JPH0795883B2 - Stem culm position detection device for reaper harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention provides a stem-culm contact piece movably supported in the lateral width direction of a machine body by urging the stem-culm contact piece toward the target stem-cule side. Is set to a shallow copying zone on the maximum protruding side, a deep copying zone on the maximum retreating side, and a dead zone located between these zones, and the stem-culm contact piece is located in any of the three zones. The present invention relates to a stem-culm position detection device for a harvesting harvester provided with a sensor for detecting whether or not it is located.

[Conventional technology]

The stem-and-culm position detection device of the above-mentioned harvesting and harvesting machine does not generate uncut stalks planted in the field or step on the stem and culm with the weeding tool at the tip of the fuselage. And so that they move along the culm at an appropriate distance, that is, the stalk contacting piece movably supported in the machine width direction is maintained in the dead zone zone. It is used as a means for detecting control information for controlling steering effectively. Then, the detection value of the sensor that detects the movement amount of the stalk contact piece, the shallow copying zone, the deep copying zone, and by determining which zone of the dead zone, the body and the stalk The positional relationship is determined.

By the way, since the stem culms planted in the field are not continuously planted without a gap, but are scattered in a scattered state, the above-mentioned stem-culm contact pieces are used for the body and the stem-culm. Even if the positional relationship with is almost constant, it will vibrate by repeating contact / non-contact with the culm as the aircraft moves, and the detection signal of the sensor that detects the contact position will fluctuate. Becomes

In particular, when the stalk culm position is in the deep copying zone, the above-mentioned stalk-culm contact piece is pushed by the stalk and retires largely toward the fuselage side, and then repeats the state of protruding and returning to the stalk culm side. The value fluctuates greatly. Therefore, it is not possible to determine which zone the stem culm position is in using the detected value of the sensor as it is, and in order to determine which zone the sensor detection signal is averaged. It is necessary to perform signal processing such as digitization.

Then, conventionally, the detection signal of the sensor is integrated, the simple average or the moving average of the detection values is calculated every predetermined number of samplings, or the detection value is represented by the maximum value of the detection values within the set time. After performing signal processing such as the above, it was determined which of the three zones the stalk position is located in.

[Problems to be solved by the invention]

Looking at the movement of the culm contact piece, that is, the change in the detection signal of the sensor, as shown in FIGS. 10 (a) and 11 (a),
Since the culm contact piece intermittently contacts the culm,
When it is in the deep copy zone (iii), it contacts one stem culm and retreats largely to the machine side, then once returns to the stalk culm side, and reconnects to the machine side again on contact with the next stem culm. In this state, the amount of movement increases, and the vibration associated with the contact with the culm also increases, and the level of the detection signal (Vx) of the sensor fluctuates greatly.

On the other hand, in the shallow copying zone (i), since the stalk position is far from the aircraft, the frequency of contact with the stalk decreases, and the stalk contact piece does not contact the stalk, or even if it does contact the stalk. Since the amount of movement is small, the detection signal level of the sensor does not change much.

Therefore, if the deep copying zone (iii) and the shallow copying zone (i) have greatly different patterns of the level change of the detection signal of the sensor, if they are averaged together, the detection accuracy will decrease and the actual As a result of various experiments, it was found that the position information corresponding to the culm position could not be obtained.

In other words, if there is a stalk culm that is suddenly largely displaced, the detection signal of the sensor changes as if there was a sudden position change, so in the conventional signal processing for averaging, the detected value is averaged as it is. Therefore, the change is averaged, and there is a case where it is misjudged as if it is in the dead zone despite the fact that the stalk culm position is actually deviated to the deep copy zone, and the aircraft is decided based on the result of the discrimination. Steering control would cause the inconvenience of splitting or stepping down the stem culm plant with a weeding tool.

Further, in the case of the configuration for discriminating the stem culm position based on the maximum value of the above-mentioned conventional detection values, it cannot be discriminated that it is in the deep copying zone until after a set time elapses, so that the traveling control may be significantly delayed. This causes the inconvenience of splitting or stepping down the stem culm plant with a weeding tool as described above.

By the way, the stem culms planted in the field are generally planted in a row at predetermined intervals in order to efficiently manage and grow after planting. There are two types of line cutting, one is a line cutting type and the other is a horizontal cutting type that cuts from a direction orthogonal to the row of stems, and it is necessary to perform optimum steering control corresponding to each type. still,
There is a case where the stems are planted in a so-called rose sowing system that does not form a row, such as wheat, but in this case, the same type of steering control as the above horizontal cutting system can be used.

In other words, in the above-mentioned strip cutting type, since the cutting width of the harvesting harvester is constant, the steering control is performed so that the stems at the left and right ends are located within the effective cutting width of the machine in order to prevent uncut areas. There is a need to. Then, in that case, a stalk contact piece for detecting the stalk position by contacting the stalk respectively at both left and right ends of the mowing part and a sensor for detecting the moving position thereof are provided, and the stalk detection positions by both the left and right sensors are provided. Based on the information, the first steering control means for controlling the steering so that the left and right stalk culm positions are located in the dead zone zones respectively is used, and accurate steering control is performed for the left and right stalk culm positions. In order to perform, it is necessary to detect at high speed and accurately that the left and right stem culm positions with respect to the mowing part deviate from the dead zone.

On the other hand, in the above horizontal cutting type, since there is no clear row to be followed, the second steering control means for steering control based on the stem culm position information by one sensor on the already cut side is used. In order to prevent uncut areas, it is necessary to quickly and accurately discriminate the position of the culm, especially for the displacement toward the deep copy zone. On the other hand, in the discrimination for the shallow copying zone, it is desired to make a discrimination in which the stem culm which is abruptly displaced can be ignored as much as possible, and the discrimination means is the discrimination means for the deep copying zone. It turns out that it is better to provide it separately.

The present invention has been made in view of the above circumstances, and its first purpose is to make it possible to accurately and swiftly determine the stem and culm position in a suitable state in a line cutting type. The second purpose is to enable the culm position to be accurately and quickly determined in the horizontal cutting mode.

Hereinafter, the gist of the first invention and the second invention will be described separately for the first invention and the second invention.

1st invention [Means for solving the problem] The feature of the stem-culm position detection device of the cutting and harvesting machine according to the 1st invention is that sampling means for sampling the detection value of the sensor at every set time, the detection A zone discriminating means for discriminating which of the three zones the value corresponds to, a deep copying zone discriminating portion for discriminating a deep copying zone based on the discrimination result of the zone discriminating means, and the zone discriminating means. A shallow copying zone discriminating section for discriminating that the deep copying zone is a shallow scanning zone based on the discrimination result, and the deep copying zone discriminating section is configured such that the deep copying zone is accompanied by sampling by the sampling means. A first counting means for counting the number of times that is detected, whether or not the number of times of sampling by the sampling means has reached a set number of times of sampling Sampling frequency counting means for determining whether or not, first counting value determining means for deep scanning determination for determining whether or not the count value by the first counting means reaches a first set number of times, sampling by the sampling frequency counting means First resetting means for resetting the count by the first counting means when the number of times reaches the set sampling number or the count value by the first counting means reaches the first set number of times, Further, in the shallow copy zone determination unit, a sampling number counting unit that determines whether or not the sampling number by the sampling unit has reached a set sampling number, and a count value by the first counting unit is a first set number. Count value determining means for shallow scanning determination for determining whether or not the sampling count has been reached. First resetting means for resetting the counting by the first counting means when the number of times of counting reaches the set number of times of sampling or the count value by the first counting means reaches the first set number of times. The action and effect are as follows.

[Operation of the first invention]

That is, as shown in FIG. 1 (a), the sampling means (100) samples the detection value (Vx) from the sensor (R) corresponding to the moving position of the stem-culm contact piece (7) at predetermined time intervals. The above detection value (Vx) for each sampling
However, the zone discriminating means (101) discriminates which of the shallow copying zone (i), the dead zone (ii) and the deep copying zone (iii).

Then, when the determination result is a zone other than the dead zone (ii), for example, a deep copying zone (iii),
While counting the number of samplings (s) by the sampling number counting means (103) of the deep copying zone discrimination section (α), the number of times the deep copying zone (iii) is discriminated is counted by the first counting means (102), First count value determination means (1
04) is the count value (n) of the first counting means (102) is the first
When it is determined that the set number of times (m) has been reached, stalk culm position information indicating that the stalk culm position is in the deep copying zone (iii) is output, and the first resetting means (105) causes the first counting means ( 102) and each count of the sampling number counting means (103) are reset. In addition, the first count value determination means (10
Even when the count value (n) according to 4) does not reach the first set number of times (m), when the sampling number (s) of the sampling number counting means (103) reaches the set sampling number (M). The respective counts of the first counting means (102) and the sampling number counting means (103) are reset.

The determination of the shallow copying zone (i) can be performed in the same manner, and therefore its description is omitted.

That is, the detected stem culm position, per set sampling times, continuous, discrete, in any state, when it is detected that it has deviated from the dead zone zone more than the set number of times, it is determined that the stem culm position is outside the dead zone zone, When the stem culm position starts to largely shift, it is continuously determined that the stem culm is displaced from the dead zone, and the determination result of the displacement from the dead zone is obtained quickly. On the other hand, if the stem culm position does not deviate from the dead zone zone, which sometimes shifts from the dead zone zone, the dead zone zone is delayed with a delay time corresponding to the culm position detection situation so that misjudgment is not made. The result of discriminating the deviation appears.

Further, in a state where the stem-culm contact piece moves between the stems and the stems, the zone discrimination is performed while maintaining the relationship between the previous stem-culm position and the subsequent stem-culm position.

[Effect of the first invention]

Therefore, the stem-culm position discriminating device according to the first aspect of the present invention controls steering based on the zone discrimination result of both detected stem-culm positions by the pair of left and right stem-culm contact pieces like the first steering control means. When applied to the case, when the position of one culm contact piece is in the shallow copying zone, the position of the other culm contact piece is in the deep copying zone. It is possible to accurately determine that the zone is outside the dead zone.

Second invention [Means for solving the problem] The characteristic configuration of the stem-culm position detecting device of the cutting and harvesting machine according to the second invention is sampling means for sampling the detection value of the sensor at every set time, and the detection value is Zone discriminating means for discriminating which of the three zones corresponds, a deep copying zone discriminating portion for discriminating that the zone is a deep copying zone based on the discrimination result of the zone discriminating means, and discrimination by the zone discriminating means. A shallow copying zone discriminating unit for discriminating the shallow copying zone based on the result is provided, and the deep copying zone discriminating unit is configured so that the deep copying zone is detected along with the sampling by the sampling means. A first counting means for counting the number of times the sampling is performed, and determining whether or not the number of times of sampling by the sampling means has reached a set sampling number. Sampling frequency counting means, first counting value determination means for deep scanning determination for determining whether or not the count value by the first counting means has reached a first set number, and sampling frequency by the sampling frequency counting means is set When the number of times of sampling is reached or the count value of the first counting means reaches the first set number of times, a first resetting means for resetting the count by the first counting means is provided, and the shallow resetting means is further provided. A second step of counting the number of times that the shallow copying zone is detected in the copying zone determination section.
Counting means, second counting value determining means for determining whether or not the count value by the second counting means has reached a second set number of times, and the detection zone by the sensor is other than the shallow copying zone. And a second resetting means for resetting the count by the second counting means when the count value by the second counting means reaches the second set number of times. The effects are as follows.

[Operation of Second Invention]

That is, as shown in FIG. 1B, the sampling value (Vx) from the sensor (R) corresponding to the moving position of the stem-culm contact piece (7) is sampled at predetermined intervals by the sampling means (100). The above detection value (Vx) for each sampling
However, the zone discriminating means (101) discriminates which of the shallow copying zone (i), the dead zone (ii) and the deep copying zone (iii).

When the determination result is the deep copying zone (iii), the deep copying zone (ii) is determined by the deep copying zone determining unit (ii) having the same configuration as the zone determining unit (α) in the first invention.
i) and the detection value (V) of the sensor (R)
When x) is the shallow copying zone (i), the second counting means (106) forming the shallow copying zone discrimination section (β) counts the number of times of continuous detection, and the counted value (j). When the number reaches the second set number (N), the second count value discriminating means (107) outputs the stem culm position information indicating that the stalk culm position is in the shallow copying zone (i), and the second resetting means (107). Ten
The count of the second counting means (106) is reset by 8). Even if the count value (j) obtained by the second count value judging means (106) does not reach the second set number of times (N), the zone judging means (101) makes the shallow copying zone (i). If the zone other than is determined, the second reset means (10
8) is started to reset the count of the second counting means (106).

That is, when the detection value (Vx) of the sensor (R) is counted in the deep sampling zone (iii) more than the set number of times (m) within the set sampling number (M), the actual stem-culm position is the deep copying zone. When it is determined that the actual stalk culm position is in the shallow copying zone (i) by continuously counting the number of times that it is in the shallow copying zone (i) for the set number of times (N) or more, detection other than that is detected. The value variation is determined to be in the dead zone (ii).

Therefore, if the detected stem culm position is in the deep copying zone per set number of times, continuously or discretely, in any state, it is determined that it is in the deep copying zone. When a large deviation starts, the deep copy zone is continuously detected, and the deep copy zone determination result is obtained quickly. Also, if the stem culm position does not deviate from the dead zone that sometimes becomes the deep copying zone, the deep copying zone determination result will be displayed with the delay time corresponding to the stem position detection situation so as not to make a wrong determination. Get out. Further, in a state where the stem-culm contact piece moves between the stems and the stems, the zone discrimination is performed while maintaining the relationship between the previous stem-culm position and the subsequent stem-culm position.

On the other hand, the determination of the shallow copying zone is performed by detecting that the detected stem culm position is continuously in the shallow copying zone for a set number of times or more, so that a position that suddenly crosses the shallow copying zone is detected. It is possible to surely remove the influence of the erroneously detected position information and the detection information that temporarily becomes the shallow copying zone when the stem-culm contact piece in the dead zone zone or the deep copying zone returns to the stem-culm side.

In other words, it is not affected by the fluctuation of the detection zone in the state of returning from the contact state to the culm, and even if there is a sudden fluctuation of the culm position, the zone discrimination result is not immediately output. Disappear.

[Effect of second invention]

Therefore, the stem-culm position detecting device according to the second invention uses one stem-culm contact piece like the second steering control means, and the position thereof is in any of the shallow copying zone, the dead zone and the deep copying zone. If it is applied in a case where it is necessary to determine whether or not it is possible, accurate zone determination information corresponding to the stem culm position variation can be obtained.

〔Example〕

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

As shown in FIG. 7, the cutting stems of the rice, wheat, etc. in the field are raised and cut, and the cutting stems are transferred to the feed chain (1) after being changed to the sideways posture while being conveyed. The part (2) and the stem culm that is sandwiched and conveyed by the feed chain (1) include a threshing device (3) that threshes the stalks that are sandwiched and conveyed by the feed chain (1) to collect grain. The crawler traveling device (4L) and (4R) are mounted on a body (V) equipped with a pair of crawler traveling devices to form a self-propelled combine as a harvester.

The cutting unit (2) is configured to be movable up and down by a hydraulic cylinder (8), and is greatly moved up at the time of a turn to move to the next working process after completion of one process, so that the stem stem (H) is not pushed down.

In addition, by detecting a change in the earth's magnetism at the turning center position of the machine body (V), that is, at the upper part of the machine body (V) corresponding to the intersection of the diagonal lines connecting the front and rear ends of the left and right crawler traveling devices (4L) and (4R), An azimuth sensor (S ₃ ) in which a geomagnetic sensor for detecting the azimuth and a signal processing unit for processing the detection signal thereof are integrally unitized is provided as the azimuth detecting means for detecting the direction of the body (V). Then, as shown in FIG. 2, the information of the detected azimuth (θ) is obtained by the A / D converter (16).
It is input to the control device (15) via the control unit (15) and is sampled at predetermined intervals (about 60 ms in this embodiment) to be used as control information in the setting of the reference azimuth (θ ₀ ) by outer peripheral teaching and steering control which will be described later. Be done.

As shown in FIG. 2 and FIG. 7, the lower part of the cutting part (2) is turned on by contacting the stock of the stem culm (H) introduced into the cutting part (2) from the front side. A stock sensor (S ₀ ) consisting of a contact type switch that outputs an OFF signal is provided, and it is detected whether or not the process end has been reached by determining whether or not mowing work is in progress. A process end detecting means is configured.

As shown in FIG. 2, the output from the engine (E) is configured to be transmitted to the traveling mission section (10) via the hydraulic continuously variable transmission (9). Then, a vehicle speed sensor (S ₄ ) for detecting the rotation speed of the input shaft (10a) to the mission section (10) is provided, the traveling speed is detected based on the detected rotation speed per unit time, and the rotation speed is detected. The mileage (Lx) is detected by integrating the numbers.

Further, steering clutch brakes (11L), (11R) for intermittently transmitting and receiving power transmission from the mission section (10) to the left and right crawler traveling devices (4L), (4R), respectively, the steering clutch brakes (11L), (11R) hydraulic cylinder (12
L), (12R), and this hydraulic cylinder (12L), (1
There is a solenoid valve (13) that operates 2R) separately. And in the steering control during the mowing work,
The electromagnetic valve (13) for each steering command
Is turned on for about 70 ms, and then turned off for about 220 ms, the unit steering amount is steered. In FIG. 2, reference numeral (14) is an electromagnetic valve for actuating a hydraulic cylinder (8) for raising and lowering the reaper (2).

As shown in FIG. 2 and FIG. 8 (a), (b), the weeding tools (5) at the left and right ends provided at the tip of the mowing part (2).
The attachment frames (6) and (6) of L) and (5R) are urged toward the front of the machine body (V), which is the cutting stem (H) side, and are introduced into the cutting section (2). The stem culm that moves in the lateral direction of the machine body by contacting the base of the stem culm (H) and rotating to the rear side of the machine body (V) by an angle corresponding to the contact position. A scanning sensor (a sensor bar (7) serving as a contact piece and a potentiometer (R) serving as a sensor that outputs a change in the rotation angle of the sensor bar (7), that is, a change in the stem culm position, as a change in output voltage (Vx) ( S _2), is provided with (S _1). Incidentally, Kuki稈in order to prevent leaving cutting, since the steering control based on the value detected by previously cutting side sensor (S _1), the sensor bar (7) of the pre-cutting side sensor (S ₁₎ In order to increase the frequency with which the (H) contacts, the previously cut side sensor (S ₁ )
The sensor bar (7) has a longer length than that of the uncut sensor (S ₂ ). By the way, in the present embodiment, the length of the sensor bar (7) of the already cut side copying sensor (S ₁ ) is about 20 cm based on the length corresponding to the standard planting interval of the stem culm (H). The length of the sensor bar (7) of the cutting side scanning sensor (S ₂ ) is set to 12 cm, which is about half that length, respectively, and the rear side of the machine body (V) without contacting the stem (H). It is inclined by about 160 degrees so that the stem (H) can be contacted smoothly.

As shown in FIG. 9, the relationship between the output voltage (Vx) of the potentiometer (R) and the rotation angle of the sensor bar (7) is that the output voltage (Vx) is the rotation angle of the sensor bar (7). The output voltage (Vx) increases proportionally as the position of the culm (H) gets closer to the body (V) as the position becomes larger. Then, as shown in FIG. ₂ , the stem culm position detection values (Vx ₁ ) and (Vx, which are output voltages from the potentiometers (R) and (R) of the respective scanning sensors (S ₁ ) and (S ₂ ). ₂ ) is input to the control device (15) through the A / D converter (16) together with the detection direction (θ) by the direction sensor (S ₃ ) and the internal timer function of the control device (15). The stem culm position is determined by sampling at a predetermined cycle (about 30 ms in this embodiment) by a not-shown (3)
One of the zones (i), (ii), and (iii) is discriminated, and the steering control is performed based on the discrimination result. The sampling means (100) is configured by the sampling cycle setting by the internal timer function of the A / D converter (16) and the control device (15).

Zone discrimination based on the detection results of the left and right scanning sensors (S ₂ ) and (S ₁ ) will be described.
As shown in (b), the movement range of the sensor bar (7) is set so that the left and right scanning sensors (S ₂ ) and (S ₁ ) respectively have the maximum protruding side shallow copying zone (i) and the maximum retraction side depth. The copying zone (iii) and the dead zone (ii) located between these zones (i) and (iii) are set. Then, as shown in FIG. 10 (a) and FIG. 11 (a), the output voltage (Vx) from the potentiometer (R) is 3
By determining which of the two zones (i), (ii), (iii) it is in, the positional relationship between the airframe (V) and the stalk (H) is determined. In the control, control is performed so that the state in which the output voltage (Vx) is within the dead zone (ii) is regarded as the state in which the stem culm (H) position is in the proper state. Further, the left and right scanning sensors (S ₂ ) and (S ₁ ) respectively have zones (i), (ii), (ii).
In i), the length of each sensor bar (7) is different, and the dead zone zone (ii) where the left and right stem culm positions are in the proper state is different, so which zone is it? The potentiometer (R) for determining
Zone detection threshold (Vx) to be compared with the output voltage (Vx) from
H) and (VL) are set to different values.

That is, as will be described later in detail, in the case of a line cutting type in which a cutting operation is performed while traveling along a row of stems (H) planted in a field, as shown in Table I below, the stems In the case of horizontal cutting type that is orthogonal to the row of (H), see Table II below.
As shown in, a threshold value (V for discriminating each of the zones (i), (ii), and (iii) corresponding to each cutting format (V
H) and (VL) are set.

Then, the threshold values (VH) and (VL) shown in Tables I and II above are compared with the sampled detection values (Vx ₁ ) and (Vx ₂ ) of the scanning sensors (S ₁ ) and (S ₂ ). by the detection value _{(Vx 1), (Vx 2} ) , it is determined whether the one of the zones, these detected values _{(Vx 1), (Vx 2} ) so that is within the respective dead band zone (ii) In addition, the steering control is performed based on the respective detection information so that the azimuth (θ) detected by the azimuth sensor (S ₃ ) is within the set tolerance with respect to the reference azimuth (θ ₀ ). The threshold values (VH) and (VL) are set in advance according to the type of the cut culm (H),
It is stored in the control device (15), and the zone discrimination means (101) is constituted by the zone discrimination processing according to each of the above tables I and II.

Sampling of the detected azimuth (θ) by the azimuth sensor (S ₃ ) will be described in detail. As shown in FIG. 10 (b) and FIG. 11 (b), it is the set sampling period.
The detection azimuth (θ) sampled every 60 ms is within the set tolerance (Δθ) with respect to the reference azimuth (θ ₀ ). When the vehicle body (V) is continuously deviated to any one of the copying zone (a) and the deep copying zone (c) for a set number of times (16 times in this embodiment) or more, the orientation of the machine body (V) is the reference direction (θ ₀ ).
It is discriminated that the steering direction is deviated, and the steering direction is controlled so that the detected direction (θ) is maintained within the dead zone (b) of the direction. The width of the dead zone zone (b) of the azimuth is such that in the case of the cutting type, since the machine body (V) is caused to travel along the row of the stems (H), the scanning sensors (S ₁ ) and (S _In order to allow steering control by ₂ ) prior to this direction control, in order to allow the waviness of the row of stems (H), a slightly wider width (± 12 degrees) Since the row of stalks (H) to be followed is unclear, this direction control is prioritized over the steering control by the scanning sensors (S ₁ ) and (S ₂ ) so as to move straight in the direction of the reference direction (θ ₀ ). In order to do so, the width is set to a narrow width (± 2 degrees).

The operation of the control device (15) for controlling the traveling of the machine body (V) will be described in detail below.

First, the outline of the traveling control will be explained. When the maneuvering operation is performed while manipulating the outermost peripheral portion of the mowing work range in advance, the stock source sensor (S ₀ ) is turned on and then turned off. Until then, the direction detected by the direction sensor (8) (θ) is repeatedly sampled, and the average direction is stored in the control device (15) as the reference direction (θ ₀ ) of each side that becomes each work process. I am allowed to do it. In addition, based on whether the cutting work in each process is in the direction along the row direction of the stem culm (H) when the reference azimuth (θ ₀ ) is stored, based on the stem culm planting form in the process of each side It is stored at the same time whether the type of work corresponding to it is pruning or horizontal cutting, and the steering control pattern in each step described later is the first steering control means for performing the above-mentioned pruning. It is used as control information for selecting a cutting mode that automatically selects whether the second steering control means for performing horizontal cutting. Therefore, the work for storing the reference azimuth (θ ₀ ) and the cutting type will be referred to as outer circumference teaching hereinafter.

Then, as shown in FIG. 3, the operation state of the work mode selection switch (SW ₀ ) for setting whether to perform the outer circumference teaching or the automatic traveling is checked, and when this switch (SW ₀ ) is in the ON state. If there is, the processing for the outer peripheral teaching is executed. Steering control switch (SW ₁ ) is ON when the work mode selection switch (SW ₀ ) is OFF.
When operated, the condition of the stock sensor (S ₀ ) is checked.

When the machine body (V) is artificially operated to start the harvesting operation, the stock origin sensor (S ₀ ) is turned on and steering control is started.

That is, when the stock origin sensor (S ₀ ) is turned on, the detected orientation by the orientation sensor (8) is compared with the stored reference orientation, and the closest reference orientation is set as the reference orientation in the process. The corresponding steering control means is selected from the correspondingly stored cutting patterns, and the steering control corresponding to the selected cutting pattern is started.

With the completion of one work process, the stock sensor (S ₀ )
When turned off, the left and right scanning sensors (S ₁ ) and (S ₂ ) are turned off.
Check whether or not it is in the state, and all the stock sensor (S ₀ ) and the copy sensors (S ₁ ) and (S ₂ ) are turned off,
Further, when that state elapses for a set time (about 1.5 seconds in this embodiment) or more, it is determined that one work process is completed, steering control is completed, and the machine body (V) is moved to the next process. To activate the turn control to let. In order to determine the end of one working process, it is necessary to check the states of both the stock origin sensor (S ₀ ) and the scanning sensors (S ₁ ) and (S ₂ ) by the stock origin sensor (S ₀ ). Since S ₀ ) is configured to come into contact with the stem culm (H) introduced into the mowing section (2) and to be turned ON / OFF, the stem culm (H) is temporarily used only with this strain sensor (S ₀ ). It is not possible to completely distinguish it from the case where it is interrupted, and even if the stock source sensor (S ₀ ) is turned off, the supply of the stem culm (H) to the threshing device (3) by the feed chain (1) is completed. If the cutting control is stopped in that state, jamming may occur in the transportation, and even if the stock sensor (S ₀ ) is turned off, the steering control is stopped after some time has passed. All sensors (S ₀ ) that contact the stem culm (H) introduced from the front of the aircraft (V),
This is because when (S ₁ ) and (S ₂ ) are all in the OFF state, it is possible to determine that one work process is completed with less time delay in determining the end of the work process and less malfunction.

Hereinafter, the configuration of the first steering control means corresponding to the cutting type will be described with reference to the flowcharts shown in FIGS. 4 (a) and 4 (b). The first steering control means is configured by applying the first invention of the present invention.

The first steering control means includes a data count routine (JINIT) for determining a deep copying state shown in FIG.
It is composed of a steering control routine for performing steering control based on the discrimination result shown in FIG. 2 (a). Basically, the detection voltage (Vx _{1 of the} both scanning sensors (S ₁ ) and (S ₂ ) is basically set. ), (Vx ₂ )
Is within the dead zone (ii), the azimuth sensor (S ₃ ) detects the azimuth (θ) so that the azimuth control is performed by the scanning information detected by the scanning sensors (S ₁ ) and (S ₂ ). The direction control is prioritized over the direction control.

The data count routine (JINIT) is performed right rotation every sampling period (30 ms) for sampling the detection voltages (Vx ₁ ) and (Vx ₂ ) of the scanning sensors (S ₁ ) and (S ₂ ). Data count routine (A) for turning control, data count routines (B) and (C) for two constant angle turning controls (B) and (C), and data counting routine (D) for left turning control It is composed of four data counting routines having the same structure.

The data counting routine (A) for right turn control will be described in detail as an example. In the steering control routine, the detection values (Vx ₁ ) and (Vx ₂ ) of the scanning sensors (S ₁ ) and (S ₂ ) will be described. ), The stem culm position is set to "1" when the state in which the stem is located in the deep copying zone (iii) is detected.
A ₁ ) status is checked (step # 100), and if this flag (JA ₁ ) is set to "1", the count value (Sa) of the number of samplings from the state where the deep copying state is first detected Is incremented by 1 (step # 101). So,
A sampling number counting means (103) is configured.

Next, it is checked whether or not the count value (Sa) of the sampling number reaches the set sampling number (M) (step # 102). If the set sampling number (M) is not reached, the operation is performed. In the control routine,
The count value (n ₁ ) of the number of times that the detection values (Vx ₁ ) and (Vx ₂ ) of the scanning sensors (S ₁ ) and (S ₂ ) are in the deep copying zone (iii) is the first set number of times. It is checked whether or not (m) has been reached (step # 103). Therefore, the first count value determination means (104) is configured.

When the count value (n ₁ ) has reached the first set number of times (m), the control start flag (JA ₂ ) is set to "1" to start the right turn control (step # 104). On the other hand, if the count value (n ₁ ) does not reach the set number of times (m) and the count value (Sa) of the sampling number reaches the set sampling number (M), the control activation flag (JA) ₂ ) and each count value (Sa), (n ₁ ) to "0"
To reset (step # 105). Therefore, the first reset means (105) is configured.

The data counting routines (B) and (C) for the two constant angle turning controls (B) and (C) and the data counting routine (D) for the left turning control have been described above. Data count routine for right turn control (A)
And the flags (JB ₁ ), (JB ₂ ), (JC ₁ ), (JC ₂ ), corresponding to the count state.
Set / reset (JD ₁ ) and (JD ₂ ) and count each count value (Sb), (Sc), (Sd), (n ₂ ), (n ₃ ), (n ₄ ) individually. The description is omitted here. However, in the first steering control means in this embodiment,
The set sampling number (M) is 9 times, the first set value (m) of the deep scanning zone (iii) detection number in the left turn control (D) is 5 times, and the other controls (A to C) are The set value (m) is set to 7 times, respectively. In this way, the set value (m) of the number of times of detection of the deep copying zone (iii) is made different only in the case of the left turning control (D), because the left turning control (D) moves the machine body (V) to the uncut side. This is because there is a risk of left uncut if the control is activated too often.

The steering control routine will be described in detail. This steering control routine is performed by detecting values (Vx ₁ ) and (Vx ₂ ) of the copying sensors (S ₁ ) and (S ₂ ) on the cut and uncut sides, respectively. Zone discrimination routine (steps # 200 to # 204) as zone discrimination means (101) for discriminating which of the above three zones (i), (ii) and (iii) the zone is in, and that zone A control routine for deciding whether or not to activate the corresponding four turning controls (A to D) or azimuth control based on the state and count value of each flag set in the data count routine corresponding to the determination result ( Steps # 205- # 51
0).

Explaining the zone discrimination routine in detail, first, it is determined whether or not the detection value (Vx ₁ ) of the already-cut side scanning sensor (S ₁ ) is less than or equal to the lower limit threshold (VL ₁ ) for discriminating the shallow scanning zone (i). The shallow copying state is determined based on the
0).

Next, copying the already-cutting side detection value of the sensor (S ₁₎ (Vx ₁₎
Is in the dead zone (ii) based on whether or not is equal to or less than the upper limit threshold (VH ₁ ) for determining the deep copying zone (iii) (step # 201). In other words, if the detected value (Vx ₁ ) of the already-cutting side scanning sensor (S ₁ ) is in the deep copying zone (iii), it is determined that the stem culm position is in the deep copying zone (iii), and the direction of the machine (V) It is checked whether or not to activate the right turn control (A) that corrects to the already cut side.

On the other hand, in step # 200, when the detected value (Vx ₁ ) of the already-cut side scanning sensor (S ₁ ) is equal to or lower than the lower limit threshold value (VL ₁ ) for discriminating the shallow scanning zone (i),
Based on whether or not the detection value (Vx ₂ ) of the uncut side copying sensor (S ₂ ) is less than or equal to the lower limit threshold value (VL ₂ ) for determining the uncut side shallow copying zone (i), the shallow copying zone ( i) is determined (step # 202). Then, when it is in the shallow copying zone (i), it is checked whether or not to activate the left turning control (D) for correcting the direction of the machine body (V) to the uncut side.

In step # 202, if the detected value (Vx ₁ ) of the cut-side scanning sensor (S ₁ ) is not less than or equal to the lower threshold (VL ₁ ) for determining the shallow copy zone (i), the cut-side copying is performed. whether the sensor detection value (S ₁₎ (Vx ₁₎ is the non cutting side of the depth profiling zone (iii) dead zone zone based on whether the upper limit threshold value (VH ₂₎ below for determination (ii) It is determined whether it is in the deep copy zone (iii) (step # 203). Then, when in the dead zone (ii), the azimuth control is activated, and when in the deep copying zone (iii), the fixed angle right turn control for slightly correcting the direction of the machine body (V) to the cut side. It is checked whether or not (B) is activated.

Further, in the step # 201, the copying the already-cutting side sensor detection value (S ₁₎ (Vx ₁₎ is the depth profiling zone (iii)
When in the discrimination of the upper limit threshold value (VH ₁₎ below not if that is dead band zone (ii), the the non-cutting side scanning sensor detection value _{(S 2) (Vx 2)} , the non-cutting side scanning sensor ( S
₂ ) It is determined whether the deep copying state or the dead zone is present based on whether or not it is less than or equal to the lower limit threshold value (VL ₂ ) for the shallow copying zone (i) for ( ₂ ) (step # 204).

Then, copying the already-cutting side detection value of the sensor (S ₁₎ (V
x ₁ ) is in the dead zone (ii), and the detection value (Vx ₂ ) of the uncut side scanning sensor (S ₂ ) is not less than or equal to the lower threshold (VL ₂ ) for shallow scanning zone (i) discrimination. Judges that the stem culm (H) position is in the dead zone (ii), and performs the azimuth control (step # 203).

Next, the control routine (steps # 205 to # 510) for determining whether or not to activate the four turning controls (A to D) will be described in detail.

That is, the right turn control (A), said in some cases to pre-cutting side scanning sensor detection value (S ₁₎ (Vx ₁₎ is deep scanning zone (iii), to determine whether to activate In the right turning control (A) routine of the data count routine, the flag (JA ₁ ) set corresponding to the detection state of the detection value (Vx ₁ ) is set to "1". It is checked whether or not (step # 205), and if the flag (JA ₁ ) is set to "1", the count value (n ₁ ) of the number of times of deep scanning state detection is incremented by 1 (step #
206). Therefore, the first counting means (102) is configured.
Then, whether or not the control start flag (JA ₂ ) is set to "1", that is, whether or not the number of detections (n ₁ ) of the deep copying zone (iii) has reached the first set number of times (m). Is checked (step # 207). Therefore, the first count value determination means (103) is configured. Next, when the control start flag (JC ₂ ) is set to "1", the right turn control (A) is started (step # 208), the control start flag (JA ₂ ) and each count are counted. The values (Sa) and (n ₁ ) are reset to "0" (step # 209), and the flag (JA ₁ ) is set to "1" (step # 210). still,
In step # 205, the flag (JA ₁ ) is set to "0".
If this is the case, this flag (JA ₁ ) is set to "1" in step # 210. So,
By the processing of step # 209, the first reset means (10
5) and the data counting routine (JINI) for determining the deep scanning state shown in FIG.
T) and the steering control routine for controlling the steering based on the discrimination result shown in FIG. 4 (a) constitute a stalk-culm position zone discrimination section (α).

Hereinafter, the constant angle turning controls (B), (C) and the left turning control (D) are also checked in the same manner as the activation determination of the right turning control (A), and step # 305.
~ # 310, Steps # 405 ~ # 410, Steps # 505 ~ # 51
0 is shown as corresponding to each step # 205 to # 210 of the start determination of the right turn control (A),
The description is omitted.

Next, the configuration of the second steering control means corresponding to the horizontal cutting type will be described based on the flowcharts shown in FIGS. 5 (a) and 5 (b). The second steering control means is configured by applying the second invention of the present invention.

This second steering control means performs azimuth control based on the azimuth (θ) detected by the azimuth sensor (S ₃ ) shown in FIG. 5 (a) or the value detected by the already-cut side scanning sensor (S ₁ ). Vx ₁ ) Based on the steering control type discrimination routine that determines whether to perform steering control, and the zone discrimination shown in Fig. 5 (b) and the steering control routine (DIRJ) that is performed based on the discrimination result. In this horizontal cutting type, since the row of stalks (H) along which the body (V) should travel is unclear, as shown in FIG. only when the detected azimuth by the azimuth sensor (S ₃₎ (θ) is in the dead band zone (b) of the orientation, the detection voltage (Vx ₁₎ said three zones of the already-cutting side scanning sensor (S ₁₎ (i ),
Based on which zone (ii) or (iii) it is, constant angle turning control (B) in the first steering control means,
In order to perform the same control as in (C), the steering control based on the detection information by the azimuth sensor (S ₃ ) is prioritized over the steering control based on the detection information by the already-cut side scanning sensor (S ₁ ). is there.

When the detected azimuth (θ) by the azimuth sensor (S ₃ ) is outside the azimuth dead zone (b), the azimuth steered until the detected azimuth (θ) matches the reference azimuth (θ ₀ ). In addition to the control, when this azimuth control is activated, the direction of the machine body (V) changes, so the detection information by the already-cutting side scanning sensor (S ₁ ) is related before and after this azimuth control is activated. However, the flags (J ₁ ) and (J ₂ ) for zone discrimination and the count values (s), (n), and (j) are all cleared to "0" to be initialized. I am trying to make it. Therefore, the first reset means (10
5) and the second reset means (108).

Hereinafter, the detection value by the pre-cutting side scanning sensor (S ₁₎ (Vx
The zone discrimination of ₁ ) and the steering control routine (DIRJ) performed based on the discrimination result will be described in detail.

That is, as shown in FIG. 5B, this steering control routine (DIRJ) is a deep copying zone (iii) discrimination routine as the deep copying zone discrimination unit (α) executed from step # 600. , A shallow copying zone (i) determining routine as a shallow copying zone determining unit (β) executed from step # 700.

The determination routine for the deep copying zone (iii) will be described in detail. First, the detection value (Vx ₁ ) of the already-cutting side copying sensor (S ₁ ) is the deep cutting zone for horizontal cutting (ii) shown in Table II.
i) It is determined whether or not it is equal to or more than the upper limit threshold (VH ₃ ) for determination (step # 600).

When the detection value (Vx ₁ ) is equal to or higher than the upper limit threshold value (VH ₃ ), the deep scanning state detection flag ((n)) for determining whether or not to count the number of times (n) of detection of the deep scanning zone (iii) is performed. J _1), it is determined whether it is set to "1" (step # 601), if the flag (J ₁₎ is not set to "1" is set to "1" (step # 602),
The number of samplings (s) from the time when the deep scanning zone (iii) is first detected and the number of times (n) the deep scanning zone (iii) are detected are incremented by +1 (step # 60).
3). Therefore, the first counting means (102) is configured.

Next, it is checked whether or not the number of detections (n) of the deep scanning zone (iii) added in step # 603 reaches the first set number of times (m) (step # 604), and the set number of times is determined. If it has reached (m), the fixed-angle turning control is activated to correct the traveling direction to the right, that is, to the cut side (step # 605). Therefore, in step # 604, the first count value discriminating means (104) is configured. On the other hand, when the number of detections (n) of the deep scanning zone (iii) does not reach the first set number of times (m), the number of samplings (s) counted in step # 603 is the set number of samplings. (M) It is checked whether or not it is less than or equal to (step # 606). If the number of samplings is less than or equal to the set sampling number (M), the flag (J ₁ ) and the count values (s) and (n) are reset to "0" (step #
607), and the process proceeds to the next shallow copying zone (i) determination routine.

On the other hand, if the detection value (Vx ₁ ) of the already-cutting side scanning sensor (S ₁ ) determined in step # 600 is less than the upper threshold (VH ₃ ) for determining the deep cutting zone for horizontal cutting (iii) If there is, the deep copying state detection flag (J ₁ ) for determining whether or not to count the number of times (n) of detection of the deep copying zone (iii) is set to "1" as in step # 601. If the flag (J ₁ ) is not set to "1", the process proceeds to the determination routine for the next shallow copying zone (i), and the flag (J ₁ ) is determined. ) Is set to “1”, the sampling number (s) is incremented by 1 (step # 609), and the counted sampling number (s) is set to the set sampling number (M) as in step # 606. ) Check if the following (step # 610)

If the number of samplings is less than or equal to the set number of times (M), the flag (J ₁ ) and the count values (s) and (n) are reset to "0" (step # 611), and the next shallow copying is performed. The processing is advanced to the discrimination routine of the zone (i).
Therefore, the sampling number counting means (103) is configured in steps # 603 and # 609, and steps # 606 and # 6 are performed.
The first resetting means (105) is constituted by 07, # 610 and # 611, and the deep copying zone discriminating section (α) at the stem-culm position in the deep copying zone discrimination routine of steps # 600 to # 611 described above.
Is configured.

Next, the determination routine for the shallow copying zone (i) will be described in detail.

First, the detected value by the pre-cutting side scanning sensor (S ₁₎ (Vx
₁₎ it is determined whether or not the table for horizontal cutting shown in II shallow scanning zone (i) a lower threshold for discrimination (VL ₃₎ or more (Step # 700).

When the detected value (Vx ₁ ) is less than or equal to the lower threshold (VL ₃ ), it is determined whether or not to count the number (j) of consecutive detections of the shallow copying zone (i). It is determined whether or not the scanning state detection flag (J ₂ ) is set to "1" (step # 701). If this flag (J ₁ ) is not set to "1", it is set to "1". After setting (step # 702), the number (j) of detecting the shallow copying zone (i) from the time when the shallow copying zone (i) is first detected is incremented by +1 (step # 703). Therefore, the second counting means (10
6) is configured.

Then, the number (j) of detecting the shallow copying zone (i) counted in step # 703 is the set number (N).
It is checked whether or not this is the case (step # 704), and if it is the second set number of times (N) or more, the constant angle turning control is activated in the same manner as described above, and the traveling direction is corrected to the left direction, that is, the uncut side. Then, (step # 705), the flag (J ₂ ) and the number of times of detection (j) are reset to "0", and the process is terminated. Therefore, in step # 704, the second count value determination means (10
7) is configured.

On the other hand, the detection value (Vx ₁ ) by the already-cutting side scanning sensor (S ₁ ) determined in step # 700 exceeds the lower limit threshold value (VL ₃ ) for the horizontal cutting shallow scanning zone (i) determination. If it is, the shallow copying state detection flag (J ₂ ) that determines whether or not to count the number (j) of consecutive detections of the shallow copying zone (i) is “Similar to step # 701”. 1 "
Is set to (Step # 70
7) If the flag (J ₁ ) is not set to "1", the process is terminated. If the flag (J ₁ ) is set to "1", the flag (J ₂ ) and detection are performed as in step # 706. The number of times (j) is reset to "0", and the process ends. So,
The step # 706 and step # 708 constitute the second reset means (108), and the steps # 700 to 70 described above are performed.
The shallow copying zone discrimination routine (8) constitutes a shallow copying zone discrimination unit (β) at the stalk culm position.

When the cut culm (H) is rice, the set sampling number (M) and the second sampling number in the second steering control means described above are used.
The set number of times (N) is set to 10 times, and the first set number of times (m) is set to 3 times. The ratio of the first set number of times (3 times) to the set sampling number of times (10 times) is relative to the set sampling number of the first set number of times (5 times or 7 times) (9 times) in the first steering control means. It is smaller than the ratio because the stem culms (H) that should be used in the horizontal cutting method even in the same field
It is because the sensor bar (7), that is, the stem-culm contacting piece, comes into contact with the stem-culm (H) more frequently than in the strip-cutting type because the strip row is unclear. By the way, when the stem culm (H) planted in a rose-sown form such as wheat is cut and controlled by the second steering control means, the set sampling number (M) and the second set number (N) are set as follows. Controllability was good when set to about 32 times.

Next, the constant angle turning control will be described.

As shown in FIG. 6, this fixed-angle turning control performs the same processing only when the direction of the machine body (V) is corrected in either the left or right direction, but the direction is different. The steering valve for the steering clutch brake (11L, 11R) is operated by a set steering amount equivalent to
3) is turned ON / OFF for a predetermined time. Then, as a result of the steering control, the angle at which the orientation of the machine body (V) has actually changed is determined from the change in the detected azimuth (θ), and the angle that matches the set angle (θn) in the set steering amount is determined. If the steering angle is not being steered, the set steering amount is corrected by the unit angle (Δθ), and when the constant angle turning control is started from the next time onward, the set angle is set by one steering control output. The steering control amount is automatically corrected so that the steering can be performed by (θn).

In the right turn control and the left turn control, the same control is performed only by different steering directions,
The electromagnetic valve (13) is driven ON / OFF for a time corresponding to the set steering amount so that the vehicle body (V) steers slightly larger than the steering amount in the constant angle turning control.

[Another embodiment]

Although a potentiometer is used as the sensor for detecting the stem culm position in the above embodiment, a rotary encoder or the like that digitally detects a change in the rotation angle may be used.

Further, as the stem-culm contact piece, like the sensor bar illustrated in the above-mentioned embodiment, in addition to the structure of rotating around the fulcrum with the contact with the stem, the slide bar is slid in the lateral direction of the machine body. May be used.

[Brief description of drawings]

FIG. 1 (A) is a block diagram showing the configuration of the first invention of the present invention, and FIG. 1 (B) is a block diagram showing the configuration of the second invention. FIG. 2 and subsequent drawings are drawings showing an embodiment of the stem-culm position detecting device of the cutting and harvesting machine according to the present invention, FIG. 2 is a block diagram showing the overall configuration of the control system, and FIG. 3 is the entire control device. FIG. 4 (a), a flowchart showing a typical operation,
(B) is a flow chart showing the operation of the control device in the first steering control means, and FIGS. 5 (a) and 5 (b) are flow charts showing the operation of the control device in the second steering control means.
FIG. 6 is a flowchart showing the operation of the control device in the constant-angle turning control, FIG. 7 is an overall side view of the self-propelled combine, and FIGS. 8 (a) and 8 (b) are explanations showing the configuration of the stem-culm contact piece. Fig. 9 is a characteristic diagram showing the relationship between the position of the stem-culm contact piece and the detection signal of the sensor, and Fig. 10 (a) is a drawing showing the state of the detection signal of the sensor during the first steering control. (B) is a drawing showing the state of the detection signal of the azimuth sensor during the first steering control,
FIG. 11 (a) is a drawing showing the state of the detection signal of the sensor during the second steering control, and FIG. 11 (b) is a drawing showing the state of the detection signal of the azimuth sensor during the second steering control. (7) …… Stem-culm contact piece, (R) …… Sensor, (Vx) ……
Detected value, (i) ... shallow copying zone, (ii) ... dead zone, (iii) ... deep copying zone, (100) ... sampling means, (101) ... zone discrimination means, (102) ... … First counting means, (103) …… Sampling frequency counting means,
(104) ... first count value discriminating means, (105) ... first resetting means, (106) ... second counting means, (107) ... second
Count value determining means (108) ... second resetting means,
(N) ... Count value of the first counting means, (m) ... first set number of times, (s) ... sampling number of times, (M) ... set sampling number of times, (j) ... of the second counting means Count value,
(N): Second set number of times.

Claims (2)

[Claims] 1. A stem-culm contact piece (7) movably supported in the lateral direction of the machine body is provided so as to return to the target stem-culm side, and the movement range of the stem-culm contact piece (7) is projected to the maximum extent. Side shallow copy zone (i), maximum retreat side deep copy zone (iii), and
The dead zone zone (ii) is located between these zones (i) and (iii), and the stem-culm contact piece (7) is one of the three zones (i), (ii) and (iii). A stalk-culm position detecting device of a cutting and harvesting machine provided with a sensor (R) for detecting whether the sensor (R) is located at a sampling position (S) for sampling the detection value (Vx) of the sensor (R) at every set time ( 100), the detected value (Vx) is the three zones (i), (ii),
(Iii) a zone discriminating means (101) for discriminating which one corresponds, a deep copying zone discriminating section (α) for discriminating that the zone is a deep copying zone based on the discrimination result of the zone discriminating means (101), And a shallow copying zone judging section (β) for judging that it is a shallow copying zone based on the judgment result of the zone judging means (101), and the deep copying zone judging section (α) is configured. In addition, the first counting means (102) for counting the number of times the deep scanning zone (iii) is detected in association with the sampling by the sampling means (100), the number of sampling times (s) by the sampling means (100) are Sampling number counting means (103) for determining whether or not the set sampling number (M) has been reached, and whether or not the count value (n) by the first counting means (102) has reached the first set number (m). Judge A first count value discriminating means (104) for discriminating deep scanning, a first counting means (102) in which the sampling number (s) of the sampling number counting means (103) reaches a set sampling number (M) When the count value (n) reaches the first set number of times (m), the first value
Each of the first resetting means (105) for resetting the counting by the counting means (102) is further provided, and the number of samplings by the sampling means (100) is included in the shallow scanning zone discrimination section (β). Sampling number counting means (103) for determining whether or not s) has reached the set sampling number (M), and the count value (n) by the first counting means (102) reaches the first set number (m). A first count value discriminating means (104) for discriminating whether or not the sampling is performed, and the first count is such that the sampling number (s) by the sampling number counting means (103) reaches a set sampling number (M). When the count value (n) by the means (102) reaches the first set number of times (m), the first
A stem-and-culm position detecting device for a harvesting harvester, comprising: first resetting means (105) for resetting counting by the counting means (102). 2. A stem-culm contact piece (7) movably supported in the lateral direction of the machine body is provided so as to return to the target stem-culm side, and the movement range of the stem-culm contact piece (7) is projected to the maximum extent. Side shallow copy zone (i), maximum retreat side deep copy zone (iii), and
The dead zone zone (ii) is located between these zones (i) and (iii), and the stem-culm contact piece (7) is one of the three zones (i), (ii) and (iii). A stalk-culm position detecting device of a cutting and harvesting machine provided with a sensor (R) for detecting whether the sensor (R) is located at a sampling position (S) for sampling the detection value (Vx) of the sensor (R) at every set time ( 100), the detected value (Vx) is the three zones (i), (ii),
(Iii) a zone discriminating means (101) for discriminating which one corresponds, a deep copying zone discriminating section (α) for discriminating that the zone is a deep copying zone based on the discrimination result of the zone discriminating means (101), And a shallow copying zone judging section (β) for judging that it is a shallow copying zone based on the judgment result of the zone judging means (101), and the deep copying zone judging section (α) is configured. In addition, the first counting means (102) for counting the number of times the deep scanning zone (iii) is detected in association with the sampling by the sampling means (100), the number of sampling times (s) by the sampling means (100) are Sampling number counting means (103) for determining whether or not the set sampling number (M) has been reached, and whether or not the count value (n) by the first counting means (101) has reached the first set number (m). Judge A first count value discriminating means (104) for discriminating deep scanning, a first counting means (102) in which the sampling number (s) of the sampling number counting means (103) reaches a set sampling number (M) When the count value (n) reaches the first set number of times (m), the first value
A first resetting means (105) for resetting the counting by the counting means (102) is further provided, and the shallow copying zone (i) is detected in the shallow copying zone determining section (β). A second counting means (106) for counting the number of times, and a second for shallow scanning determination for determining whether or not the count value (j) by the second counting means (106) has reached a second set number of times (N). A count value discriminating means (107), the detection zone of the sensor (R) is other than the shallow copying zone (i), and the count value (j) of the second counting means (106) is the second set number (N). And a second resetting means (108) for resetting the counting by the second counting means (106) when any of the above is reached.