JPH01112903A - Automatic rotation control of combine - Google Patents
Automatic rotation control of combineInfo
- Publication number
- JPH01112903A JPH01112903A JP62270941A JP27094187A JPH01112903A JP H01112903 A JPH01112903 A JP H01112903A JP 62270941 A JP62270941 A JP 62270941A JP 27094187 A JP27094187 A JP 27094187A JP H01112903 A JPH01112903 A JP H01112903A
- Authority
- JP
- Japan
- Prior art keywords
- point
- distance
- stored
- combine
- rotation control
- 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.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (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）
本発明は、コンバインの自動回行制御方法係るものであ
る。DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to an automatic rotation control method for a combine harvester.
（従来技術）
コンバインにおいて、圃場の一辺に添って前進して刈取
り、終端に達したら、左旋回し、所定距離前進したら、
直線的に後退し、姿勢を整えて他辺を刈取るようにした
ものは公知でる。(Prior art) In a combine harvester, move forward along one side of the field to reap, and when it reaches the end, turn to the left and move forward a predetermined distance.
There is a known method that retreats in a straight line, adjusts its posture, and reaps the other side.
（発明が解決しようとする問題点）
公知のものは、方行を自動制御するのに、数多いデータ
を入力させていた０本発明は、より少ないデーターで回
行パターンを再現させるようにしたものである。(Problems to be Solved by the Invention) Known methods require a large amount of data to be input in order to automatically control the direction.The present invention reproduces the turning pattern using less data. It is.
（問題を解決するための手段）
よって本発明は、オペレーターが手動操作した回行パタ
ーンを再現する学習モードを設けたコンバインの自動回
行制御方法において、殻稈センサーオフの起点Ａと、左
ブレーキ開始点Ｂと、左ブレーキ終了点Ｃと、右ブレー
キ開始点りと、右ブレーキ終了点Ｅを定めるとともに、
前記これを自動的に識別し、識別した各点毎に、前記Ａ
点においてはＡ−Ｂ間の距離を、前記Ｂ点においてはＢ
４Ｃ間の外側輪距離を、前記０点においてはＣ１０間の
距離を、前記り点においてはＤ４Ｅ間の外側輪距離をそ
れぞれ記憶させ、各点間は、その記憶された情報に基づ
いて同行するコンバインの自動回行制御方法とじたもの
である。(Means for Solving the Problems) Therefore, the present invention provides an automatic turning control method for a combine harvester that is provided with a learning mode that reproduces the turning pattern manually operated by an operator, in which the start point A of the shell culm sensor off and the left brake In addition to determining the start point B, the left brake end point C, the right brake start point, and the right brake end point E,
The above is automatically identified, and for each identified point, the above A
At the point, the distance between A and B, and at the point B, the distance is B.
The outer ring distance between 4C, the distance between C10 at the 0 point, and the outer ring distance between D4E at the above point are stored, and each point is linked based on the stored information. This is a summary of the automatic rotation control method for a combine harvester.
（実施例）
本発明の一実施例を図面により説明すると、ｌは未刈部
、２はコンバイン、３はコンバイン２が刈取る一辺、４
は一辺３の次に刈取る他辺のとき、殻稈センサーが殻稈
がなくなってオフになった点をＡ、Ａより少しばかり進
んで左ブレーキを開始する点をＢ、前進終了後進開始点
をＣ１右ブレーキを開始する点をり、前進開始点をＥと
したとき、Ａ点の記憶内容はＡ４Ｂ間の距離を記憶させ
、Ｂ点の記憶内容はＢ＋Ｃ間の外側輪の距離（またはＢ
−Ｃ間の方位差、またはＢ−Ｃ間の内外輪回転比）を記
憶させ、０点の記憶内容は、Ｃ−Ｄ間の距離を記憶させ
、Ｄ点の記憶内容はＤ＋Ｅ間の外側輪の距離（またはＤ
→Ｅ間の方位差、またはＤ→Ｅ間の内外輪回転比）を記
憶させる。(Example) An example of the present invention will be described with reference to the drawings. l is an uncut part, 2 is a combine harvester, 3 is one side to be harvested by the combine harvester 2, and 4
When the other side is to be harvested after side 3, A is the point where the culm sensor turns off due to the lack of culm, B is the point where the left brake starts applying the left brake a little further than A, and B is the point where forward movement ends and backward movement starts. When C1 is the point where the right brake starts and E is the forward start point, the memory content of point A is the distance between A4B, and the memory content of point B is the distance of the outer ring between B + C (or B
-C, or the inner and outer ring rotation ratio between B and C), the memory content of point 0 is the distance between C and D, and the memory content of point D is the outer ring rotation ratio between D+E. distance (or D
azimuth difference between →E or inner and outer ring rotation ratio between D→E).
第３図のフローチャートはブレーキ力の算出方法を示し
、第４図は制御回路を示している。The flowchart in FIG. 3 shows the method of calculating the brake force, and FIG. 4 shows the control circuit.
（作用・効果）
本発明は、オペレーターが手動操作した回行パターンを
再現する学習モードを設けたコンバインの自動回行制御
方法において、殻稈センサーオフの起点Ａと、左ブレー
キ開始点Ｂと、左ブレーキ終了点Ｃと、右ブレーキ開始
点りと、右ブレーキ終了点Ｅを定めるとともに、前記こ
れを自動的に識別し、識別した各点毎に、前記Ａ点にお
いてはＡ−Ｂ間の距離を、前記Ｂ点においてはＢ→Ｃ間
の外側輪距離を、前記０点においてはＣ−ｈＤ間の距離
を、前記り点においてはＤ→Ｅ間の外側輪距離をそれぞ
れ記憶させ、各点間は、その記憶された情報に基づいて
回行するコンバインの自動回行制御方法としたから、教
示した回行パターンを再現するために必要なデーターが
少量で済むので、所要メモリーサイズも小さくてよく、
コストダウンになる。(Operation/Effect) The present invention provides an automatic turning control method for a combine harvester that is provided with a learning mode that reproduces a turning pattern manually operated by an operator, in which a starting point A for turning off the shell culm sensor, a left brake starting point B, In addition to determining the left brake end point C, right brake start point, and right brake end point E, these are automatically identified, and for each identified point, at the point A, the distance between A and B is determined. At the point B, the outer ring distance from B to C is stored, at the 0 point, the distance between C and hD, and at the above point, the outer ring distance from D to E is stored. Since the automatic rotation control method of the combine was developed based on the stored information, only a small amount of data was required to reproduce the taught rotation pattern, and the required memory size was also small. often,
It will reduce costs.
また、ｌチップマイコンの内蔵ロムのみで処理可能であ
り、外付ロムが不要となるので、耐ノイズ性に対して有
利になる。Furthermore, processing can be performed using only the built-in ROM of the l-chip microcomputer, eliminating the need for an external ROM, which is advantageous in terms of noise resistance.
第１図は同行パターンと記憶する点を示す平面図、第２
図は各点の記憶する情報図、第３図はブレーキの算出図
、第４図は制御回路図である。
符号の説明
ｌ・・・未刈部、 ２・・・コンバイン、３・・・−
辺、４・・・他辺。Figure 1 is a plan view showing the accompanying pattern and points to be memorized;
The figure is a diagram of information stored at each point, FIG. 3 is a brake calculation diagram, and FIG. 4 is a control circuit diagram. Explanation of symbols 1...uncut part, 2...combine harvester, 3...-
Side, 4...other side.
Claims (1)
習モードを設けたコンバインの自動回行制御方法におい
て、殻稈センサーオフの起点Ａと、左ブレーキ開始点Ｂ
と、左ブレーキ終了点Ｃと、右ブレーキ開始点Ｄと、右
ブレーキ終了点Ｅを定めるとともに、前記これを自動的
に識別し、識別した各点毎に、前記Ａ点においてはＡ→
Ｂ間の距離を、前記Ｂ点においてはＢ→Ｃ間の外側輪距
離を、前記Ｃ点においてはＣ→Ｄ間の距離を、前記Ｄ点
においてはＤ→Ｅ間の外側輪距離をそれぞれ記憶させ、
各点間は、その記憶された情報に基づいて回行するコン
バインの自動回行制御方法。In a combine automatic turning control method that has a learning mode that reproduces the turning pattern manually operated by the operator, the starting point A of the culm sensor off and the left brake starting point B
, the left brake end point C, the right brake start point D, and the right brake end point E are determined, and these are automatically identified, and for each identified point, at the point A, A→
At the point B, the distance between B and C is stored, at the point C, the distance between C and D is stored, and at the point D, the outer ring distance between D and E is stored. let me,
A combine harvester automatic rotation control method that rotates between each point based on the stored information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62270941A JPH0822162B2 (en) | 1987-10-27 | 1987-10-27 | Combine automatic circulation control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62270941A JPH0822162B2 (en) | 1987-10-27 | 1987-10-27 | Combine automatic circulation control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01112903A true JPH01112903A (en) | 1989-05-01 |
| JPH0822162B2 JPH0822162B2 (en) | 1996-03-06 |
Family
ID=17493138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62270941A Expired - Lifetime JPH0822162B2 (en) | 1987-10-27 | 1987-10-27 | Combine automatic circulation control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0822162B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002233220A (en) * | 2001-02-07 | 2002-08-20 | Kubota Corp | Work vehicle lifting / lowering structure |
| JP2024052709A (en) * | 2022-06-13 | 2024-04-11 | 井関農機株式会社 | combine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61204408U (en) * | 1985-06-13 | 1986-12-23 |
-
1987
- 1987-10-27 JP JP62270941A patent/JPH0822162B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61204408U (en) * | 1985-06-13 | 1986-12-23 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002233220A (en) * | 2001-02-07 | 2002-08-20 | Kubota Corp | Work vehicle lifting / lowering structure |
| JP2024052709A (en) * | 2022-06-13 | 2024-04-11 | 井関農機株式会社 | combine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0822162B2 (en) | 1996-03-06 |
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