JP2009232783A

JP2009232783A - Work vehicle

Info

Publication number: JP2009232783A
Application number: JP2008084557A
Authority: JP
Inventors: Shigeki Hayashi; 繁樹林; Shinichi Kawabata; 河端　　真一; Takayasu Kobayashi; 孝安小林; Muneyuki Kawase; 宗之河瀬; Atsushi Tonari; 厚史戸成; Tadashi Tsuji; 正辻
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2008-03-27
Filing date: 2008-03-27
Publication date: 2009-10-15
Anticipated expiration: 2028-03-27
Also published as: JP5108585B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work vehicle equipped with a steering means capable of freely carrying out changeover to a straight advancing state and a turning state, and designed to perform work in the form of repeating the straight advancing traveling to travel along a straight-line work route and the traveling for changing the route to travel from the terminal end of the straight-line work route toward the next straight-line work route in the predetermined set traveling pattern. <P>SOLUTION: The work vehicle is equipped with an automatic turning control means 102 performing work stroke changeover control for changing over and controlling the steering means 101 so as to automatically carry out the traveling for changing the work route, and a manually operable type automatic turning command means SW for issuing a command of starting the traveling for changing the work route. The automatic turning control means 102 is composed so as to perform the work stroke changeover control on the basis of the command from the automatic turning command means SW. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、直進状態と旋回状態とに切り換え自在な操向手段を備えて、直線状の作業経路に沿って走行する直進走行と前記直線状の作業経路の終端部から次回の直線状の作業経路に向けて予め定めた設定走行パターンにて走行する経路変更用走行とを繰り返す形態で作業を行う作業車に関する。 The present invention comprises a steering means that can be switched between a straight traveling state and a turning state, and travels along a straight work path, and the next straight work from the end of the straight work path. The present invention relates to a work vehicle that performs work in a form that repeats a route change traveling that travels in a predetermined traveling pattern toward a route.

従来の作業車では、運転者が運転部に備えられている操向用の操作具を手動操作することにより操向手段を切り換え操作しながら、前記直進走行と前記経路変更用走行とを繰り返す形態で作業を行うようになっていた（例えば、特許文献１参照。）。 In the conventional work vehicle, the driver repeats the straight traveling and the route changing traveling while switching the steering means by manually operating a steering operation tool provided in the driving unit. (For example, refer to Patent Document 1).

特開２００１−２２４２２８号公報JP 2001-224228 A

従来では、例えば圃場内で作業を行うような場合には、圃場内の全ての領域で作業が終了するまで手動操作により運転操作することになるが、圃場での作業の形態として、例えば刈取収穫機を例にとると、図４に示すような形態で作業を行うことがある。 Conventionally, for example, when work is performed in a field, the operation is manually performed until the work is completed in all the areas in the field. Taking a machine as an example, work may be performed in the form shown in FIG.

すなわち、未刈茎稈群Ｍの外周部を一定方向に周回しながら順次刈り取る回り刈り形態で作業を行うものである。説明を加えると、矩形状の未刈茎稈群Ｍの外周部における１辺に沿う直線状の作業経路に沿って作業走行を行い、その作業経路の終端部に到達すると、前記経路変更用走行として、前回の作業経路に略直交する次の作業経路に向かうように車体を略９０度向き変更させるように回向させて、次の作業行程に沿って作業走行を行う。このような直線状の作業経路に沿って走行する作業走行と次回の直線状の作業経路に向かうように走行する回向走行とを繰り返す形態で作業を行うことになる。この作業では、車体を略９０度向き変更させるように回向させるときは、左側旋回状態での前進走行を行ったのちに走行停止し、且つ、左側旋回状態での後進走行を行ったのちに走行停止させるといった複雑な操作が必要となっていた。つまり、操向手段の切り換え操作に加えて、車体の走行状態を、走行中立状態、前進走行状態及び後進走行状態に切り換え自在な走行状態切換手段の切り換え操作も併せて行う必要がある。 In other words, the work is performed in the form of rotating mowing in which the outer cutting portion of the uncut stem culm group M is sequentially cut while circling in a fixed direction. In other words, when the work travels along a linear work path along one side in the outer periphery of the rectangular uncut stem group M, and reaches the end of the work path, the route change travel As described above, the vehicle body is turned so as to change its direction by approximately 90 degrees so as to go to the next work route substantially orthogonal to the previous work route, and the work travel is performed along the next work stroke. The work is performed in such a manner that the work travel traveling along the linear work route and the turning travel traveling toward the next linear work route are repeated. In this work, when turning the vehicle body to change the direction by approximately 90 degrees, after traveling forward in the left-turning state, the vehicle stops traveling and after reverse traveling in the left-turning state Complicated operations such as stopping running were necessary. That is, in addition to the switching operation of the steering means, it is necessary to also perform the switching operation of the traveling state switching means that can switch the traveling state of the vehicle body to the traveling neutral state, the forward traveling state, and the backward traveling state.

又、このような形態の他に、図６に示すような形態で作業を行うこともある。
すなわち、圃場における未刈茎稈の植付条に沿う方向の両端側の２箇所を予め刈り取り旋回用の既刈領域Ｒ（枕地）を形成しておき、未刈茎稈を植付条方向に沿って直線状の作業経路に沿って作業走行を行い、前記経路変更用走行として、既刈領域Ｒにて車体の進行方向を未刈茎稈の条並び方向に変更したのちに未刈茎稈の条並び方向の反対側箇所にまで車体を移動させたのちに車体の進行方向を植付条方向に沿うように変更し、前回とは逆方向に未刈茎稈を植付条方向に沿って直線状の作業経路に沿って作業走行を行うことを繰り返す形態で作業を行うこともある。 In addition to such a form, the work may be performed in the form shown in FIG.
That is, two areas on both ends in the direction along the planting line of the uncut stem pods in the field are cut in advance to form a cut area R (headland) for turning, and the uncut pods are planted in the direction of the planting line As a travel for changing the route, the traveling direction of the vehicle body is changed to the lined direction of the uncut stems in the already cut region R as the route change travel. After moving the vehicle body to the opposite side of the row of ridges, the direction of travel of the vehicle is changed to follow the direction of the planting strip, and the uncut pods are moved in the direction of planting strip in the opposite direction to the previous time. The work may be performed in a form in which the work travel is repeated along a linear work route along the work path.

しかしながら、上記したような経路変更用走行は、圃場内における狭い領域で車体を旋回させる必要があり、畦や未刈茎稈等の他物に車体が接触することがないように注意しながら行わなければならず、運転者にとっては煩わしい操作となっており、特に経験が少ない運転者にとっては大きな負担になるものであった。 However, the above-mentioned route change traveling requires turning the vehicle body in a narrow area in the field, and is performed with care so that the vehicle body does not come into contact with other objects such as cocoons and uncut pods. This is a cumbersome operation for the driver, and is a heavy burden for a driver who has little experience.

ところで、この種の作業車では、例えば、ＧＰＳ位置検出手段やジャイロ装置等の各種のセンサ類を用いて作業車の車体の位置や進行方向等を検出しながら、直進走行と経路変更用走行の夫々を含む状態で圃場内において予め定めた経路に沿って自動走行するように自動操縦にて作業を行うようにすることも提案されているが、例えば、刈取収穫機等、走行しながら未刈茎稈を刈り取る作業を行うような作業車にあっては、直進状態で未刈茎稈を刈り取る作業を行う場合に未刈茎稈が倒伏した状態となっていれば自動での作業走行を良好に行うことが難しくなる場合が多く、自動操縦により誘導走行させる構成は実用上では採用し難いものとなっている。 By the way, in this type of work vehicle, for example, while detecting the position and traveling direction of the vehicle body of the work vehicle using various sensors such as GPS position detection means and a gyro device, it is possible to perform straight travel and route change travel. It has also been proposed to perform work by autopilot so that it automatically travels along a predetermined route in the field in a state including each, but for example, a mowing harvester etc. When working on a work vehicle that cuts off the stem pods, if the uncut stem pods are in a lying state when cutting off the uncut stem pods in a straight-ahead state, automatic work running is good. In many cases, it is difficult to carry out guidance, and the configuration in which the vehicle is guided by autopilot is difficult to employ in practice.

本発明の目的は、経路変更用走行を煩わしさのない状態で行うことを可能にして、運転者の操縦負担を軽減することが可能な作業車を提供する点にある。 An object of the present invention is to provide a work vehicle capable of reducing the handling burden on the driver by making it possible to perform the route change traveling without troublesomeness.

本発明に係る作業車は、直進状態と旋回状態とに切り換え自在な操向手段を備えて、直線状の作業経路に沿って走行する直進走行と前記直線状の作業経路の終端部から次回の直線状の作業経路に向けて予め定めた設定走行パターンにて走行する経路変更用走行とを繰り返す形態で作業を行うものであって、その第１特徴構成は、前記作業経路変更用走行を自動で行うように前記操向手段を切り換え制御する作業行程切換制御を実行する自動旋回制御手段と、前記作業経路変更用走行の開始を指令する手動操作式の自動旋回指令手段とが備えられ、前記自動旋回制御手段が、前記自動旋回指令手段の指令に基づいて前記作業行程切換制御を実行するように構成されている点にある。 The work vehicle according to the present invention includes steering means that can be switched between a straight traveling state and a turning state, and travels straight along a straight work path and from the end of the straight work path to the next time. The operation is performed in such a manner that the route change traveling that travels in a predetermined set traveling pattern toward the linear work route is repeated, and the first characteristic configuration is that the operation for changing the work route is automatically performed. Automatic turning control means for executing work stroke switching control for switching control of the steering means as performed in the above, and manually operated automatic turning command means for instructing the start of the work route changing travel, The automatic turning control means is configured to execute the work stroke switching control based on a command of the automatic turning command means.

第１特徴構成によれば、手動操作式の自動旋回指令手段にて前記作業経路変更用走行の開始が指令されると、自動旋回制御手段が、直線状の作業経路の終端部から次回の直線状の作業経路に向けて予め定めた設定走行パターンにて走行する経路変更用走行を自動で行うように前記操向手段を切り換え制御する作業行程切換制御を実行するのである。 According to the first characteristic configuration, when the start of the work route changing travel is instructed by the manually operated automatic turning command means, the automatic turning control means starts the next straight line from the end portion of the linear work route. The work path switching control is performed to switch the steering means so as to automatically perform a route change travel that travels in a predetermined set travel pattern toward the work route.

すなわち、運転者が手動操縦にて操向手段を切り換え操作しながら直線状の作業経路に沿って走行する直進走行を行うようにしながら、作業車がその直線状の作業経路の終端部に達したのち、運転者が手動操作式の自動旋回指令手段にて前記作業経路変更用走行の開始が指令することにより自動旋回制御手段が前記経路変更用走行を自動で行うことになるので、運転者は煩わしさのない状態で作業を行うことができる。 That is, the work vehicle reaches the end of the linear work path while the driver performs a straight traveling traveling along the linear work path while switching the steering means by manual control. Later, when the driver commands the start of the travel for route change by the manually operated automatic turn command means, the automatic turn control means automatically performs the route change travel. Work can be performed without any inconvenience.

特に刈取作業を行うような作業車の場合であれば、未刈茎稈が倒伏した状態となっているような場合であっても、運転者が手動操作することにより操向手段を切り換え操作しながら直線状の作業経路に沿って走行する直進走行を行うようにすることで、未刈茎稈を損傷させる等の不利のない良好な状態で作業を行うことが可能となるのであり、このように直進走行は手動で行うことで良好な作業を行えるようにしながら、前記経路変更用走行を自動で行わせることができるので、操作の煩わしさがない状態で良好な作業を行うことが可能となるのである。 In particular, in the case of a work vehicle that performs mowing work, the driver switches the steering means by manual operation even if the uncut stem pod is in a lying state. However, it is possible to work in a good state without any disadvantages such as damaging the uncut stem buds by performing a straight traveling traveling along a straight work path. In addition, it is possible to perform the route change traveling automatically while performing the straight traveling manually, so that it is possible to perform a satisfactory operation without troublesome operation. It becomes.

従って、第１特徴構成によれば、経路変更用走行を煩わしさのない状態で行うことを可能にして、運転者の操縦負担を軽減することが可能な作業車を提供できるに至った。 Therefore, according to the first characteristic configuration, it is possible to provide a work vehicle that can perform the route change traveling without troublesomeness and reduce the driver's handling burden.

本発明の第２特徴構成は、第１特徴構成に加えて、車体の走行状態を、走行中立状態、前進走行状態及び後進走行状態に切り換え自在な走行状態切換手段が備えられ、
前記自動旋回制御手段が、前記作業行程切換制御として、
１つの直線状の作業経路での車体の向きに対して車体を左旋回状態にて前進走行させたのちに走行停止させ、次に、車体が前記１つの直線状の作業経路と交差する次回の直線状の作業経路に向かう状態になるように左旋回状態にて後進走行させて走行停止させる形態で、前記操向手段及び前記走行状態切換手段を切り換え制御するように構成されている点にある。 In addition to the first feature configuration, the second feature configuration of the present invention is provided with a travel state switching means capable of switching the travel state of the vehicle body to a travel neutral state, a forward travel state, and a reverse travel state,
The automatic turning control means, as the work stroke switching control,
The vehicle body is moved forward in a left turn state with respect to the direction of the vehicle body on one linear work route, and then stopped, and then the next time the vehicle body intersects the one linear work route. The steering means and the traveling state switching means are configured to switch and control in a form in which the vehicle travels backward in a left turn state so as to be in a state of going to a linear work path and stops traveling. .

第２特徴構成によれば、前記自動旋回制御手段が、前記作業行程切換制御として、１つの直線状の作業経路での車体の向きに対して車体を左旋回状態にて前進走行させたのちに走行停止させ、次に、車体が前記１つの直線状の作業経路と交差する次回の直線状の作業経路に向かう状態になるように左旋回状態にて後進走行させて走行停止させる形態で、前記操向手段及び前記走行状態切換手段を切り換え制御することになる。 According to the second characteristic configuration, after the automatic turning control means makes the vehicle travel forward in a left-turned state with respect to the direction of the vehicle on one linear work route as the work stroke switching control. In a mode in which the vehicle is stopped and then traveled backwards in a left turn state so that the vehicle body is directed to the next linear work route intersecting the one linear work route, The steering means and the traveling state switching means are controlled to be switched.

例えば、図４に示すように、作業対象領域である未刈茎稈群の外周部を一定方向に周回しながら順次刈り取る回り刈り形態で作業を行うような場合には、矩形状の未刈茎稈群の外周部における１辺に沿う直線状の作業経路に沿って作業走行を行い、その作業経路の終端部に到達すると、前記経路変更用走行として、前回の作業経路に略直交する次の作業経路に向かうように車体を略９０度向き変更させるように回向させて、次の作業行程に沿って作業走行を行うことになる。 For example, as shown in FIG. 4, in the case where the work is performed in the form of rotating mowing in which the outer peripheral portion of the uncut stem pod group, which is the work target region, circulates in a certain direction, the rectangular uncut stem is When the work travels along a linear work path along one side in the outer periphery of the group of ridges and reaches the end of the work path, the next route that is substantially orthogonal to the previous work path is used as the path change travel. The vehicle body is turned so that the vehicle body is turned approximately 90 degrees toward the work route, and the work travels along the next work process.

そこで、このように車体を略９０度向き変更させるように回向させるときに、運転者が前記自動旋回指令手段にて指令することにより上記作業行程切換制御を実行することにより、前回の直線状の作業経路での車体の向きに対して車体を左旋回状態にて前進走行させたのちに走行停止させ、次に、車体が前回の直線状の作業経路と交差する次回の直線状の作業経路に向かう状態になるように左旋回状態にて後進走行させて走行停止させる経路変更用走行を自動で行うことができるのである。 Therefore, when the vehicle body is turned so as to change its direction by approximately 90 degrees in this way, the driver performs the above-mentioned work stroke switching control by commanding with the automatic turning command means, so that the previous linear shape is obtained. The vehicle travels forward in a left-turned state with respect to the direction of the vehicle body on the next work route, stops running, and then the next straight work route where the car body intersects the previous straight work route Thus, it is possible to automatically perform a route change travel in which the vehicle travels backward in the left turn state and stops traveling so as to be in a state of heading toward.

上述したように前進走行と後進走行と切り換えながら車体を略９０度向き変更させるように回向させる経路変更用走行は、手動操縦により行うものでは操作が煩雑となるが、経路変更用走行を自動で行うことにより運転者にとっての操作の煩わしさを軽減するのに特に有効なものとなる。 As described above, the route change traveling in which the vehicle body is turned so as to change its direction by approximately 90 degrees while switching between the forward traveling and the reverse traveling is complicated by the manual steering, but the route changing traveling is automatically performed. This is particularly effective in reducing troublesome operation for the driver.

従って、第２特徴構成によれば、運転者にとっての操作の煩わしさを軽減するのに特に有効なものとなる状態で上記経路変更用走行を行うことが可能な作業車を提供できるに至った。 Therefore, according to the second characteristic configuration, it has become possible to provide a work vehicle capable of performing the above-described route change traveling in a state that is particularly effective for reducing the troublesome operation for the driver. .

本発明の第３特徴構成は、第１特徴構成又は第２特徴構成に加えて、車体の向きの変位量情報を検出するジャイロ装置が備えられ、前記自動旋回制御手段が、前記作業行程切換制御として、前記ジャイロ装置の検出情報に基づいて求められる前記車体の向きの変位量が予め設定された目標変位量になるように前記操向手段を切り換え制御するように構成されている点にある。 According to a third feature configuration of the present invention, in addition to the first feature configuration or the second feature configuration, a gyro device that detects displacement amount information of a vehicle body direction is provided, and the automatic turning control means includes the work stroke switching control. The steering means is switched and controlled so that the displacement amount in the direction of the vehicle body obtained based on the detection information of the gyro device becomes a preset target displacement amount.

第３特徴構成によれば、手動操作式の自動旋回指令手段にて前記作業経路変更用走行の開始が指令されると、前記自動旋回制御手段が、ジャイロ装置によって検出される車体の向きの変位量情報から車体の向きの変位量を検出して、その車体の向きの変位量が予め設定された目標変位量になるように前記操向手段を切り換え制御することにより、車体を次回の直線状の作業経路に向けて走行させることが行えなくなる等の不利のない良好な状態で車体を走行させることができるのである。 According to the third characteristic configuration, when the start of the work path changing travel is commanded by the manually operated automatic turning command means, the automatic turning control means detects the displacement of the vehicle body direction detected by the gyro device. By detecting the amount of displacement of the vehicle body from the quantity information and switching the steering means so that the displacement amount of the vehicle body direction becomes a preset target displacement amount, This makes it possible to drive the vehicle body in a good state without any disadvantages such as being unable to travel toward the work route.

従って、第３特徴構成によれば、次回の直線状の作業経路に向けて走行させることが行えなくなる等の不利のない良好な状態で経路変更用走行を行うことが可能な作業車を提供できるに至った。 Therefore, according to the third characteristic configuration, it is possible to provide a work vehicle that can perform the route change travel in a good state without any disadvantage such as being unable to travel toward the next linear work route. It came to.

本発明の第４特徴構成は、第１特徴構成〜第３特徴構成のいずれかに加えて、前記自動旋回制御手段が前記作業行程切換制御を実行している自動旋回運転状態であることを運転者に報知する報知手段が備えられている点にある。 In addition to any of the first to third feature configurations, the fourth feature configuration of the present invention is that the automatic turning control means is in an automatic turning operation state in which the work stroke switching control is being executed. It is in the point provided with the alerting | reporting means to alert | report a person.

第４特徴構成によれば、前記自動旋回制御手段が前記作業行程切換制御を実行している自動旋回運転状態であることが報知手段により報知されるので、運転者は自動で経路変更用走行を行っていることを認識することができる。 According to the fourth characteristic configuration, since the notifying means informs that the automatic turning control means is in the automatic turning operation state in which the work stroke switching control is being executed, the driver automatically performs the route change traveling. You can recognize what you are doing.

従って、第４特徴構成によれば、運転者は自動で経路変更用走行を行っていることを認識できるから、運転者が故障であると誤って判断して自動操作と異なる操作を行うことを防止することが可能な作業車を提供できるに至った。 Therefore, according to the fourth feature configuration, the driver can automatically recognize that the route change traveling is being performed, so that the driver erroneously determines that a failure has occurred and performs an operation different from the automatic operation. It has become possible to provide a work vehicle that can be prevented.

本発明の第５特徴構成は、第１特徴構成〜第４特徴構成のいずれかに加えて、前記自動旋回制御手段が、モード切り換え手段の切り換え指令に基づいて、前記手動操作式の自動旋回指令手段の指令に基づいて前記作業行程切換制御を実行する自動入りモードと、前記手動操作式の自動旋回指令手段の指令にかかわらず前記作業行程切換制御を実行しない自動切りモードとに切り換え自在に構成されている点にある。 According to a fifth characteristic configuration of the present invention, in addition to any one of the first characteristic configuration to the fourth characteristic configuration, the automatic turning control unit is configured to perform the manual operation type automatic turning command based on a switching command of the mode switching unit. It is possible to switch between an automatic entering mode in which the work stroke switching control is executed based on a command of the means and an automatic cutting mode in which the work stroke switching control is not executed regardless of a command of the manually operated automatic turning command means. It is in the point.

第５特徴構成によれば、前記自動旋回制御手段は、前記モード切り換え手段の切り換え指令に基づいて前記自動入りモードに切り換わっていれば前記自動旋回指令手段の指令に基づいて前記作業行程切換制御を実行するが、前記自動切りモードに切り換わっていなければ、自動旋回指令手段の指令にかかわらず作業行程切換制御を実行しないのである。 According to a fifth feature, the automatic turning control means is configured to control the work stroke switching control based on a command of the automatic turning command means if the automatic turning control means is switched to the automatic turn-on mode based on a switching command of the mode switching means. However, if the automatic switching mode has not been switched, the work stroke switching control is not executed regardless of the command of the automatic turning command means.

例えば、圃場等の作業対象領域内で走行する場合等、前記作業行程切換制御を自動で行う必要がある場合には、前記自動入りモードに切り換えおくことで適正に対応できる。又、路上走行等のように作業を行わない状態で走行する等、前記作業行程切換制御を実行する必要がない場合には、前記自動切りモードに切り換えておくことで、運転者が誤って自動旋回指令手段を操作することがあっても、運転者の意思に反して自動的に操向手段が切り換え操作される等の不利のない状態で良好に走行させることができる。 For example, when it is necessary to perform the work process switching control automatically, such as when traveling in a work target area such as a farm field, it can be appropriately handled by switching to the automatic entry mode. In addition, when there is no need to execute the work stroke switching control, such as when the vehicle is traveling in a state where no work is performed, such as on the road, etc., the driver automatically switches to the automatic switching mode and automatically Even if the turning command means is operated, it is possible to make the vehicle travel well without any disadvantages such as automatically switching the steering means against the intention of the driver.

従って、第５特徴構成によれば、必要に応じて前記作業行程切換制御を実行する状態と実行しない状態とに切り換えることができ、運転者が作業する上で使い勝手のよい作業車を提供できるに至った。 Therefore, according to the fifth characteristic configuration, it is possible to switch between a state in which the work stroke switching control is executed and a state in which the work stroke switching control is not executed as necessary, and to provide a work vehicle that is easy to use when the driver works. It came.

以下、本発明に係る作業車の実施形態をコンバインに適用した場合について説明する。
図１に示すように、左右一対のクローラ式の走行装置１Ｌ、１Ｒで支持された車体の前部に、刈取昇降シリンダ２にて横軸芯Ｐ１周りに駆動昇降自在に刈取部３が支持され、車体の前部の右側に運転部４が備えられ、車体の後部の左側に脱穀部５が備えられ、車体の後部の右側にグレンタンク６が備えられて、作業車としての自脱型のコンバインが構成されている。 Hereinafter, a case where an embodiment of the work vehicle according to the present invention is applied to a combine will be described.
As shown in FIG. 1, a cutting unit 3 is supported on a front part of a vehicle body supported by a pair of left and right crawler type traveling devices 1L and 1R by a cutting and lifting cylinder 2 so as to be driven up and down around a horizontal axis P1. The driving unit 4 is provided on the right side of the front part of the vehicle body, the threshing unit 5 is provided on the left side of the rear part of the vehicle body, and the glen tank 6 is provided on the right side of the rear part of the vehicle body. Combine is configured.

前記刈取部３は、先端部に付設された分草具７、穀稈の引き起こし装置８、引き起こした穀稈の株元を切断する刈刃９、先端側で刈取穀稈を受け取って脱穀部５のフィードチェーンに受け渡す縦搬送装置１０等を備えている。 The cutting part 3 includes a weeding tool 7 attached to the tip part, a cereal raising device 8, a cutting blade 9 for cutting the stock of the caused cereal, and a threshing part 5 that receives the cutting cereal meal at the tip side. A vertical conveying device 10 and the like that are transferred to the feed chain are provided.

次に、図２に基づいてコンバインの動力伝達系及び制御構成について説明する。
エンジンＥの動力が静油圧式の無段変速装置１１に伝動され、この無段変速装置１１の変速後の出力が、ミッションケース１２を介して左右の走行装置１に伝達されている。ミッションケース１２には、上記変速後の出力を左右の走行装置１Ｌ、１Ｒに対して各別に断続可能な状態で且つ各走行装置１Ｌ、１Ｒを各別に制動操作可能な左右一対の操向クラッチブレーキ１３Ｌ、１３Ｒが設けられ、それら各操向クラッチブレーキ１３Ｌ、１３Ｒに対する圧油の供給を制御して各クラッチの入り切り及びブレーキ操作するための操向用電磁弁１４が設けられている。 Next, the power transmission system and control configuration of the combine will be described with reference to FIG.
The power of the engine E is transmitted to the hydrostatic continuously variable transmission 11, and the output after shifting of the continuously variable transmission 11 is transmitted to the left and right traveling apparatuses 1 via the mission case 12. The transmission case 12 has a pair of left and right steering clutch brakes in which the output after shifting can be separately connected to the left and right traveling apparatuses 1L and 1R and the traveling apparatuses 1L and 1R can be braked individually. 13L and 13R are provided, and a steering solenoid valve 14 is provided for controlling the supply of pressure oil to each of the steering clutch brakes 13L and 13R to perform on / off and braking of each clutch.

上記無段変速装置１１は、その変速用の***作体１１ａが運転部４に設けられた変速レバー１５に連動連結されて、この変速レバー１５による人為操作にて変速することができるように構成されている。又、変速レバー１５と無段変速装置１１との連係経路中に、変速用電動モータ１６が摩擦式伝動機構１７を介して連係されており、この変速用電動モータ１６の駆動操作によっても無段変速装置１１を変速操作することが可能な構成となっている。但し、変速レバー１５による変速操作があると摩擦式伝動機構１７にて操作が許容され、変速用電動モータ１６による変速操作状態にかかわらず変速可能であり、手動優先状態で変速操作可能に構成されている。又、変速用の***作体１１ａの操作位置を検出するための変速位置センサＳ１が設けられている。 The continuously variable transmission 11 is configured such that an operating body 11a for shifting is linked to a shifting lever 15 provided in the driving unit 4 and can be shifted by an artificial operation by the shifting lever 15. Has been. In addition, a speed change electric motor 16 is linked via a friction transmission mechanism 17 in a link path between the speed change lever 15 and the continuously variable transmission 11. The transmission 11 can be shifted. However, if there is a speed change operation by the speed change lever 15, the operation is allowed by the friction transmission mechanism 17, the speed can be changed regardless of the speed change operation state by the speed change electric motor 16, and the speed change operation can be performed in the manual priority state. ing. Further, a shift position sensor S1 for detecting the operation position of the operated body 11a for shifting is provided.

変速レバー１５は車体前後方向に揺動操作自在に設けられ、この変速レバー１５が前後操作範囲の中間部に位置する変速中立位置から前方側に操作されると無段変速装置１１が前進走行状態に切り換わり且つ前進方向での走行速度が増速し、変速レバー１５が変速中立位置から後方側に操作されると無段変速装置１１が後進走行状態に切り換わり且つ後進方向での走行速度が増速される構成となっている。 The speed change lever 15 is provided so as to be swingable in the longitudinal direction of the vehicle body. When the speed change lever 15 is operated forward from a neutral position at the middle of the front / rear operation range, the continuously variable transmission 11 is in a forward traveling state. When the shift lever 15 is operated backward from the shift neutral position, the continuously variable transmission 11 is switched to the reverse travel state and the travel speed in the reverse direction is increased. It is configured to increase speed.

又、前記変速用電動モータ１６を作動させることによって無段変速装置１１を直進状態、前進走行状態及び後進走行状態の夫々に切り換え自在で、且つ、前進走行状態では前進方向での走行速度を増減速可能であり、後進走行状態では後進方向での走行速度を増減速可能な可能となっている。従って、前記無段変速装置１１及び前記変速用電動モータ１６により、車体の走行状態を、走行中立状態、前進走行状態及び後進走行状態に切り換え自在な走行状態切換手段１００が構成されている。 Further, by operating the speed-changing electric motor 16, the continuously variable transmission 11 can be switched between a straight traveling state, a forward traveling state and a backward traveling state, and in the forward traveling state, the traveling speed in the forward direction is increased or decreased. In the reverse traveling state, the traveling speed in the reverse direction can be increased or decreased. Accordingly, the continuously variable transmission 11 and the shift electric motor 16 constitute a travel state switching means 100 that can switch the travel state of the vehicle body from a travel neutral state, a forward travel state, and a reverse travel state.

運転部４には、刈取部３を昇降操作する刈取昇降指令具と車体が左右に旋回操作する旋回操作指令具とに兼用構成された十字操作式の刈高操向レバー１８が設けられている。この刈高操向レバー１８は、車体前後方向に揺動自在であって、その前後操作範囲の中間部に位置する中立位置に位置していると刈取部は位置が変化せず、後方側に設定量以上揺動すると刈取部３が上昇し、前方側に設定量以上揺動すると刈取部３が下降する構成となっている。又、刈高操向レバー１８は左右方向にも揺動自在で、左右方向の中央の直進位置にあると車体が直進走行状態となり、その直進位置から左方向に揺動すると左旋回状態に切り換わり、右方向に揺動すると右旋回状態に切り換わるように構成されている。又、刈高操向レバー１８は、前後方向並びに左右方向夫々において中立位置に復帰付勢される構成となっている。
尚、変速レバー１５は運転部４の左側に配置されており運転者が左手で操作する状態で設けられ、刈高操向レバー１８は運転部４の右側に配置されており運転者が右手で操作する状態で設けられている。 The operation unit 4 is provided with a cross-operated cutting height steering lever 18 configured to serve both as a cutting up / down commanding tool for moving up and down the cutting unit 3 and a turning operation commanding tool for turning the vehicle body to the left and right. . The cutting height steering lever 18 is swingable in the longitudinal direction of the vehicle body. When the cutting height steering lever 18 is located at a neutral position located in the middle of the front / rear operating range, the position of the cutting portion does not change, and When swinging more than the set amount, the cutting unit 3 is raised, and when swinging more than the set amount forward, the cutting unit 3 is lowered. The cutting height steering lever 18 is also swingable in the left-right direction. When the cutting height steering lever 18 is in the straight position at the center in the left-right direction, the vehicle body is in a straight running state. In other words, it is configured to switch to the right turning state when it swings in the right direction. Further, the cutting height steering lever 18 is configured to be urged to return to the neutral position in the front-rear direction and the left-right direction.
The shift lever 15 is disposed on the left side of the driving unit 4 and is provided in a state that the driver operates with the left hand. The cutting height steering lever 18 is disposed on the right side of the driving unit 4 and the driver is operated with the right hand. It is provided in an operating state.

図２に示すように、刈高操向レバー１８の左右方向の操作位置を検出する操向用ポテンショメータ１９と、刈高操向レバー１８を後方側に揺動操作するとオンする刈取上昇スイッチ２０と、刈高操向レバー１８を前方側に揺動操作するとオンする刈取下降スイッチ２１とが設けられ、それらの検出情報がマイクロコンピュータを備えて構成される制御装置Ｈに入力される。そして、制御装置Ｈは、それらの検出情報に基づいて、刈取昇降シリンダ２に対する圧油供給状態を切り換える昇降用電磁弁２２、及び、前記左右の操向クラッチブレーキ１３Ｌ、１３Ｒに対する圧油の供給を制御してその作動状態を操作するための操向用電磁弁１４を制御する構成となっている。 As shown in FIG. 2, a steering potentiometer 19 that detects the operation position of the cutting height steering lever 18 in the left-right direction, and a cutting lift switch 20 that is turned on when the cutting height steering lever 18 is swung backward. A cutting lowering switch 21 that is turned on when the cutting height steering lever 18 is swung forward is provided, and detection information thereof is input to a control device H that includes a microcomputer. Then, the control device H supplies pressure oil to the lift solenoid valve 22 for switching the pressure oil supply state to the cutting lift cylinder 2 and the left and right steering clutch brakes 13L and 13R based on the detection information. It is the structure which controls the solenoid valve 14 for steering for controlling and operating the operating state.

説明を加えると、制御装置Ｈは、前記操向用ポテンショメータ１９の検出情報に基づいて、刈高操向レバー１８が直進位置から左方向に揺動操作したことが検出されると、左側の操向クラッチブレーキ１３Ｌに対する圧油の供給を制御して、直進位置からのレバー操作量が小であるときはクラッチ切り状態すなわち伝動遮断状態となり、レバー操作量が大になるとクラッチを切り且つ左側の走行装置１Ｌを制動する制動状態になるように操向用電磁弁１４を制御する。又、刈高操向レバー１８が直進位置から右方向に揺動操作したことが検出されると、左側の操向クラッチブレーキ１３Ｌの場合と同様に、右側の操向クラッチブレーキ１３Ｒに対する圧油の供給を切り換えるように操向用電磁弁１４を制御する。 In other words, when the control device H detects that the cutting height steering lever 18 is swung leftward from the straight position based on the detection information of the steering potentiometer 19, the control device H controls the left side. Controlling the supply of pressure oil to the direction clutch brake 13L, when the lever operation amount from the straight drive position is small, the clutch is disengaged, that is, the transmission is cut off. When the lever operation amount is large, the clutch is disengaged and the left side travels The steering solenoid valve 14 is controlled so as to be in a braking state for braking the device 1L. Further, when it is detected that the cutting height steering lever 18 is swung to the right from the straight traveling position, the pressure oil applied to the right steering clutch brake 13R is the same as in the case of the left steering clutch brake 13L. The steering solenoid valve 14 is controlled to switch the supply.

前記左右の操向クラッチブレーキ１３Ｌ、１３Ｒのいずれかの一方が伝動遮断状態になると、左右の走行装置１Ｒ、１Ｌの速度差により車体が緩やかに旋回する緩旋回状態になり、いずれか一方が制動状態になると左右の走行装置１Ｒ、１Ｌの速度差が大きくなり車体が急旋回する急旋回状態になる。従って、操向用電磁弁１４及び前記左右の操向クラッチブレーキ１３Ｌ、１３Ｒにより直進状態と旋回状態とに切り換え自在な操向手段１０１を構成する。 When one of the left and right steering clutch brakes 13L and 13R enters a transmission cut-off state, the vehicle body enters a slow turning state in which the vehicle body turns gently due to the speed difference between the left and right traveling devices 1R and 1L, and either one brakes. In this state, the speed difference between the left and right traveling devices 1R, 1L becomes large, and the vehicle turns rapidly. Accordingly, the steering solenoid valve 14 and the left and right steering clutch brakes 13L and 13R constitute steering means 101 that can be switched between a straight traveling state and a turning state.

前記制御装置Ｈは、刈取上昇スイッチ２０がオンすると刈取昇降シリンダ２が上昇操作するように昇降用電磁弁２２を切り換え、刈取下降スイッチ２１がオンすると刈取昇降シリンダ２が下降操作するように昇降用電磁弁２２を切り換えるように制御する。又、前記制御装置Ｈは、刈取作業中においては、刈取部３に備えられる接地式の刈高センサＳ５の検出値が設定値に維持されるように昇降用電磁弁２２を切り換え制御する構成となっている。 The controller H switches the lifting / lowering solenoid valve 22 so that the cutting lift cylinder 2 is lifted when the cutting lift switch 20 is turned on, and lifts and lowers so that the cutting lift cylinder 2 is lowered when the cutting drop switch 21 is turned on. Control is performed so that the solenoid valve 22 is switched. Further, the control device H is configured to switch and control the lifting electromagnetic valve 22 so that the detected value of the ground-type cutting height sensor S5 provided in the cutting unit 3 is maintained at a set value during the cutting operation. It has become.

エンジンＥの動力が、手動操作式の脱穀クラッチレバー２３を操作することで入り切り操作自在な脱穀クラッチ２４を介して断続自在に脱穀部５に伝達される構成となっており、脱穀クラッチレバー２３の入り操作に伴ってオン作動する脱穀スイッチＳ２が設けられている。又、エンジンＥの回転速度を検出する回転検出センサＳ３と、ミッションケース１２の入力軸に伝動される無段変速装置１１の出力回転数に比例するパルスを計数して走行距離を検出するためのロータリーエンコーダＳ４とが設けられている。尚、エンジンＥの回転速度は、エンジン始動後、図示しないアクセルレバー等によって上昇操作されて作業用の設定回転速度にセットされる。又、前記無段変速装置１１の変速後の出力が図示しない刈取クラッチ及び一方向回転クラッチを介して刈取部３に伝達される構成となっており、刈取部３は無段変速装置１１が前進状態であるときにのみ駆動され、後進状態に切り換わると刈取部３は駆動停止状態となる。 The power of the engine E is transmitted to the threshing unit 5 intermittently through a threshing clutch 24 that can be turned on and off by operating a manually operated threshing clutch lever 23. A threshing switch S <b> 2 that is turned on in accordance with the entering operation is provided. Further, a rotation detection sensor S3 that detects the rotational speed of the engine E and a pulse that is proportional to the output rotational speed of the continuously variable transmission 11 that is transmitted to the input shaft of the mission case 12 are used to detect the travel distance. A rotary encoder S4 is provided. The rotational speed of the engine E is raised by an unillustrated accelerator lever or the like after the engine is started, and is set to a set rotational speed for work. Further, the output after shifting of the continuously variable transmission 11 is transmitted to the cutting part 3 via a cutting clutch and a one-way rotating clutch (not shown), and the cutting part 3 is moved forward by the continuously variable transmission 11. It is driven only when it is in the state, and when switching to the reverse state, the cutting unit 3 is in a drive stop state.

圃場において未刈茎稈を刈り取る刈取作業を行うときは、図４に示すように、未刈茎稈群Ｍの外周部を一定方向に周回しながら順次刈り取る回り刈り形態で作業を行うことになる。つまり、矩形状の未刈茎稈群Ｍの外周部における１辺に沿う直線状の作業経路に沿って作業走行を行い、その作業経路の終端部に到達すると、それに略直交する次の作業経路に向かうように車体を略９０度向き変更させるように回向させて、次の作業経路に沿って作業走行を行う。このような直線状の作業経路に沿って走行する直進走行と、次回の直線状の作業経路に向かうように予め定めた設定走行パターンにて走行する経路変更用走行とを繰り返す形態で作業を行うことになる。 When performing a cutting operation for cutting uncut stem pods in a field, as shown in FIG. 4, the operation is performed in a form of rotating mowing that sequentially cuts around the outer periphery of the uncut stem pod group M in a certain direction. . That is, when the work travels along a linear work path along one side in the outer periphery of the rectangular uncut stem group M, and reaches the end of the work path, the next work path that is substantially orthogonal thereto The vehicle body is turned so as to be turned approximately 90 degrees so as to travel toward the vehicle, and the vehicle travels along the next work route. Work is performed in such a manner that the straight traveling traveling along such a linear work route and the route changing traveling traveling in a preset traveling pattern so as to go to the next linear work route are repeated. It will be.

このコンバインでは、運転者は、直線状の作業経路に沿って車体を直進走行させながら未刈茎稈を刈り取る刈取作業を行うときは、刈高操向レバー１８及び変速レバー１５を操作しながら手動にて運転操作するが、直線状の作業経路での作業が終了してその作業経路に対して略直交する次の直線状の作業経路に向かうように車体を向き変更すべき位置に来たときに、前記作業経路変更用走行の開始を指令する手動操作式の自動旋回指令手段としての自動操向指令スイッチＳＷを操作すると、刈高操向レバー１８及び変速レバー１５から手を離した状態で自動で前記経路変更用走行を実行可能な構成となっている。 In this combine, the driver manually operates the cutting height steering lever 18 and the shift lever 15 when performing the cutting operation for cutting the uncut stem culm while moving the vehicle body straight along the linear work path. When the work on the linear work path is completed, and the vehicle body has come to a position where the vehicle should be turned so as to go to the next linear work path that is substantially orthogonal to the work path When the automatic steering command switch SW serving as a manually operated automatic turning command means for commanding the start of the work path changing travel is operated, the cutting height steering lever 18 and the shift lever 15 are released. The route change traveling can be automatically executed.

すなわち、前記作業経路変更用走行を自動で行うように前記操向手段１０１を切り換え制御する作業行程切換制御を実行する自動旋回制御手段１０２が備えられ、この自動旋回制御手段１０２が、前記自動操向指令スイッチＳＷの指令に基づいて前記作業行程切換制御を実行するように構成されている。説明を加えると、前記作業行程切換制御として、１つの直線状の作業経路での車体の向きに対して車体を左旋回状態にて前進走行させたのちに走行停止させ、次に、車体が前記１つの直線状の作業経路と交差する次回の直線状の作業経路に向かう状態になるように左旋回状態にて後進走行させて走行停止させる形態で、前記操向手段１０１及び前記走行状態切換手段１００を切り換え制御するように構成されている。 That is, automatic turning control means 102 is provided for executing work stroke switching control for switching control of the steering means 101 so as to automatically perform the work route changing travel, and the automatic turning control means 102 is provided with the automatic turning control means 102. The work stroke switching control is executed based on a command from the direction command switch SW. In other words, as the work stroke switching control, the vehicle body is moved forward in a left turn state with respect to the direction of the vehicle body on one linear work route, and then the vehicle is stopped. The steering means 101 and the traveling state switching means are configured to travel backward in a left turn state and stop traveling so as to be in a state toward the next linear work path that intersects with one linear work path. 100 is configured to control switching.

以下、具体的な構成について以下に説明を加える。
図２に示すように、車体の方位変位量情報の一例としての縦軸芯周りでの車体の角速度変位を検出するジャイロ装置２５が備えられおり、前記制御装置Ｈが、このジャイロ装置２５にて検出される縦軸芯周りでの角速度を積分することにより車体の方位変位量を演算にて求めることができる。又、制御装置Ｈは、前記ロータリーエンコーダＳ４の検出情報に基づいて車体の走行距離を演算にて求めることができるように構成され、前記ジャイロ装置２５及び前記ロータリーエンコーダＳ４の検出情報に基づいて上記したような作業行程切換制御を実行するように構成されている。従って、制御装置Ｈを利用して前記自動旋回制御手段１０２が構成されている。 Hereinafter, a specific configuration will be described below.
As shown in FIG. 2, a gyro device 25 that detects the angular velocity displacement of the vehicle body around the vertical axis as an example of vehicle body azimuth displacement amount information is provided, and the control device H is connected to the gyro device 25. By integrating the detected angular velocity around the vertical axis, the amount of azimuth displacement of the vehicle body can be obtained by calculation. Further, the control device H is configured to be able to calculate the travel distance of the vehicle body based on the detection information of the rotary encoder S4, and based on the detection information of the gyro device 25 and the rotary encoder S4. The operation stroke switching control as described above is executed. Therefore, the automatic turning control means 102 is configured using the control device H.

又、制御装置Ｈは、脱穀スイッチＳ２がオンしていること、及び、エンジンＥの回転速度が設定回転速度以上の作業状態に対応する回転速度にまで上昇していることが検出されると作業状態であると判別し、少なくともいずれか一方の条件が満たされていないと作業状態でないと判別するように構成され、作業状態であると判別すると、自動操向指令スイッチＳＷの指令に基づいて前記作業行程切換制御を実行する自動入りモードに切り換わり、作業状態でないと判別すると、自動操向指令スイッチＳＷの指令にかかわらず前記作業行程切換制御を実行しない自動切りモードに切り換わるように構成されている。従って、脱穀スイッチＳ２、回転検出センサＳ１、及び、制御装置Ｈによりモード切り換え手段１０４が構成されている。 In addition, when the control device H detects that the threshing switch S2 is turned on and that the rotation speed of the engine E has increased to a rotation speed corresponding to a work state equal to or higher than the set rotation speed, It is configured to determine that the current state is a working state if at least one of the conditions is not satisfied, and when the working state is determined, based on the command of the automatic steering command switch SW It is configured to switch to an automatic switching mode in which the work stroke switching control is executed, and when it is determined that it is not in a working state, it switches to an automatic switching mode in which the work stroke switching control is not executed regardless of the command of the automatic steering command switch SW. ing. Therefore, the threshing switch S2, the rotation detection sensor S1, and the control device H constitute the mode switching means 104.

そして、前記自動旋回制御手段１０２が前記作業行程切換制御を実行している自動旋回運転状態であることを運転者に報知する報知手段としての表示ランプ２６が運転者が目視可能な状態で運転部４に備えられている。 Then, the display section 26 serving as notification means for notifying the driver that the automatic turning control means 102 is in an automatic turning operation state in which the work stroke switching control is being executed is in a state where the driver can visually check the driving part. 4 is provided.

次に、前記制御装置Ｈによる自動制御動作について具体的に説明する。
すなわち、図３に示すように、脱穀スイッチＳ２及び回転検出センサＳ１の検出情報に基づいて作業状態であると判別している状態であれば前記自動入りモードに切り換わり、自動操向指令スイッチＳＷが手動にてオン操作されて自動操向指令が指令されると、前記表示ランプ２６を点灯させて運転者に作業行程切換制御を実行していることを報知する（ステップ１、２、３）。図５に示すように、運転者は、直進状態での作業走行が終了してから少し走行した地点ｐｔにて自動操向指令スイッチＳＷを操作することになる。 Next, the automatic control operation by the control device H will be specifically described.
That is, as shown in FIG. 3, if it is in a state where it is determined that it is a working state based on the detection information of the threshing switch S2 and the rotation detection sensor S1, it switches to the automatic entry mode, and the automatic steering command switch SW Is turned on manually and an automatic steering command is issued, the display lamp 26 is turned on to notify the driver that the work stroke switching control is being executed (steps 1, 2, and 3). . As shown in FIG. 5, the driver operates the automatic steering command switch SW at a point pt where the vehicle has traveled a little after the completion of the work travel in the straight traveling state.

そして、左旋回状態で且つ車体を前進走行させるように操向用電磁弁１４及び変速用電動モータ１６を制御する（ステップ４）。すなわち、左側の操向クラッチブレーキ１３Ｌを急旋回状態にするように操向用電磁弁１４を制御し、予め設定されている旋回用の車速にて車体を前進させるように変速位置センサＳ１の検出情報に基づいて変速用電動モータ１６を制御する。ジャイロ装置２５の検出情報に基づいて車体の向きの変位量を演算にて求めて、制御を開始してからの車体の向きの変位量が予め設定された目標変位量（左側に４５度向き変更）になると、左旋回状態での前進走行を停止させる（ステップ５、６）。 Then, the steering electromagnetic valve 14 and the shift electric motor 16 are controlled so as to make the vehicle turn forward while the vehicle is turning left (step 4). That is, the steering solenoid valve 14 is controlled so as to bring the left steering clutch brake 13L into a sudden turning state, and the shift position sensor S1 detects so as to advance the vehicle body at a preset turning vehicle speed. The shift electric motor 16 is controlled based on the information. Based on the detection information of the gyro device 25, the amount of displacement in the direction of the vehicle body is obtained by calculation, and the amount of displacement in the direction of the vehicle body after the start of control is a preset target displacement amount (45 ° direction change to the left side) ), The forward traveling in the left turn state is stopped (steps 5 and 6).

その後、ロータリーエンコーダＳ４の検出情報に基づいて、直進状態で後進走行を開始してからの走行距離を演算にて求めて、その走行距離が設定距離に達すると、左旋回状態での後進走行に切り換える（ステップ７、８、９）。すなわち、左側の操向クラッチブレーキ１３Ｌを急旋回状態にするように操向用電磁弁１４を制御し、予め設定されている旋回用の車速にて車体を後進させるように変速位置センサＳ１の検出情報に基づいて変速用電動モータ１６を制御する。ジャイロ装置の検出情報に基づいて車体の向きの変位量を演算にて求めて車体の向きの変位量が予め設定された目標変位量（左側に４５度向き変更）になると、言い換えると制御の開始時点から左側に９０度向き変更した状態になると、左旋回状態での後進走行を停止させ、表示ランプ２６を消灯して運転者に作業行程切換制御の実行が終了したことを報知して制御を終了する（ステップ１０、１１、１２）。その後は、運転者が刈高操向レバー１８及び変速レバー１５を手動にて操作しながら次回の直線状の作業経路に沿って走行することになる。 After that, based on the detection information of the rotary encoder S4, the travel distance after starting the reverse travel in the straight traveling state is obtained by calculation, and when the travel distance reaches the set distance, the reverse travel is performed in the left turn state. Switching (steps 7, 8, 9). That is, the steering solenoid valve 14 is controlled so that the left steering clutch brake 13L is in a sudden turning state, and the shift position sensor S1 detects so as to reverse the vehicle body at a preset turning vehicle speed. The shift electric motor 16 is controlled based on the information. When the amount of displacement in the direction of the vehicle body is calculated based on the detection information of the gyro device and the amount of displacement in the direction of the vehicle body reaches a preset target displacement amount (45 degree direction change to the left side), in other words, control starts When the vehicle is turned 90 degrees to the left from the time point, the backward traveling in the left turn state is stopped, the display lamp 26 is turned off, and the driver is informed that the execution of the work stroke switching control is completed. End (steps 10, 11, 12). Thereafter, the driver travels along the next linear work path while manually operating the cutting height steering lever 18 and the transmission lever 15.

そして、上記したような直線状の作業経路に沿って走行する作業走行と次回の直線状の作業経路に向かうように走行する経路変更用走行とを繰り返す形態で作業を行うことになり、前記経路変更用走行を自動で行うことにより、運転者の操作負担を軽減することができる。 Then, the work is performed in such a manner that the work traveling traveling along the linear work route as described above and the route changing traveling traveling toward the next linear work route are repeated. By performing the change travel automatically, the operation burden on the driver can be reduced.

〔別実施形態〕
以下、別実施形態を列記する。 [Another embodiment]
Hereinafter, other embodiments are listed.

（１）上記実施形態では、前記制御装置は、前記脱穀スイッチ及び前記回転検出センサの検出情報に基いて作業状態であるか否かを判別し、作業状態であれば自動入りモードに切り換わり、作業状態でなければ自動切りモードに切り換わる構成としたが、このような構成に代えて、前記モード切り換え手段として、前記制御装置の制御モードを自動入りモードと自動切りモードとに切り換えを指令するための手動操作式のモード切換スイッチを備える構成としてもよい。 (1) In the above embodiment, the control device determines whether or not it is in a working state based on detection information of the threshing switch and the rotation detection sensor, and switches to an automatic entry mode if in a working state. If it is not in the working state, it is configured to switch to the automatic switching mode. Instead of such a configuration, as the mode switching means, the control mode of the control device is instructed to switch between the automatic switching mode and the automatic switching mode. It is good also as a structure provided with the manual operation type mode changeover switch for this.

（２）上記実施形態では、前記自動旋回制御手段が、前記作業行程切換制御として、１つの直線状の作業経路での車体の向きに対して車体を左旋回状態にて前進走行させたのちに走行停止させ、次に、車体が前記１つの直線状の作業経路と交差する次回の直線状の作業経路に向かう状態になるように左旋回状態にて後進走行させて走行停止させる形態で、前記操向手段及び前記走行状態切換手段を切り換え制御する構成を例示したが、このような構成に代えて、次のような往復刈り形態にて作業を行う構成でもよい。 (2) In the above embodiment, after the automatic turning control means makes the vehicle travel forward in a left turn state with respect to the direction of the vehicle on one linear work route as the work stroke switching control. In a mode in which the vehicle is stopped and then traveled backwards in a left turn state so that the vehicle body is directed to the next linear work route intersecting the one linear work route, Although the configuration in which the steering unit and the traveling state switching unit are switched and controlled has been illustrated, the configuration may be such that the work is performed in the following reciprocating manner instead of such a configuration.

図６に示すように、圃場における未刈茎稈群Ｍの植付条に沿う方向の両端側の２箇所を予め刈り取って旋回用の既刈領域Ｒ（枕地）を形成しておき、未刈茎稈を植付条方向に沿って直線状の作業経路に沿って作業走行を行い、前記経路変更用走行として、既刈領域Ｒにて車体の進行方向を未刈茎稈の条並び方向に変更したのちに未刈茎稈の条並び方向の反対側箇所にまで車体を移動させたのちに車体の進行方向を植付条方向に沿うように変更し、前回とは逆方向に未刈茎稈を植付条方向に沿って直線状の作業経路に沿って作業走行を行うことを繰り返す形態で作業を行うように、前記操向手段及び前記走行状態切換手段を切り換え制御する構成するものでもよい。そして、この構成では、制御装置が圃場内においてどのような経路で走行を行うかについて予め経路情報を入力しておく必要がある。このときの経路の記憶情報としては、ＧＰＳ等を用いた絶対位置情報によるマップデータ、あるいは、自動旋回指令手段により指令された位置からの走行距離情報と回向時の方位変位量情報との組み合わせ等の種々の情報を用いることができる。 As shown in FIG. 6, an already cut area R (headland) for turning is formed by cutting in advance two places on both ends in the direction along the planting strip of the uncut stem group M in the field. The chopping pods are operated along a straight working path along the planting strip direction, and the traveling direction of the vehicle body in the trimmed region R is set as the direction of uncut chopstick ridges as the path changing travel. After moving the car body to the opposite side of the line arrangement direction of the uncut stems, the direction of travel of the car body is changed to follow the planting line direction, and uncut in the opposite direction to the previous time It is configured to switch and control the steering means and the traveling state switching means so as to perform work in a form of repeatedly performing work traveling along a linear work path along the planting strip direction. But you can. In this configuration, route information needs to be input in advance as to which route the control device travels in the field. The stored route information at this time includes map data based on absolute position information using GPS or the like, or a combination of travel distance information from the position commanded by the automatic turning command means and azimuth displacement information during turning Various information can be used.

（３）上記実施形態では、前記報知手段として表示ランプを用いたが、表示ランプに代えて、あるいは、表示ランプに加えてブザー等の音声のより報知する音声式報知手段を用いる構成としてもよい。 (3) In the above embodiment, a display lamp is used as the notification means. However, instead of the display lamp, or in addition to the display lamp, a voice-type notification means for notifying by sound such as a buzzer may be used. .

（４）上記実施形態では、車体の向きの変位量情報を検出するジャイロ装置が備えられ、前記自動旋回制御手段が前記ジャイロ装置の検出情報に基づいて求められる前記車体の向きの変位量が予め設定された目標変位量になるように前記操向手段を切り換え制御する構成としたが、このような構成に代えて、ＧＰＳ衛星から送信される電波を受信して設定時間間隔で車体の位置情報を求めるＧＰＳ位置情報算出手段を備えて、このＧＰＳ位置情報算出手段の検出情報に基いて前記操向手段を切り換え制御する構成としてもよく、又、ＧＰＳ位置情報算出手段の検出情報と前記ジャイロ装置の検出情報とを夫々用いて前記操向手段を切り換え制御する構成としてもよい。 (4) In the above embodiment, a gyro device that detects displacement information on the direction of the vehicle body is provided, and the displacement amount of the vehicle body direction that the automatic turning control means obtains based on the detection information of the gyro device is previously determined. The steering means is switched and controlled so that the set target displacement amount is obtained. Instead of such a configuration, the position information of the vehicle body is received at set time intervals by receiving radio waves transmitted from GPS satellites. The GPS position information calculating means may be provided to switch the steering means based on the detection information of the GPS position information calculating means, and the detection information of the GPS position information calculating means and the gyro device The control information may be switched and controlled using the detected information.

（５）上記実施形態では、前記操向手段が、左右一対の操向クラッチブレーキを切り換え操作することで直進状態と旋回状態とに切り換える構成としたが、このような構成に代えて、エンジンから左右の走行装置に対する伝動経路中に、いずれか一方の走行装置を同方向に駆動しながら他方の走行装置より減速させる減速用のクラッチ、いずれか一方の走行装置を他方の走行装置とは逆向きに駆動する逆転クラッチ等を備えて、それらのクラッチを選択的に使用して直進状態と旋回状態とに切り換えるような構成としてもよく、又、左右の走行装置を各別に変速操作自在な左右一対の無段変速装置を備えて、それらの出力の速度差により直進状態と旋回状態とに切り換えるような構成としてもよい。 (5) In the above embodiment, the steering means is configured to switch between the straight traveling state and the turning state by switching the pair of left and right steering clutch brakes. Deceleration clutch that decelerates from the other traveling device while driving either one of the traveling devices in the same direction in the transmission path for the left and right traveling devices, and one of the traveling devices is opposite to the other traveling device It is also possible to use a reverse-rotation clutch or the like that is driven on the left and right, and selectively use these clutches to switch between the straight-ahead state and the turning state. It is good also as a structure which is provided with the continuously variable transmission of this, and is switched to a straight drive state and a turning state by the speed difference of those outputs.

（６）上記実施形態では、作業車がコンバインである場合について説明したが、本発明は、例えば田植え用作業車、農用トラクター等、各種作業車にも適用できる。 (6) Although the case where the work vehicle is a combine has been described in the above embodiment, the present invention can also be applied to various work vehicles such as a rice planting work vehicle and an agricultural tractor.

作業車の全体側面図Overall side view of work vehicle 伝動構成及び制御構成を示すブロック図Block diagram showing transmission configuration and control configuration 制御ブロック図Control block diagram 作業状態を示す平面図Plan view showing working conditions 経路変更用走行を示す平面図Plan view showing travel for route change 作業状態を示す平面図Plan view showing working conditions

符号の説明Explanation of symbols

２５ジャイロ装置
１００走行状態切換手段
１０１操向手段
１０２自動旋回制御手段
１０４モード切り換え手段
ＳＷ自動旋回指令手段 25 Gyro apparatus 100 Traveling state switching means 101 Steering means 102 Automatic turning control means 104 Mode switching means SW Automatic turning command means

Claims

直進状態と旋回状態とに切り換え自在な操向手段を備えて、直線状の作業経路に沿って走行する直進走行と前記直線状の作業経路の終端部から次回の直線状の作業経路に向けて予め定めた設定走行パターンにて走行する経路変更用走行とを繰り返す形態で作業を行う作業車であって、
前記作業経路変更用走行を自動で行うように前記操向手段を切り換え制御する作業行程切換制御を実行する自動旋回制御手段と、前記作業経路変更用走行の開始を指令する手動操作式の自動旋回指令手段とが備えられ、
前記自動旋回制御手段が、前記自動旋回指令手段の指令に基づいて前記作業行程切換制御を実行するように構成されている作業車。 It is equipped with steering means that can be switched between a straight traveling state and a turning state, and travels straight along a straight work route and from the end of the straight work route to the next straight work route. It is a work vehicle that performs work in a form that repeats a route change traveling that travels in a predetermined set traveling pattern,
Automatic turning control means for executing work path switching control for switching control of the steering means so as to automatically perform the work path changing travel, and a manually operated automatic turning for instructing the start of the work path changing travel. Command means,
A work vehicle configured such that the automatic turning control means executes the work stroke switching control based on a command of the automatic turning command means.

車体の走行状態を、走行中立状態、前進走行状態及び後進走行状態に切り換え自在な走行状態切換手段が備えられ、
前記自動旋回制御手段が、前記作業行程切換制御として、
１つの直線状の作業経路での車体の向きに対して車体を左旋回状態にて前進走行させたのちに走行停止させ、次に、車体が前記１つの直線状の作業経路と交差する次回の直線状の作業経路に向かう状態になるように左旋回状態にて後進走行させて走行停止させる形態で、前記操向手段及び前記走行状態切換手段を切り換え制御するように構成されている請求項１記載の作業車。 A traveling state switching means that can switch the traveling state of the vehicle body to a traveling neutral state, a forward traveling state, and a backward traveling state is provided,
The automatic turning control means, as the work stroke switching control,
The vehicle body is moved forward in a left turn state with respect to the direction of the vehicle body on one linear work route, and then stopped, and then the next time the vehicle body intersects the one linear work route. 2. The control unit is configured to switch and control the steering unit and the traveling state switching unit in a form in which the vehicle travels backward in a left turn state so as to be in a state of being directed to a linear work route and is stopped. The work vehicle described.

車体の向きの変位量情報を検出するジャイロ装置が備えられ、
前記自動旋回制御手段が、前記作業行程切換制御として、前記ジャイロ装置の検出情報に基づいて求められる前記車体の向きの変位量が予め設定された目標変位量になるように前記操向手段を切り換え制御するように構成されている請求項１又は２記載の作業車。 A gyro device that detects displacement information of the direction of the vehicle body is provided,
The automatic turning control means switches the steering means so that the displacement amount of the vehicle body direction obtained based on the detection information of the gyro device becomes a preset target displacement amount as the work stroke switching control. The work vehicle according to claim 1, wherein the work vehicle is configured to be controlled.

前記自動旋回制御手段が前記作業行程切換制御を実行している自動旋回運転状態であることを運転者に報知する報知手段が備えられている請求項１〜３のいずれか１項に記載の作業車。 The work according to any one of claims 1 to 3, further comprising a notification means for notifying a driver that the automatic turning control means is in an automatic turning operation state in which the work stroke switching control is being executed. car.

前記自動旋回制御手段が、
モード切り換え手段の切り換え指令に基づいて、前記手動操作式の自動旋回指令手段の指令に基づいて前記作業行程切換制御を実行する自動入りモードと、前記手動操作式の自動旋回指令手段の指令にかかわらず前記作業行程切換制御を実行しない自動切りモードとに切り換え自在に構成されている請求項１〜４のいずれか１項に記載の作業車。 The automatic turning control means is
Based on the switching command of the mode switching means, the automatic entry mode for executing the work stroke switching control based on the command of the manually operated automatic turning command means, and the command of the manually operated automatic turning command means. The work vehicle according to any one of claims 1 to 4, wherein the work vehicle is configured to be switchable to an automatic cut mode in which the work stroke switching control is not executed.