JPH02211803A - Turning control method for combine - Google Patents

Abstract

PURPOSE:To increase the accuracy of automatic turning control by adjusting the running distance of the automatic turning controller on the basis of the shifting width which has been amended in the body turning against the gap in the transverse direction to the transverse cutting process after completion of automatic turning. CONSTITUTION:When the combine body 1 comes into transverse cutting operation, after completion of automatic turning, advancing and backing are repeated to amend the gap, if there is a gap from the transverse row of rice plant stems in the left-right direction, then the cutting operation is done in the appropriate position to the transversely arranged cereal stems. On the basis of shifting width of the body whose turning has been amended to the gap from the cereal plant stems in the transverse direction, no cereal plant stems in the longitudinal direction are detected, then the data on running distance of the body 1 until automatic turning is started are adjusted to effect following control for automatic turning.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a turning control device that automatically turns a machine to a horizontal reaping stroke based on detection of the reaping end of a vertical reaping stroke. This invention relates to a turning control method for a combine harvester equipped with a rotary harvester.

BACKGROUND OF THE INVENTION Such turning control is applied to round cutting in a combine harvester.

- The machine is automatically turned around every time the reaping work of a stroke is completed, and this automatic turning is repeated before the reaping work is performed.

When the end of the vertical reaping stroke is detected, the machine travels a set distance, then turns at a set angle to stop the machine, then moves backward a set distance, turns at a set angle, and starts the horizontal reaping process. Automatically turn and move forward to start reaping work.

After automatic turning using this memorized predetermined turning pattern,
When the aircraft deviates from side to side with respect to the grain culm in the lateral direction, a sensor is installed to detect this lateral deviation, and the turning pattern is corrected by changing the retreating distance based on the deviation detection result of this sensor. Alternatively, there is a technique in which this is done by changing the turning angle of the aircraft.

Problems to be Solved by the Invention However, in the conventional technology, conditions such as hardness and softness of the field are different for each corner where the machine automatically turns, so there is a risk of positional deviation when the machine stops traveling due to slipping, etc. Or, due to slippage during turning, etc., the widthwise position of the aircraft could not be brought close to the appropriate position after automatic turning.

Therefore, after automatic turning, if the machine deviates significantly toward the uncut culm side relative to the grain culm in the lateral direction, in order to eliminate uncut areas, the machine repeats forward and backward movement until the machine approaches the proper position. Moreover, when the grain culm is deviated towards the cut culm side in the lateral direction, it takes a lot of time to repeat one forward and backward movement to bring the machine closer to the proper position, resulting in a decrease in work efficiency. There was a problem that caused this.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems and bring the horizontal position of the machine body relative to the grain culm closer to an appropriate position after automatic turning.

Means for Solving the Problems The present invention detects the absence of grain culms in the vertical direction at the end of the reaping process in the vertical direction, and then automatically turns the vehicle body (11) into the reaping process in the horizontal direction. direction control device (2)
, the traveling distance of the vehicle body (1) after detecting the absence of grain culms in the vertical direction until automatic turning is started is calculated from the distance traveled by the vehicle body (1) until automatic turning is started during the previous turning. Turning of a combine harvester, characterized in that the amount of deviation in the left and right direction with respect to the lateral reaping stroke when the vehicle body (1) enters is corrected based on a shift width for steering the vehicle body (1). This is the configuration of the control method.

Effect of the Invention At the end of the reaping process in the vertical reaping process, when the absence of vertical grain culms is detected and the vehicle has traveled a predetermined distance, automatic turning is started and the vehicle body (1) automatically starts the horizontal reaping process. be converted.

In this way, the automatic turning control device (2) controls the vehicle body (1).
1 is subjected to automatic turning control, but when the vehicle body (11) enters the lateral reaping process after this turning, if it deviates from left to right with respect to this lateral grain culm.

This deviation is corrected by repeating forward and backward steering, and the reaping operation is performed at the appropriate position relative to the grain culm in the lateral direction.

Based on the steering width of the vehicle body (1) corrected for the amount of deviation in the left and right direction with respect to the grain culm in the lateral direction after automatic turning,
After detecting the absence of grain culms in the vertical direction, the distance data of the vehicle body (1) until automatic turning is started is corrected, and subsequent automatic turning control is performed.

Effects of the Invention Accordingly, after the automatic turning is completed, based on the steering width of the vehicle body (1) with respect to the left-right deviation amount with respect to the lateral reaping stroke, after the automatic turning is completed @ (21 Since the travel distance is corrected, the position in the lateral direction relative to the grain culm in the first reaping process can be brought closer to the appropriate position, but the vehicle body (1) may be too close to the uncut culm side, resulting in uncut areas. In addition, there is no possibility that work efficiency will be lowered by leaning too close to the already cut culm side, and the precision of automatic turning control can be improved, allowing good reaping work to be performed.

Example: In turning, the combine harvester uses the left and right traveling device (3)
A reaping device (41) for reaping the grain culms is provided at the front of the vehicle chassis having a spool, and a threshing device for inheriting and threshing the grain culms harvested and transported by the reaping device (4) is provided at the rear.

The reaping device (4) has left and right grass dividing rods (
6) are each provided with a grain culm sensor (7) for detecting the presence or absence of a grain culm, and the dividing rod (6) on the uncut culm side has an actuator protruding outward, and this actuator detects the grain culm. A direction sensor (8) is provided which outputs an ON signal when it comes into contact with and rotates backward. (9) is a lifting cylinder that raises and lowers the reaping device (4) with respect to the vehicle body.

A solenoid valve (one valve) is provided to operate this lifting cylinder (9).

A direction sensor (1) is installed on the upper part of the vehicle body (1) to detect the traveling direction of the vehicle body (1) by sensing changes in the earth's magnetic field.
[I have been established.

A transmission case (lυ) is provided which houses a transmission mechanism for transmitting power to the left and right running gear W (3), and power is transmitted from the prime mover to this transmission mechanism via a hydraulic continuously variable transmission (1?J). A distance sensor 03 is provided in the transmission path inside the transmission case (IQ interior) to detect the travel distance by detecting the rotation of the left and right traveling devices (3) respectively. During automatic travel or automatic turning, the angle of the swash plate that controls the rotation of the hydraulic pump is controlled by hydraulic pressure, and when the vehicle is in manual mode, the speed is changed by changing the angle of the swash plate using a gear shift lever.

In addition, the transmission case (from the transmission mechanism within 1υ to the left and right traveling device (
3) Steering clutch brake that cuts power transmission to
Brake cylinder (14L) (14R) that operates
5L) (15R), and this brake cylinder (15R) is installed.
A solenoid valve (IQ) is provided to operate L) (15R).

The automatic turning control device (2) is equipped with a controller configured using a CPU, and information from various sensors is input to this controller.Based on the commands from the controller, the automatic turning control device (2) is equipped with a controller configured using a CPU, and information from various sensors is input to this controller. The machine is configured to automatically turn the machine to the next reaping stroke in a direction that intersects with the previous reaping stroke.

Automatic turning control controls the vehicle body (1
) is detected by the orientation sensor (I[l) and stored in the controller as a reference orientation.

When the grain culm sensor (7) detects that there is no grain culm at the end of the vertical reaping process, the distance traveled by the vehicle body (1) until automatic turning is started is measured by the distance sensor (13), and the distance traveled by the vehicle body (1) is determined by the distance sensor (13). After traveling the distance (L), the left traveling device (3) is braked by the operation of the left clutch brake (14L), the vehicle body (1) is turned in the lateral direction toward the reaping stroke side, and the set angle is determined by the direction sensor ill. When detected, the vehicle body (1)
stop.

After that, the vehicle body (1) is moved backward and the distance traveled is measured. When the vehicle body (1) is reversed the set distance, the right clutch brake (14
R), the right traveling device (3) is braked, the vehicle body (1) is stopped after turning at a set angle, and the vehicle body (1) is advanced to the lateral reaping stroke.

When the vehicle body +1) enters this lateral grain culm,
When the left and right grain culm sensors (7L) (7R) are in the ON state and the direction sensor (8) is in the OFF state, it is determined that proper automatic turning has been performed and the reaping operation is continued.

When the left grain culm sensor (7L) is in the ON state, the right grain culm sensor (7R) and direction sensor (8) are checked. If both of these are OFF, the vehicle body 111 is too close to the cut culm side. The vehicle body (1) is stopped when it is determined that the vehicle
), and then repeatedly performs a so-called turning operation in which the vehicle body (1) is moved forward.

Also, when the left grain culm sensor (7L) is ON, and the right grain culm sensor (7R) and direction sensor (8) are both ON, it indicates that the vehicle body (1) is too close to the uncut culm side. It is determined and the switchback operation is performed.

This switching operation causes the left and right grain culm sensors (7) to
When the direction sensor (8) is in the OFF state in the N state, it is determined that the vehicle body (1) has been corrected to an appropriate position with respect to the grain culm in the lateral direction.

If the width of each turn is (La), then
Depending on this shift width (La) and the number of turns (N),
The travel distance (L) data of the vehicle body (1) from the detection of the end of mowing in the automatic turning sequence until the start of automatic turning is stored in the vehicle body (1).
If 1) is too close to the uncut culm, lengthen it (L).
+ (NLa), and when it is too close to the cut culm side, it is shortened to (L) (NLa) and stored in the automatic turning control device (2).

Therefore, since the travel distance data is corrected in the automatic turning control, the position of the vehicle body (1) relative to the grain culm in the 1st lateral direction can be brought as close to the appropriate position as possible.
The accuracy of automatic turning control can be improved.

Figure 4 shows an electromagnetic proportional pressure reducing valve (ILl) installed at the opening of the electromagnetic valve that operates the left and right brake cylinders +19, and this pressure reducing valve (
The configuration is such that an orifice 119 is provided on the output side of the old one.

Steering clutch brake (II9 to brake cylinder fl
! When operating according to step 1, the clutch is first disengaged to cut off the transmission to the traveling device (3), and after detecting the disengagement of the clutch, the appropriate brake operating pressure is established before the brake is operated. It is necessary to adjust the pressure.

Since the pressure of the electromagnetic proportional pressure reducing valve (1 [1) is controlled by feedback of the pressure from the output port side, when the brake cylinder (151) is extended and the clutch is disengaged, the load pressure is This pressure reducing valve (
1111 is in a high pressure setting state, and high pressure is generated at the end of the brake cylinder's extension stroke, causing a collision.

Therefore, the electromagnetic proportional pressure reducing valve (orifice + 1 on the old output side)
By providing 9, pressure feedback is activated even when the brake cylinder (19) is in an extended state, and pressure can be adjusted before the brake cylinder (19) reaches the end of its extension stroke.

[Brief explanation of the drawing]

Figure 1 shows an embodiment of the present invention. Figure 1 is a plan view showing the control configuration, Figure 2 is an explanatory diagram showing the operation of turning control, and Figures 3 (a) and (b) are FIG. 4 is a partial hydraulic circuit diagram, and FIG. 5 is an explanatory diagram of the operation. In the figure, (1) is the vehicle body, (2) is the automatic turning control device, (3) is the traveling device, (7) is the grain culm sensor, and (8) is the direction sensor. show.

Claims (1)

[Claims] At the end of the reaping process in the vertical direction, the absence of grain culms in the vertical direction is detected, and then the vehicle body (1
), the automatic turning control device (2) automatically turns the car body (1) after detecting the absence of grain culms in the vertical direction until the automatic turning starts, based on the distance traveled by the vehicle body (1) from the previous rotation. When the vehicle body (1) enters the lateral reaping stroke after automatically turning at the time of heading, the steering width of the vehicle body (1) is corrected in response to the amount of deviation in the left and right direction from the lateral reaping stroke. A turn control method for a combine harvester, which is characterized by correction based on the following.