JPH0198405A - Method for controlling direction of combine - Google Patents

Abstract

PURPOSE:To carry out smooth reaping operation, by detecting the reaping row with a row-reaping sensor and switching the control to a side-reaping with a side-reaping sensor when a specific number of the detection signals of opposite lateral directions are continuously and alternately outputted during the movement of the combine at a definite distance. CONSTITUTION:An interrow spacing of culm relative to the moving direction of a combine is detected by a row-reaping sensor 2 attached to the tip end of a reaping apparatus 1 and judged whether the reaping direction is parallel or perpendicular to the row. When the judged result is parallel, the steering control is carried out based on the detection result of the right and the left culms detected by the row-reaping sensor 2. When a specific number of the detection signals of opposite lateral directions are continuously and alternately outputted from the row-reaping sensor 2 during the movement of the combine at a definite distance and abrupt hunting of the machine body takes place, it is judged that the side direction is erroneously judged as the row direction to interrupt the steering output and switch the control to side-reaping control with a side-reaping sensor 5.

Description

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

Conventional technology A direction sensor is installed at the tip of a reaping device to detect grain culms on the left and right with respect to the traveling direction of the reaping device. It is determined whether the reaping direction is in the horizontal direction or in the horizontal direction with respect to this planting row, and based on the determination result, the grain is determined by the row mowing sensor if the direction is in the row direction, or by the horizontal mowing sensor if the direction is in the horizontal direction. Based on the culm detection results, row mowing or horizontal mowing control is performed so that the left and right traveling devices are steered to perform reaping travel.

Problems to be Solved by the Invention As described above, row mowing or horizontal mowing control is performed by determining whether the mowing direction is in the row direction or in the horizontal direction. Because there are fallen seedlings, etc., the horizontal direction may be misjudged as the row direction.

Based on this determination result, when the row cutting sensor steers and controls the cutting from the lateral direction, the row cutting sensor is configured to follow the row direction along the planting row, In this direction, the distance between the left and right plants is narrower than in the row direction, so the row cutting sensor frequently detects grain culms on the left and right, and the left and right traveling devices are controlled to steer, causing the aircraft to sharply hunt. There was a problem in that the alternate route was disturbed, and it was necessary to stop the vehicle and re-determine the situation, which resulted in the cutting operation being interrupted.

Therefore, the present invention has been proposed to interrupt the steering output from the row mowing sensor and switch to perform horizontal mowing control using the horizontal mowing sensor to smoothly control the horizontal mowing when the horizontal direction is mistakenly determined to be the row direction when determining the mowing direction. The purpose is to perform reaping work.

Means for Solving the Problems The present invention provides a method for solving the problem by attaching the reaping device (1) to the tip of the reaping device (1).
) is installed to detect the grain culms on the left and right with respect to the running direction of the tree. It is determined whether the cutting direction is in the horizontal direction or in the horizontal direction with respect to this planting row, and when the result of this determination is in the row direction, the left and right traveling devices (3) are operated based on the detection result by the row cutting sensor (2). The row mowing sensor (2) performs row mowing control such that the steering is controlled to perform reaping travel, and when the row mowing sensor (2) outputs detection outputs in the left and right opposite directions alternately and consecutively a certain number of times while traveling a certain distance, the row mowing sensor (2) The combine harvester direction control method is characterized in that the steering output by the horizontal mowing sensor (5) is interrupted and the horizontal mowing control is switched to the horizontal mowing control by the horizontal mowing sensor (5).

Effect of the Invention The row cutting sensor (2) installed at the tip of the reaping device (1) detects the distance between grain culms in the running direction, and depending on the detection result, it is determined whether the cutting direction is in the row direction along the planting row or in the row direction. It is determined whether the direction is horizontal to the column.

When the determination result is in the row direction, the left and right traveling devices (
3) is steered and the cutting operation is performed while traveling along the row direction.

When determining the cutting direction, the horizontal direction may be mistakenly determined as the row direction due to missing plants or fallen seedlings during planting. At this time, since it has been determined that the direction is in the row direction, steering control is performed based on the detection results of the left and right grain culms of the row mowing sensor (2) when mowing in the lateral direction. Since the distance between the left and right plants is narrow, the row cutting sensor (2) frequently detects the left and right grain culms. This row cutting sensor (2
) is output alternately and consecutively a certain number of times while traveling a certain distance, it is determined that a misjudgment has been made and the steering output from the row mowing sensor (2) is interrupted. Switching is made to horizontal mowing control using the horizontal mowing sensor (5), and mowing travel is performed from the lateral direction.

Effects of the Invention The mowing direction is determined by the row mowing sensor (2), and when the determination result is in the row direction, the left and right running gears are set based on the presence or absence of grain culms on either side detected by the row mowing sensor (2). M(3)
The row mowing control is performed so that the machine steers and moves along the row direction, but if the machine suddenly hunts while the row mowing control is being performed for a certain distance after determining the row and lateral direction, the machine will move in the lateral direction. Since the steering output is interrupted when it is determined that the row direction has been mistakenly determined, and the control is switched to horizontal mowing control using the horizontal mowing sensor (5), a quick response can be made in the event of misjudgment, and the mowing work can be interrupted. It can be carried out smoothly and without interruption.

Embodiment In the example shown in FIG. 1, a plurality of weeding rods (4) are protruded and arranged in parallel at the tip of the reaping device (1), and these weeding rods (4)
A branching body (6) is provided at the tip of each. A row cutting sensor (2) is attached to the tip of the left-hand side grass dividing rod (4A), located behind the grass dividing body (6).

The row mowing sensor (2) has a direction sensor (2A) that detects grain culms on the right side with respect to the running direction and a direction sensor (2B) that detects grain culms on the left side arranged in front and rear. . or,
A horizontal mowing sensor (5) is attached to the grass dividing rod (4B) on the right side. The horizontal mowing sensor (5) includes a direction sensor (5A) having seven actuators protruding inwardly on the front side, and an actuator located behind the direction sensor (5A) which is longer than the direction sensor (5A) and protruding inwardly. and a direction sensor (5B). The row mowing sensor (2) and horizontal mowing sensor (5) are configured to be turned on when the actuator contacts the grain culm and rotates rearward.

A pulling device (8) is installed at the tip of the dividing rod (4) in a backwardly inclined position. Grain culm sensors (7A) (7B) for detecting the presence or absence of grain culms are provided on both left and right sides of the rear lower part of this lifting device (8). (9) is a cutting blade device.

FIG. 2 is a block diagram showing the control, in which a control device (10) consisting of a CPU, memory, etc., includes a direction control switch (11), grain culm sensors (7A) (7B), row cutting sensors (2), Horizontal mowing sensor (5) and left and right running equipment 2t
(3) A vehicle speed sensor (13
) are given, and the control device 1 (10) makes a judgment according to each of these outputs.
0) outputs a pulse signal and outputs a pulse signal from the clockwise solenoid (
14R) or the left turning solenoid (14L) to cut the power transmission to the left and right traveling devices (3) via a hydraulic device, etc., and change the direction of movement of the reaping device a (1) to the left and right. It is configured to control the steering to.

The determination of the reaping direction is made by the control device (1) based on the results of the detection of the distance between grain culms in the running direction by the row cutting sensor (2).
The direction sensor (2A) (2B) is
If neither of the direction sensors (2A) (2B) detects a grain culm, and if these direction sensors (2A) (2B) detect a grain culm within a predetermined distance more than a predetermined number of times, it is determined that the row direction is along the planting row, and these directions are determined. When the sensors (2A) and (2B) detect a grain culm located at a predetermined distance or more a predetermined number of times, it is determined that the grain culm is located in a direction lateral to the planting row.

Based on the determination result of the row direction or the lateral direction, the steering control can be switched to the row mowing sensor (2) for the row direction, and the horizontal mowing sensor (5) for the lateral direction. There is.

The steering control by the row cutting sensor (2) is performed by the direction sensor (2).
When A) comes into contact with the grain culm on the right side and turns ON, a pulse signal is output from the control device (10) to the left turning solenoid (14L), and the transmission to the left traveling device (3) is turned off. When the direction sensor (2B) comes into contact with the left grain culm and turns ON, the control device (1) is sent to the solenoid (14R) for right turning.
A pulse signal is output from 0), the power transmission to the right traveling device (3) is cut off, and the steering control is performed in a direction away from the grain culm in contact with the grain culm. In addition, the direction sensor (2A) (
2B) does not come into contact with the grain culm, it is in a neutral region, and the aircraft is configured to travel straight without outputting to the left/right turning solenoids (14L) (14R).

Note that when the - side direction sensor is in the ON state, even if the other direction sensor is turned on, control is performed so that no steering output is produced due to this ON state.

When the direction sensors (5A) and (5B) both contact the grain culm and turn ON, the horizontal cutting sensor (5) outputs a pulse signal from the control device (lO) to the solenoid for clockwise turning (14R). When neither of these direction sensors (5A) (5B) come into contact with the grain culm, the left turning solenoid (14L)
A pulse signal is output to the left and right traveling gear a! t (3)
The steering is controlled, and the direction sensor (5B) located on the rear side
) comes into contact with the grain culm and turns ON, it becomes a neutral region and left and right turning solenoids (14L) (14
The configuration is such that the aircraft is controlled so that it travels straight without being output to R).

It is determined whether the cutting direction is in the row direction or in the horizontal direction based on the result of the inter-plant detection by the row cutting sensor (2), and when the cutting direction is in the row direction, the row cutting sensor (2) performs row cutting control, and the cutting direction is controlled in the horizontal direction. At this time, horizontal mowing control is performed by the horizontal mowing sensor (5). However, if there are missing plants in the planting row, the horizontal direction may be mistakenly determined as the row direction. Based on this determination result, when harvesting from the lateral direction, steering control is performed based on the detection results of the left and right grain culms by the row cutting sensor (2).
In the lateral direction, the distance between the left and right plants is narrower than in the row direction, so the direction sensors (2A) (2B) of the row cutting sensor (2) frequently come into contact with the grain culm and turn on, causing the control device 21 (10) to Or, a pulse signal is output to the right turning solenoid (14L) (14R), and the transmission to the left and right traveling devices (3) is cut off, causing the aircraft to suddenly hunt. At this time, the vehicle speed sensor (13) When the direction sensors (2A) and (2B) output detection outputs in the left and right directions alternately and consecutively a certain number of times while driving for a certain distance detected by (lO)
is determined, the steering output is interrupted, and the control is switched to horizontal mowing control using the horizontal mowing sensor (5).

In this way, when the horizontal direction is mistakenly determined as the strip direction,
Since the steering output from the row mowing sensor (2) is interrupted and switching to horizontal mowing control by the horizontal mowing sensor (5), smooth and efficient mowing work can be performed without interrupting the mowing work.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a plan view, FIG. 2 is a block diagram showing control, and FIG. 3 is a flowchart thereof. In the figure, code (1) is the reaping device, (2) is the row cutting sensor, (
3) is a traveling device, (5) is a horizontal mowing sensor, (10) is a control device, and (14) is a turning solenoid.

Claims (1)

[Claims] A row cutting sensor (2) is provided at the tip of the reaping device (1) to detect the grain culms on the left and right with respect to the traveling direction of the reaping device (1), and the row cutting sensor (2) detects the grain culm spacing between the plants. Based on this, it is determined whether the cutting direction is in the row direction along the planting row or in the horizontal direction with respect to this planting row, and when the result of this discrimination is in the row direction, the detection result by the row cutting sensor (2) is determined. The row cutting sensor (2) performs row cutting control by steering control of the left and right traveling devices (3) based on the
), when detection outputs in left and right opposite directions continue alternately a certain number of times, the steering output from the row mowing sensor (2) is interrupted and switching to horizontal mowing control using the horizontal mowing sensor (5). direction control method.