JPS6314632A - Operation control system of harvester - Google Patents
Operation control system of harvesterInfo
- Publication number
- JPS6314632A JPS6314632A JP61158332A JP15833286A JPS6314632A JP S6314632 A JPS6314632 A JP S6314632A JP 61158332 A JP61158332 A JP 61158332A JP 15833286 A JP15833286 A JP 15833286A JP S6314632 A JPS6314632 A JP S6314632A
- Authority
- JP
- Japan
- Prior art keywords
- distance
- rice
- traveling
- stop
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241000209094 Oryza Species 0.000 claims description 35
- 235000007164 Oryza sativa Nutrition 0.000 claims description 35
- 235000009566 rice Nutrition 0.000 claims description 35
- 238000001514 detection method Methods 0.000 description 9
- 235000013339 cereals Nutrition 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Landscapes
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
産業上の利用分野
この発明は、ハーベスタの操作制御方式に関するもので
、圃場における稲掛列の稲束をハーベスタにより脱穀す
る際等に利用できる。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an operation control system for a harvester, and can be used when threshing rice bundles in rows of rice in a field using a harvester.
従来の技術、および発明が解決しようとする問題点
従来から気候風土や労力の問題等により日本古来の農作
業慣行を踏襲する地域においては、刈取った稲束を自然
乾燥させるべく稲架掛けとし、適時乾燥後この稲架掛け
をした稲掛列から稲束を取外して脱穀作業を行うように
するのであるが、近年この脱穀作業の際に旧来の定置用
脱穀機に代わって、移動しながら脱穀が行えるハーベス
タが作業効率と省力化の面から急速に普及するに至った
。Conventional technology and the problems that the invention aims to solve In areas where traditional Japanese farming practices have been followed due to climate and labor issues, harvested rice bundles are hung on rice racks to dry naturally, and After drying, the rice bundles are removed from the rice hanging rows and threshed.In recent years, rice bundles have been replaced with traditional stationary threshing machines that have been replaced with movable threshing machines. Harvesters have rapidly become popular due to their efficiency and labor savings.
しかしこのハーベスタによる脱穀作業においては、効率
化と省力化の面から、機体と稲掛列との間隔を走向制御
装置によって一定間隔に維持して走行させ、この走行を
走行停止装置によって一定距離毎に間欠的に停止させる
ように自動的な制御を行い、この間欠的な停止位置にお
いて稲掛列から稲束を運搬して脱穀を行うようにするも
のであるが、これらの作業においては機体が稲掛列に沿
った一定距離を自動走行中に、もし畦畔とか排水溝等の
障害物に遭遇したような場合、例えばこの障害物を、作
業者の手動操作か又は何等かの自動操作により緊急停止
を行って回避させ、この回避による間欠的一定距離間の
途中停止から再び自動走行を開始する際に、通常では走
行停止装置による一定距離の検出がこの時点で更新され
るため、緊急停止するまでの距離と更新された一定距離
とが加゛算されて一定距離の゛走行が確保されないこと
となり、これでは折角の自動走行の効果が阻害されるの
で問題となっているものである。However, in the threshing work using this harvester, in order to improve efficiency and save labor, the distance between the machine and the row of rice racks is maintained at a constant interval by a strike control device, and this running is stopped at regular intervals by a travel stop device. The machine is automatically controlled so that it stops intermittently, and at these intermittent stop positions, the rice bundles are transported from the rice hanging row and threshed. If an obstacle such as a ridge or drainage ditch is encountered while automatically traveling a certain distance along the rice row, for example, the obstacle can be removed manually by the operator or by some automatic operation. When an emergency stop is performed to avoid the situation, and automatic driving is restarted after an intermittent stop for a certain distance due to this avoidance, normally the detection of a certain distance by the driving stop device is updated at this point, so the emergency stop is not performed. This is a problem because the distance traveled until the end of the vehicle and the updated fixed distance are added together, making it impossible to ensure that the vehicle travels a fixed distance, which impedes the effectiveness of automated driving.
そこでこの発明は、このような八−ベスタ作業における
自動走行時の問題点について改善しようとするものであ
る。Therefore, the present invention aims to improve the problems encountered during automatic travel in such eight-vester work.
問題点を解決するための手段
この発明は、走行装置(1)に、機体(2)と稲掛列(
3)との間隔を検出する走向センサ(4)によってこの
間隔を一定に維持させて走行させる走向制御装置(5)
と、該機体(2)を一定距離毎に間欠的に走行を停止さ
せる走行停止装M(6)とを設けるハーベスタにおいて
、該機体(2)を該稲掛列(3)に沿わせた自動走行中
の該間欠的一定距離間における途中停止りによって自動
走行を再開するときは、該間欠的一定距離間の残距離を
走行、して間欠的に停止させる途中停止装置(7)を設
けてなる操作制御方式の構成とする。Means for Solving the Problems This invention provides a traveling device (1) with a machine body (2) and a rice rack (
3) and a strike control device (5) that maintains this distance constant using a strike sensor (4) that detects the distance from the strike sensor (5).
and a travel stop device M (6) that stops the machine (2) from traveling intermittently at regular intervals, the machine automatically moves the machine (2) along the rice row (3). When resuming automatic travel due to a mid-way stop during the intermittent fixed distance while traveling, an intermediate stop device (7) is provided that travels the remaining distance during the intermittent fixed distance and then stops intermittently. The operation control system is configured as follows.
発明の作用
ハーベスタ訊作業において、刈取った稲束を適時乾燥さ
せるための稲掛列(3)を圃場内にノ\−ベスタが1通
行可能な間隔をとって複数列設け、例えば機体(2)の
前方任意位置にオーバハングして設は九走向センサ(4
)によって、該機体(2)と該稲掛列(3)との間隔を
検出し、この検出により走向制御装置(5)によって頭
初設定された間隔に一定に維持させるようにすると共に
、作業者が該稲掛列(3)から稲束を運搬して脱穀を行
うための効率的な行動範囲を一単位として、該機体(2
)をこの各単位間の一定距離を走行させた後、走行停止
装置(6)のカウント検出によって自動的に走行を停止
させ、この間欠的一定距離の走行による各停止位置毎に
脱穀作業を繰返して行うようにするものであるが、この
該機体(2)を該稲掛列(3)に一定間隔に沿わせて自
動走行中に、例えば畦畔とか排水溝等の障害物に遭遇し
たような場合には、該間欠的一定距離間の途中において
突発的に該機体(2)を停止させる必要があり、この途
中停止時に途中停止装置(7)によって該走行停止装置
(6)のカウント検出の一時保留を行い、障害物を回避
した後、再び自動走行を開始すると同時に該途中停止装
置(7)によって該走行停止装M(6)のカウント検出
の一時保留を解除して、該間欠的一定距離間の残り距離
を走行することによって、途中停止を行っても該間欠的
一定距離を確保できるようにするものである。Effect of the Invention During harvester harvesting work, a plurality of rice hanging rows (3) for drying harvested rice bundles in a timely manner are provided in the field at intervals that allow one harvester to pass through. ) is overhanging at any position in front of the nine direction sensors (4).
) detects the distance between the aircraft (2) and the rice rack row (3), and based on this detection, the strike direction control device (5) maintains a constant distance at the initially set distance, and The machine (2
) after traveling a certain distance between each unit, the traveling is automatically stopped by the count detection of the traveling stop device (6), and the threshing operation is repeated at each stop position by intermittent traveling a certain distance. However, when the aircraft (2) is automatically traveling along the rice rack row (3) at regular intervals, if it encounters an obstacle such as a ridge or drainage ditch. In such a case, it is necessary to suddenly stop the aircraft (2) midway through the intermittent fixed distance, and during this midway stop, the midway stop device (7) detects the count of the travel stop device (6). After avoiding the obstacle, automatic travel is started again, and at the same time, the intermediate stop device (7) releases the temporary hold of count detection of the travel stop device M (6), and the intermittent By traveling the remaining distance between the fixed distances, it is possible to secure the intermittent fixed distance even if the vehicle stops midway.
発明の効果
ハーベスタの作業において、該機体(2)と該稲掛列(
3)との間隔を一定に維持して、脱穀の際の効率的な稲
束運搬の行動範囲を一単位とする該間欠的一定距離の走
行を行い、この走行による各停止位置毎に脱穀作業の繰
返しを行うような自動走行中に、もし畦畔とか排水溝等
の障害物に遭遇したような場合には、該間欠的一定距離
間を走行中といえども該機体(2)を途中で停止させて
障害物を回避させた後、再び自動走行を開始させるよう
にする必要があるが、この自動走行の途中停止から障害
物の回避を行い再び自動走行を開始するまでの間を、該
途中停止装置(7)によって該走行停止装置(6)のカ
ウント検出を一時保留させることにより、自動走行中に
途中停止を行っても該間欠的一定距離を容易に確保する
ことができるので、従来のように途中停止により該走行
停止装置(6)のカウント検出が更新されて、途中停止
するまでの走行距離と途中停止により新たに更新された
該間欠的一定距離とが加算されて該間欠的一定距離の走
行が確保されず、折角の自動走行の効果を阻害されるよ
うな心配はない。Effects of the invention In the operation of the harvester, the machine (2) and the rice rack row (
3) While maintaining a constant distance from the rice bundle, the area of movement for efficient transportation of rice bundles during threshing is taken as one unit, and the threshing operation is carried out at each stopping position during this traveling. If the aircraft (2) encounters an obstacle such as a ridge or drainage ditch during automatic driving that repeats the above steps, the aircraft (2) may be stopped mid-way even if it is traveling for a certain distance intermittently. After stopping and avoiding obstacles, it is necessary to start automatic driving again, but from the mid-stop of automatic driving until the time when the automatic driving is stopped and the obstacle is avoided and automatic driving starts again, By temporarily suspending the count detection of the travel stop device (6) by the midway stop device (7), the intermittent fixed distance can be easily secured even if a midway stop is performed during automatic travel, which is different from conventional methods. As shown in the figure, the count detection of the travel stop device (6) is updated due to the midway stop, and the travel distance until the midway stop is added to the intermittent constant distance newly updated due to the midway stop, and the intermittent constant distance is added. There is no need to worry about not being able to travel a certain distance and hindering the effectiveness of automated driving.
実施例
なお図例において、ハーベスタの機体(2)の下側部に
は左右側に各一対の土壌面を走行する前後に長い走行無
端帯(8)を配した走行装置(1)を設け、該走行装置
(1)の上側部には該機体(2)のベースを構成する主
フレーム(9)上に、前側には稲掛列(3)に束子され
た稲束を脱穀する脱穀装置(10)を、また後側には該
走行装置(1)及び該脱穀装置(lO)へ動力を供給す
る原動機(It)とこの原動機(11)“を内装する原
動機室(12)とを設ける。また該脱穀装置(10)に
より脱穀された穀粒を機外へ排出する任意円筒状の穀粒
排出筒(13)を、該脱穀装置(10)右側面部−側か
ら該機体(2)後端部まで後方側上位置へ延長して設け
、該原動機室(12)の後部側上面位置に該機体(2)
を操作制御する操作盤(14)を設け、該操作盤(14
)の両側部から後方へ向はループ状の操縦ハンドル(1
5)を任意長突出させて設け、該操作9B(14)には
該機体(2)の走行時に、左右方向の制御を行う走向制
御装置(5)と一定距離毎に間欠停止させる走行停止装
置(6)と障害物等により途中停止を行った場合といえ
ども一定距離毎に間欠停止させる途中停止装置(7)を
内装して設ける。また該脱穀装置t(10)の右側面部
中央よりの部位からセンサ保持用のステー(1B)を逆
り字形に該機体(2)の−F方前方へ向は任意長突設さ
せ、該ステー(16)の前端部側には横方向に該稲掛列
(3)と該機体(2)との間隔を超音波の送受信により
検出する走向センサ(4)を、また下方向に表土面の畦
畔とか排水溝等を超音波の送受信により検出する表土セ
ンサ(17)を各々設け、該ステー(1B)の前端面に
は前方の壁等の障害物を検出する障害物センサ(18)
を設ける。Embodiment In the illustrated example, the lower part of the harvester body (2) is provided with a traveling device (1) having a long running endless belt (8) arranged at the front and back that travels on each pair of soil surfaces on the left and right sides, The traveling device (1) has a threshing device (1) mounted on the main frame (9) constituting the base of the machine (2) on the upper side, and a threshing device (3) for threshing the rice bundles bundled in the rice hanging row (3) on the front side. 10), and a prime mover (It) for supplying power to the traveling device (1) and the threshing device (lO), and a prime mover room (12) in which the prime mover (11) is housed. In addition, an optional cylindrical grain discharge tube (13) for discharging grains threshed by the threshing device (10) to the outside of the machine is connected from the right side of the threshing device (10) to the rear end of the machine body (2). The fuselage (2) is provided in an upper position on the rear side of the engine room (12).
An operation panel (14) is provided to operate and control the operation panel (14).
) is a loop-shaped control handle (1
5) is provided to protrude to an arbitrary length, and the operation 9B (14) includes a strike control device (5) that controls the left and right direction when the aircraft (2) is traveling, and a travel stop device that stops the aircraft intermittently at regular intervals. (6) and an internal stopping device (7) which makes intermittent stops at fixed distances even when stopping midway due to an obstacle or the like. In addition, a stay (1B) for holding a sensor is provided in an inverted shape and protrudes from the center of the right side of the threshing device t (10) to an arbitrary length in the forward direction of -F of the machine body (2). On the front end side of (16), there is a strike sensor (4) that detects the distance between the rice rack row (3) and the body (2) in the horizontal direction by transmitting and receiving ultrasonic waves. A topsoil sensor (17) is provided for detecting ridges, drainage ditches, etc. by transmitting and receiving ultrasonic waves, and an obstacle sensor (18) is provided on the front end surface of the stay (1B) for detecting obstacles such as walls in front.
will be established.
また前記操作盤(14)の盤面上には該機体(2)の走
行を入・切する走行スイッチ(18)と、間欠走行の距
離を設定する距離設定押ボタン(20)と、該稲掛列(
3)と該機体(2)との間隔を設定する間隔設定押ボタ
ン(21)と、この各押ボタン(20) (21)の
どちらか一方の設定により距離又は間隔を大・小側に調
節する調節押ボタン(22)と、″自動側に切替えた場
合は距離又は間隔の制御を自動的に行い手動側に切替え
た場合は作業者による手動操作を行わせる自動手動切替
スイッチ(23)と、該切替スイッチ(23)が自動側
に切替えられている場合は該調節押ボタン(22)によ
る設定数値を標示する標示器(20と、該切替スイッチ
(23)が自動側に切替えられているときには点灯又は
点滅させる標示灯(25)と、前記各センサ(17)
(1B)による障害物検出時等に知らせるブザー(2
B)とを各々設ける。また該各センサ(4) (17
) (18) 、各スイッチ(19) (23)
、各押ボタン(20) (21) (22) 、標
示器(20、標示灯(25) 、ブザー(2B)等と前
記走向制御装置(5)、走行停止装置(6)、途中停止
装置(7)とを電気的に接続させる。Further, on the surface of the operation panel (14), there are a running switch (18) for turning on and off the running of the aircraft (2), a distance setting push button (20) for setting the distance of intermittent running, and Column (
A distance setting push button (21) is used to set the distance between 3) and the aircraft (2), and the distance or distance can be adjusted to the larger or smaller side by setting either of these push buttons (20) or (21). and an automatic/manual changeover switch (23) that automatically controls the distance or interval when switched to the automatic side and allows the operator to perform manual operation when switched to the manual side. , when the changeover switch (23) is switched to the automatic side, an indicator (20) that displays the numerical value set by the adjustment pushbutton (22) and the changeover switch (23) are switched to the automatic side. A indicator light (25) that is sometimes turned on or blinking, and each of the sensors (17)
Buzzer (2) to notify when an obstacle is detected by (1B)
B) and are provided respectively. In addition, each sensor (4) (17
) (18), each switch (19) (23)
, each pushbutton (20) (21) (22), indicator (20), indicator light (25), buzzer (2B), etc., the above-mentioned strike direction control device (5), traveling stop device (6), midway stopping device ( 7) to be electrically connected.
原動機(11)の起動により走行装置(1)及び脱穀装
置(lO)へ動力が伝達され、機体(2)を走行・停止
の繰返しにより間欠的に移動させて稲掛列(3)から稲
束を運搬しながら脱穀作業を行うのであるが、この脱穀
作業に際して、まず操作盤(10の切替スイッチ(23
)を自動制御側に切替えた後、距離設定押ボタン(20
)を押して、作業者が該稲掛列(3)から稲束を運搬し
て脱穀を行うための効率的な行動範囲を一単位として間
欠的に走行する一定距離を選定し、標示器(24)にこ
の選定数値が標示されるまで調節押ボタン(22)によ
り調節を行い、この数値が標示された時点で再度該設定
押ボタン(20)を押すことにより設定が完了する0次
に間隔設定押ボタン(21)を押して、前記間欠的一定
距離の設定に伴って、該稲掛列(3)からの稲束の運搬
が最も効率的な行動範囲となるような該機体(2)と該
稲掛列(3)との間隔を選定し、該標示器(20にこの
選定数値が標示されるまで該調節押ボタン(22)によ
り調節を行い、この数値が標示された時点で再度該設定
押ボタン(21)を押すことにより設定が完了する。以
上この両′設定の完了に伴い、走行スイッチ(1B)を
人にすることにより該機体(2)は発進し、走向センサ
(4)の超音波の送受信により位置検出を行い、この検
出値を走向制御装置(5)に送って絶えず該機体(2)
と該稲掛列(3)との間隔を、設定された一定間隔を維
持すべく自動的に制御を行うと共に、走行停止装置(6
)のカウント検出により設定された一定距離を走行後目
動的に該機体(2)を停止させ、この停止位置周辺の効
率的な行動範囲にある稲束を該稲掛列(3)から運搬し
て脱穀作業を行うようにするもので、この脱穀作業の終
了に伴い該走行スイッチ(19)により再び走行を開始
させるというような、間欠的一定距離の走行・停止の繰
返しによる前記作業の継続中に、もし表土センサ(17
)の超音波の送受信により畦畔とか排水溝等の障害物を
検出したような場合には、この検出値により該間欠的一
定距離間の途中において該走行停止装置(6)によって
該機体(2)を自動的に緊急停止を行い、この緊急停止
により該切替スイッチ(23)を自動的に手動側に切替
えると同時に途中停止装置(7)を作用させて、該走行
停止装置(6)の一定距離間のカウント検出を一時保留
させる。この間に手動側に切替わった該機体(2)を手
動操作によって障害物を回避させ、この回避終了に伴い
該切替スイッチ(23)を再び自動側に切替えて該走行
スイッチ(18)により該機体(2)を発進させ、この
発進によって該途中停止装置(7)により該走行停止装
置(6)のカウント検出の一時保留を解除して、該間欠
的一定距離間の残りの距離の走行を行って該走行停止装
置(6)によって自動的に走行を停止させるようにする
ものである。When the prime mover (11) is started, power is transmitted to the traveling device (1) and the threshing device (lO), and the machine body (2) is moved intermittently by repeatedly running and stopping to remove the rice bundles from the rice hanging row (3). The threshing work is carried out while transporting the grains, but when doing this threshing work, first the operation panel (10 changeover switches (23)
) to the automatic control side, press the distance setting pushbutton (20
) to select a certain distance that the worker will travel intermittently as one unit, which is an efficient movement range for transporting rice bundles and threshing from the rice hanging row (3), and press the indicator (24). ) until this selected value is displayed using the adjustment push button (22), and when this value is displayed, press the setting push button (20) again to complete the setting. By pressing the pushbutton (21) and setting the intermittent constant distance, the machine (2) and the aircraft are moved so that the movement range is the most efficient for transporting the rice bundles from the rice hanging row (3). Select the distance from the rice hanging row (3), adjust it using the adjustment push button (22) until the selected value is displayed on the indicator (20), and when this value is displayed, set it again. The setting is completed by pressing the push button (21). With the completion of these two settings, the aircraft (2) will start by turning the travel switch (1B) to the human position, and the direction sensor (4) will be activated. The position is detected by transmitting and receiving ultrasonic waves, and this detected value is sent to the strike control device (5) to constantly control the aircraft (2).
The distance between the rice hanging row (3) and the rice hanging row (3) is automatically controlled to maintain a set constant interval, and the running stop device (6)
) After traveling a certain distance set by the count detection of The operation is continued by repeatedly running and stopping for a certain distance intermittently, such as restarting the running switch (19) when the threshing operation is completed. If the topsoil sensor (17
), if an obstacle such as a ridge or drainage ditch is detected by transmitting and receiving ultrasonic waves from the aircraft (2), the traveling stop device (6) will stop the aircraft (2 ) is automatically brought to an emergency stop, and this emergency stop automatically switches the changeover switch (23) to the manual side, and at the same time activates the halfway stop device (7) to stop the traveling stop device (6) at a certain level. Temporarily suspend count detection between distances. During this time, the aircraft (2), which has been switched to the manual side, is manually operated to avoid the obstacle, and when the avoidance is completed, the changeover switch (23) is switched to the automatic side again, and the travel switch (18) is operated to avoid the obstacle. (2) starts, and with this start, the temporary suspension of count detection of the travel stop device (6) is released by the halfway stop device (7), and the vehicle travels the remaining distance during the intermittent fixed distance. The traveling stop device (6) automatically stops traveling.
また該標示器(20による標示値は2桁標示とし、例え
ば0.0から8.8まで0.1毎に標示できるようにし
、該走行スイッチ(18)人のときには一定距離側の設
定数値を標示させるようにしてもよい。In addition, the value indicated by the indicator (20) is a two-digit indicator, for example, it can be displayed in 0.1 increments from 0.0 to 8.8. It may also be displayed.
またブザー(28)は障害物による緊急停止時には長音
で、該切替スイッチ(25)を自動側に切替えていると
きには間欠音で各々作業者に知らせるようにしてもよい
。Further, the buzzer (28) may notify the operator with a long sound when an emergency stop is caused by an obstacle, and with an intermittent sound when the changeover switch (25) is switched to the automatic side.
図はこの発明の実施例を示すもので、第1図は側面図、
第2図は一部の平面図、第3図は電気回路のブロック図
、第4及び第5図は作用図である図中、符号(1)は走
行装置、(2)は機体、(3)は稲掛列、(4)は走向
センサ、(5)は走向制御装置、(6)は走行停止装置
、(7)は途中停止装置を示す。The figures show an embodiment of the invention, and Figure 1 is a side view;
Figure 2 is a partial plan view, Figure 3 is a block diagram of the electric circuit, and Figures 4 and 5 are operational diagrams. ) shows the rice hanging row, (4) shows the strike direction sensor, (5) shows the strike direction control device, (6) shows the running stop device, and (7) shows the halfway stop device.
Claims (1)
を検出する走向センサ(4)によってこの間隔を一定に
維持させて走行させる走向制御装置(5)と、該機体(
2)を一定距離毎に間欠的に走行を停止させる走行停止
装置(6)とを設けるハーベスタにおいて、該機体(2
)を該稲掛列(3)に沿わせた自動走行中の該間欠的一
定距離間における途中停止によって自動走行を再開する
ときは、該間欠的一定距離間の残距離を走行して間欠的
に停止させる途中停止装置(7)を設けてなる操作制御
方式。A strike control device (5) that causes the traveling device (1) to travel while maintaining a constant distance between the aircraft (2) and the rice-hanging row (3) using a strike sensor (4) that detects the space between the aircraft (2) and the rice rack row (3); (
In a harvester equipped with a traveling stop device (6) that stops traveling the machine (2) intermittently at fixed distances, the machine (2)
) along the rice hanging row (3), when restarting automatic driving by stopping midway during the intermittent fixed distance, the automatic driving is restarted by running the remaining distance between the intermittent fixed distance The operation control system is equipped with an intermediate stop device (7) that stops the operation.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61158332A JPS6314632A (en) | 1986-07-04 | 1986-07-04 | Operation control system of harvester |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61158332A JPS6314632A (en) | 1986-07-04 | 1986-07-04 | Operation control system of harvester |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6314632A true JPS6314632A (en) | 1988-01-21 |
Family
ID=15669327
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP61158332A Pending JPS6314632A (en) | 1986-07-04 | 1986-07-04 | Operation control system of harvester |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6314632A (en) |
-
1986
- 1986-07-04 JP JP61158332A patent/JPS6314632A/en active Pending
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