JPH01309603A - Combine harvester turning control method - Google Patents

Abstract

PURPOSE:To carry out a precise detection for starting of steering at the cutting terminal by stopping a steering control in case of detecting the absence of a grain culm by a grain culm sensor at the cutting terminal of a cutting path in the longitudinal direction and subsequently detecting a grain culm by the grain culm sensor at any time between the detection of absence of a grain culm and a start of an automatic steering. CONSTITUTION:When the presence of a grain culm is detected again on a cutting path in the longitudinal direction after a detection of a vacant hill, etc., by a grain culm sensor 3 at the cutting terminal of the cutting path in the longitudinal direction, a steering control is immediately stopped to prevent errors of detection at the cutting terminal. A steering control is also stopped in case the grain culm sensor 3 is continued to be in a state of detecting the presence of a grain culm longer than a prescribed time during a steering control path from a start of an automatic steering to a completion thereof at the cutting terminal.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a turning control system for a combine harvester.

Conventional technology A grain culm sensor for detecting the presence or absence of grain culms is provided at the tip of the reaping device at the front of the vehicle body, and when this grain culm sensor detects the absence of grain culms at the end of the vertical reaping process, the horizontal Reaping work is performed by automatically controlling the vehicle body to reap in the same direction as the reaping stroke.

Problems to be Solved by the Invention As described above, in the method of automatic turning control after the grain culm sensor detects the absence of a grain culm at the end of reaping in the vertical reaping process, When there is a missing plant in a culm row, the grain culm sensor detects the absence of a grain culm, so automatic turning is started based on this detection result, causing the planted grain culm to be trampled over by the vehicle body. There was a problem that smooth automatic turning control was not possible.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to enable smooth automatic turning control when there is a missing plant at the end of the cutting in the vertical cutting process.

Means for Solving the Problems This invention provides a grain culm sensor (3) for detecting the presence or absence of grain culms at the tip of the reaping device (2) in front of the vehicle body (fl), and detects the presence or absence of grain culms at the end of the reaping process in the vertical direction. , the grain culm sensor (3)
In the automatic turning control device (4), which automatically turns the vehicle body (1) to the horizontal reaping process after detecting that there is no grain culm, the grain culm sensor (3) automatically turns the vehicle body (1) to the horizontal reaping process. If the grain culm sensor (3) detects a grain culm again after detecting the absence of grain culms and before starting automatic turning, turning control is immediately stopped, and from the start of automatic turning. When the grain culm sensor (3) detects the presence of grain culms during the turning control process until the turning is completed, the turning control is stopped if the detection continues for a certain period of time or more. This is the configuration of the turn control system for the combine harvester.

Effect of the Invention As the vehicle body (1) travels, grain culms are harvested by the harvesting device (2). After the grain culm sensor (3) detects that there is no grain culm in the vertical reaping process at the end of the reaping process in the vertical direction, the grain culm sensor (3) is activated again until the automatic turning starts. ) immediately stops turning control when it detects a grain culm.

In addition, in the turning control process from the start of automatic turning to the completion of turning, when the grain culm sensor (3) detects the grain culm, if this detection state continues for a certain period of time or more, direction control is aborted.

Effects of the Invention After the grain culm sensor (3) detects a missing plant at the end of the reaping process in the vertical reaping process, the grain culm sensor (3) detects the presence of the grain culm again in the vertical reaping process. Since the turning control is immediately stopped when the cutting ends, it is possible to accurately detect the start of turning at the end of the cutting, and when there is a missing plant, the turning control is automatically stopped without mistakenly detecting the missing stock as the end of the cutting. It is possible to accurately detect the end of reaping at the start of turning control.

In addition, in the turning control process from the start of automatic turning at the end of reaping to the completion of turning, the grain culm is harvested and there is no planted grain culm, so the grain culm sensor (3) detects the grain culm. When this happens, it is likely that weeds have been detected or electrical noise is the cause, so there is no problem with turning, so if this detection occurs within a certain period of time, turning control continues. be done. Therefore, automatic turning control can be performed accurately.

Example In addition, in the rotation, the left and right traveling device consisting of a crawler (
A reaping device (2) is provided in front of the vehicle body (1) equipped with the reaping device (2) so as to be movable up and down.

Grain culm sensors (3L) (3R) for detecting the presence or absence of grain culms are provided on the left and right sides of the tip of the reaping device (2).

A transmission case (6) containing a transmission mechanism for transmitting the left and right traveling gear v1f51 is provided at the lower front of the vehicle body (1).

A hydraulic continuously variable transmission (7) is provided on the input side of the transmission mechanism, and the control arm (8) of the swash plate shaft of this variable displacement hydraulic pump is operated by hydraulic pressure to extend and retract the operating cylinder (9). Rotate from the neutral position to the forward and reverse positions by
The configuration is such that the rotation of the hydraulic motor is controlled in a continuously variable manner, and power is transmitted to the left and right traveling device (5) via the transmission 81.

The vehicle body fl1 is provided with a direction sensor fl[e that detects the traveling direction of the vehicle body +11. This orientation sensor (l
υ is a conventionally known method in which the traveling direction of the vehicle body (1) is detected based on the earth's magnetism.

A rotation sensor (11) detects the rotation of the left and right traveling device (5).
) has been established. In addition, a reversing brake (1) brakes these left and right traveling devices (5) to turn the vehicle body (1) in the left and right direction.
2L) (12R), and a solenoid (13) that operates these left and right steering brakes (12L) (12R).
L) (13R) is provided.

At the time of turning at the end of reaping in the vertical reaping stroke, the hydraulic continuously variable transmission (7) and the steering brake 015 can be controlled manually, but when automatic control interlocking is used, automatic rotation is possible. This is performed by a direction control device (4).

The automatic turning control device (4) has a CPU, an input/output circuit, etc., and the grain culm sensor (3L) (3,R)
, rotation sensor (11), and orientation sensor (1ω), this automatic turning control device I'I
Judgment is made using F41, and the left and right solenoids (1:
3L) (13R), and the solenoid valve 041 of the hydraulic circuit of the operation cylinder (9).

At the end of the cutting process in the vertical direction, the grain culm sensor (3
When both L) and (3R) detect a grain culm and then detect that there is no grain culm (A), this detection information is input to the automatic turning control device (4). When the rotation sensor (II) detects that the vehicle has traveled a predetermined distance (b), a left turn output signal (c) is output, the left solenoid (13L) is energized, and the left steering brake (12L) is activated. left running device (5
) is braked, and when the orientation sensor fll detects that the vehicle body (1) has turned at a predetermined angle with respect to the forward cutting direction, the vehicle stops traveling (2).

The automatic turning control device (4) outputs a reverse direction output signal (E), and the solenoid valve (14) of the hydraulic circuit of the operating cylinder (9)
1 is interlocked with braking, the control arm f81 is rotated in the reverse direction, and the vehicle body (1) moves straight backward. When the rotation sensor (11) detects that the vehicle body (1) has moved backward a predetermined distance, a right turn output signal (to) is output, the right solenoid (13R) is energized, and the right steering brake (12R) is activated. Then, the right running device (5) is braked, and when the direction sensor fi1 detects that the vehicle body (11) has turned at a predetermined angle with respect to the reverse direction, running is stopped (g). Automatic turning control device (4) A forward direction output signal (H) is output from , and the control arm (8) is rotated in the forward direction by the operating cylinder (9) in conjunction with the opening of the solenoid valve, so that the vehicle body (1) travels forward and moves in the lateral direction. The reaping process is automatically controlled.

At the end of the reaping of this vertical reaping process, the grain culm sensors (3L) and (3-h) both detected that there was no grain culm (
When the grain culm sensor (3L) (3R) detects the grain culm again after (a) and before the start of automatic turning (b), this detection information is input to the automatic turning control device (4). When it is done,
The forward direction output signal (c) is stopped to immediately stop the vehicle body (1), and the subsequent automatic turning control is immediately stopped, and the turning direction is started from the automatic turning start position (b). When the grain culm sensor (3L) (3R) detects the presence of a grain culm during the turning control process up to the completion position (g), automatic It is controlled to stop turning control.

Therefore, when there is a missing plant at the end of reaping in the vertical reaping process, it is possible to accurately detect the end of the reaping without erroneously determining the missing plant as the end of reaping. Therefore, if the detection state of the grain culm sensor (3) is within a certain period of time, it is caused by weeds or electrical noise, so the turning control continues and the turning is completed, so it is smooth and automatic. Turning control can be performed.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, with FIG. 1 being a block diagram showing control, and FIG. 2 being an explanatory diagram of turning control. In the figure, (1) is the vehicle body, (2) is the reaping device, (3) is the grain culm sensor, and (4) is the vehicle! A pH control device is shown.

Claims (1)

[Claims] A grain culm sensor (3) for detecting the presence or absence of grain culms is installed at the tip of the reaping device (2) at the front of the vehicle body (1), and at the end of the reaping process in the vertical direction, the grain culm sensor (3) In the automatic turning control device (4) that automatically turns the vehicle body (1) to the horizontal reaping process after detecting the absence of a culm, the grain culm sensor (3) detects the grain culm in the vertical reaping process. The grain culm sensor (
When the grain culm is detected again, the grain culm sensor (3) immediately stops the turning control, and during the turning control process from the automatic turning start to the turning completion, the grain culm sensor (3) detects the state where the grain culm is present. A turning control method for a combine harvester, characterized in that when detected, turning control is stopped when the turning is continuously detected for a certain period of time or more.