutting side sensor (S ₃₎ for each set distance (5m) (AD3n), the detected value (AD3n) is set dead zone (AD- R7
To AD-R8) The number of times (RN7) and (RN8) outside the counter is counted, and as the number of times exceeds the set threshold (RNC7) and (RNC8), steering operation is performed in the corresponding left and right directions. Will be done. However, the width of the set dead zone in the horizontal cutting type is the width of the dead zone in the line cutting type (set thresholds (AD-R) of the uncut side sensors (S ₁ ) and (S ₂ )).
1), which corresponds to the value between (AD-R2)).

Explaining the steering control in the + 1-row cutting type, as shown in FIG. 12, basically, the uncut side of the two uncut side sensors (S ₁ ) and (S ₂ ) while steering operation based on a difference between the detected value (AD3n) of the second sensor for position detection value (S ₂₎ (AD2n) and the outermost already mowing side sensor (S _3), the supplementary manner, the It is arranged to operate the steering based on the detected value of the most existing mowing side sensor (S ₃₎ (AD3n).

That is, in the same way as the control in the above-mentioned cutting mode,
While traveling the set distance (1 m), by sampling the already cutting side sensor for each set distance (5 cm) Detection value (S ₃₎ (AD3n), the detected value (AD3n) is preset threshold (AD- R
3) Count the number of times above (RN3) and count that number (RN3)
When the value exceeds the set threshold value (RNC3), in order to prevent uncut residue, regardless of the detection value of the second sensor (S ₂ ) on the uncut side, turning to the right, that is, steering to the already cut side. It is designed to be operated.

The already-cutting side sensor detection value (S ₃₎ (AD3n) is preset threshold (AD-R3) or to become number (RN3) setting a threshold value (RNC
If it is less than 3), the two non mowing side sensor (S _1), the (second sensor detection value (S ₂₎ located on the already cutting side of the S ₂₎ (AD2n) counting the difference (AD2n-AD3n) setting a threshold number of times as the (AD-R5) or (RN4) between the detection value of the most existing mowing side sensor (S ₃₎ (AD3n), the number (RN4) is preset threshold (RNC4) As it becomes above, it turns to the left, that is, to steer to the uncut side.

When the number of times (RN4) in which the difference (AD2n-AD3n) is greater than or equal to the set threshold value (AD-R5) is less than the set threshold value (RNC4),
The number of times (RN5) in which the difference (AD2n-AD3n) becomes less than or equal to the set threshold value (AD-R6) is counted, and the number of times (RN5) is set threshold value (RN5).
C5) As it becomes more than the above, it turns to the right, that is, steered to the already mowed side.

In other words, in the + 1-row cutting method, there is a two-pole stem between the most-cutting-side weeding tool (4D) and the one weeding-side weeding tool (4C). Because of the introduction state, the proximity of the stem to the second sensor (S ₂ ) and the proximity to the already cut side sensor (S ₃ ) are both high. Therefore, based on the difference between the detection value of the second sensor (S ₂ ) and the detection value of the already-cutting side sensor (S ₃ ), it is determined which side of the set proper cutting position is displaced to the left or right. I am trying to make it happen.

In addition, the operation control in each cutting method described above is
It will be repeatedly executed until the stock origin sensor (S ₀ ) is turned off.

[Another embodiment]

In the above-mentioned embodiment, the case where the cutting style is automatically discriminated is shown as an example, but the cutting style may be manually instructed. Also, various changes can be made to the specific configurations of the respective parts necessary for carrying out the present invention.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a steering control device for a harvesting and harvesting machine according to the present invention. Fig. 1 is a schematic plan view of a cutting unit, Fig. 2 is a schematic side view of the same, and Fig. 3 is a steering control sensor. FIG. 4 is an explanatory view of the positional relationship between the weeding tool and the stem rod in the line cutting type, FIG. 5 is an explanatory view of the positional relationship between the weeding tool and the stem rod in the horizontal cutting type, FIG. 6 is an explanatory view of the positional relationship between the weeding tool and the stem in the + 1-row cutting type, FIG. 7 is a block diagram of the control configuration, FIG. 8 is a flow chart of the control operation, and FIG. 9 is a cutting type determining process. flowchart,
FIG. 10 is a flowchart of steering control in the line cutting type, FIG. 11 is a flowchart of steering control in the side cutting type, and FIG. 12 is a flowchart of steering control in the +1 line cutting type. (S ₁ ) …… The first sensor on the uncut side, (S ₂ ) …… The second sensor on the uncut side, (S ₃ ) …… The cut side sensor,
(V): Aircraft, (L ₁ ), (L ₂ ), (L ₃ ) ... Plural stalk introduction routes, (3) …… Mowing processor, (100) …… Steering control means.

Claims (1)

[Claims] 1. A path (L ₃ ) on the most already cut side of a plurality of stem rod introduction paths (L ₁ ), (L ₂ ) and (L ₃ ) arranged in parallel in a cutting processing section (3) At least the lateral width of the tip is formed to be larger than the others, and the most cut side path (L ₃ )
A cut-side sensor (S ₃ ) that detects the lateral distance between the stem and the end of the path already cut, and a stick that is introduced into another path and the path cut in another path The first sensor (S ₁ ) on the uncut side that detects the lateral distance from the side edge, and the lateral distance between the stem introduced into the other path and the uncut side edge in the other path A second sensor (S ₂ ) on the uncut side for detection is provided, and these sensors (S ₁ ), (S ₂ ),
Steering control means (10) for steering control based on the information of (S ₃ ).
0) is provided for the harvesting harvester, wherein the steering control means (100) includes the already-cutting side sensor (S ₃ ) while the machine body (V) travels a set distance. When the frequency at which the lateral interval detected by is smaller than the set value is larger than the set number of times, the machine body (V) is steered to the cut side, and when it is smaller than the set number of times. Is the first sensor (S ₁ ) and the second sensor (S ₂ ) on the uncut side
A steering control device for a reaper harvesting machine, the steering control device being configured to perform steering control based on the information of.