JPH01112902A - Automatic control device for combine - Google Patents

Abstract

PURPOSE:To accurately carry out direction control, by making grain stem sensors memorize specific bearings excluding standard bearings in the case of rotary reaping, advancing the sensors based on the specific bearings in and after the second rotation and doing automatic control based on the standard bearings after the advance. CONSTITUTION:In the case of rotary reaping, grain stem sensors 5 and 8 in the beginning of reaping at each side are made to memorize specific bearings such as east, south, west or north direction excluding standard bearings only at a fixed distance from a position of ON excluding standard bearings and at the side, the sensors 5 and 8 memorize the bearings until the sensors are made OFF to fix the standard bearings. In and after the second rotation, the sensors are advanced based on the specific bearings and automatic control is carried out based on the standard bearings after the advance.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic control device for a combine harvester.

(Prior art) Conventionally, there are two types of combine harvesters: one is reciprocating mowing, in which the harvest is performed while going back and forth across the field, and the other is circular mowing, in which the harvester moves around the field and cuts toward the center. was there. In addition, the combine is equipped with a row cutting sensor,
It is equipped with a horizontal mowing sensor, a culm presence/absence sensor, a direction sensor, and a travel distance sensor. When row mowing, the row mowing sensor controls control, and when horizontal mowing, the horizontal mowing sensor controls the machine. However, when mowing in a circular motion, in addition to the above-mentioned sensors, the direction sensor and mileage sensor were used for control.

However, when automatically controlling this by a computer for one round of mowing, conventionally, the first round of mowing is done manually, the direction is memorized for each fixed distance, and the average is calculated when the first round of mowing is finished. The reference direction was set as the reference direction, and the third and subsequent laps were automatically controlled based on the reference direction of each side.

(Problems to be Solved by the Invention) The known method has a problem in that automatic control is performed only based on the reference orientation. In other words, when you finish mowing the − side and move on to the next side, there is a specific direction as the direction.
Since this specific orientation does not necessarily match the reference orientation that is the average of all the orientations, it is better to measure and store it separately.

Therefore, in the present invention, when mowing in a circular direction, for example, east, south, and west directions are set in addition to the reference direction.

A specific direction northward is stored in advance, and from the second round onwards, entry is based on the specific direction, and after entry, automatic control is performed based on the reference direction.

(Means to solve the problem) ° Therefore, the present invention deals with one round of mowing.

Only a certain distance from the position where the culm sensor 5.8 at the beginning of mowing is turned ON on each side is memorized in advance as a specific direction, and the direction is recorded until the sensor 5.8 turns OFF on that side to determine the reference direction. This is an automatic control device for a combine harvester, which enters based on a specific direction from the second round onwards, and automatically controls based on a reference direction after entering.

(Embodiment) An embodiment of the present invention will be described with reference to the drawings. Reference numeral 1 indicates a weeding body, 2 a cutting blade, and 3 a horizontal mowing short sensor.

4 is a horizontal cutting length sensor, and 5 is a horizontal culm sensor.

6 is the row mowing right sensor, 7 is the row mowing left sensor, 8 is the row mowing culm sensor, 9 is the mileage sensor, lO is the potentiometer, 11 is the left and right power steering, C is the direction sensor, or is the oil tank, 14 is the The pump, Takumi is an unload valve, 16 is a pressure reducing valve, 17 is a left solenoid, 18 is a right solenoid, 19 is a left cylinder in the direction, and 2 is a right cylinder in the direction.

(Operation) At the beginning of mowing, it is determined which of the sides of the rectangle the azimuth data is to be reproduced by detecting a specific azimuth.

During reaping work, the machine moves slowly using a direction sensor, but instead of swinging back like in the past, the machine uses a direction sensor to swing back to the reference direction and steer the machine.

When performing direction control based on the reference direction, if the average direction of the entire side is used as the reference direction for cutting, the basic direction of control is to move straight toward the reference direction, so the loss corresponding to the cutting width and the amount of uncut material are The degree of rightward correction for prevention is minimal.

From the time the culm sensor is turned on, the direction sensor data is measured and stored for each unit distance. If a certain direction continues for a certain distance or more, this is set as a specific direction, and the culm sensor measures and stores direction data every fixed distance until it is turned off. When the culm sensor turns off, this data is averaged and used as the reference direction. do.

The direction correction output controls the direction solenoid and the pressure reduction valve solenoid to direct the aircraft towards the reference heading. When the direction sensor is turned on, the right output takes priority over the direction data.

When the direction sensor is off, the left output is given priority over the direction data up to the reference direction α.

(Effects) Traditionally, there are two types of combine harvesters: one is reciprocating mowing, in which the crop is harvested while going back and forth across the field, and the other is circular mowing, in which the crop goes around the field and reaps toward the center. there were. In addition, the combine is equipped with a row cutting sensor,
It is equipped with a horizontal sensor, a culm presence/absence sensor, a direction sensor, and a mileage sensor. In addition to the above-mentioned sensors, mowing was controlled using a direction sensor and a distance sensor.

However, when automatically controlling this by a computer for round mowing, conventionally the first round of mowing is done manually, the direction is memorized at each fixed distance, and then the average is calculated when the first round of mowing is completed. It was set as a reference direction, and the third and subsequent laps were automatically controlled based on the reference direction of each side.

The known method has a problem in that automatic control is performed only based on the reference orientation. In other words, when you finish mowing the − side and move on to the next side, there is a specific direction as the direction.
Since this specific orientation does not necessarily match the reference orientation that is the average of all the orientations, it is better to measure and store it separately.

However, in the present invention, when performing circular mowing, the culm sensor 5.8 at the beginning of mowing on each side is OWL.

A certain distance from the position is memorized in advance as a specific direction, and in that area, the direction is recorded until the sensor 5.8 turns OFF to determine the reference direction, and from the third round onwards, the vehicle enters based on the specific direction, Since this is an automatic control device for a combine harvester that performs automatic control based on the reference direction after entry, the direction can be controlled accurately.

[Brief explanation of the drawing]

FIG. 1 is a hydraulic path diagram, FIG. 2 is a cutting plan view, FIG. 3 is a flow diagram, and FIGS. 4 to 6 are flow charts. Explanation of symbols 1... Grass splitting body, 2... Cutting blade, 3... Lateral short sensor, 4... Lateral length sensor, 5... Lateral culm sensor, 6... Row mowing force sensor , 7... Row mowing left sensor, 8... Row mowing culm sensor, 9... Mileage sensor, 10... Potentiometer, 11... Left and right power steering, Hill... Orientation sensor, 13・・・
・Oil tank, 14... Pump, 15... Unload valve, 16... Pressure reducing valve, 17... Left solenoid,
18... Right solenoid, 19... Direction left cylinder, Redundant... Direction cloth cylinder, 21... Direction control switch.

Claims (1)

[Claims] When performing circular mowing, only a certain distance from the position where the culm sensors 5 and 8 at the beginning of mowing are turned on on each side is stored in advance as a specific direction, and the sensors 5 and 8 are turned off on that side.
This is an automatic control device for a combine harvester that records the direction until the direction is reached and determines the reference direction, then enters based on the specific direction from the second round onwards, and automatically controls based on the reference direction after entering.