JPH03112404A - Orientation-controlling device in reaping harvester - Google Patents

Abstract

PURPOSE:To prevent the generation of not reaped remainder by orientation- controlling according to the information from a sensor in not-reaped side with an orientation-controlling means when the frequency of transverse intervals detected in a reaped side sensor is smaller than a set value. CONSTITUTION:When the frequency detected by a reaped side sensor S3 smaller than a set value exceeds the number of set times, the machine body is orientation-operated to the reaped side, independent of the detected values by not-reaped side sensors, S1 and S2. On the other hand, when the frequency becoming smaller is smaller than the set times, the sensor S1 in the not-reaped side and which is the sensor nearest to the non-reaped side among the non- reaped side sensors, S1 and S2 counts the times exceeding the set values detected by the sensor S1. If the counted times exceed the set value, the machine body is orientation-operated to the not-reaped side.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention provides a method in which the width of at least the tip of the path closest to the cutting side among the plurality of stem rod introduction paths arranged in parallel in the reaping processing section is a cut-side sensor that is formed larger than that of the cut-out side sensor and detects a lateral distance between the stem rod introduced into the path on the most cut side and an end on the cut side of the cut path, and a cut-side sensor introduced into the other paths A first sensor on the uncut side that detects the lateral distance between the stem rod and the end of the cut side of the route in another route, and a first sensor on the uncut side of the stem introduced into the other route and the uncut side of the route in the other route. This invention relates to a steering control device for a reaping harvester, which is provided with a second sensor on the uncut side that detects the lateral distance from the end, and is provided with a steering control means that controls the steering based on information from the sensors. .

[Conventional technology]

In a reaping/harvesting machine, it is necessary to control the steering so that the reaping processing section automatically runs while maintaining the state in which the stalks are introduced within the width of each of the multiple stalk introduction paths. Due to the shape of the cutting, it is necessary to adapt it to multiple different types of cutting methods.

That is, there are two types of planting in which the stems form rows: a row mowing type in which the stems run parallel to the direction, and a horizontal mowing type in which the stems run in a direction intersecting the rows.

Therefore, basically, in the row mowing method, the stem rods in the uncut side path and the existing stem rods should be kept in a state where the stem rods for each drug are introduced into each of the plurality of stem rod introduction paths. Steering control is performed based on the lateral distance from the mowed side end or the uncut side end. On the other hand, in the horizontal mowing method, there may be cases where multiple stem rods are introduced into each of the multiple stem rod introduction paths, so basically, the most recently cut stem rod is introduced into the stem rod introduction path on the side that has already been cut. Steering control is performed based on the lateral distance between the stem stick and the end of the cut side in the path closest to the cut side so as to maintain the state in which the uncut stem stick located on the cutting side is introduced. become.

Therefore, conventionally, a first sensor and a second sensor for row mowing are provided to detect the horizontal distance between the stem rod and the end of the route in the uncut route other than the route on the most cut side, and the A cut-side sensor is installed as a sensor for horizontal mowing to detect the horizontal distance between the stem rod and the end of the route in the route on the most mowed side. The sensor was switched between the sensor and the sensor on the mowed side (for example, in Japanese Patent Application Laid-Open No. 58
(Refer to Publication No.-165703).

[Problem to be solved by the invention]

By the way, if you increase the width of the dead zone relative to the appropriate value of the horizontal distance between the stem rod and the end of the path detected by the sensor,
It no longer follows fine irregularities on the stem row, and as a result, the mowing trace becomes more aesthetically pleasing, but there is a risk that the entire reaping processing section will run biased toward the uncut side, resulting in uncut areas. There is.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to improve the aesthetic appearance of mowing marks while preventing the occurrence of uncut leaves.

[Means to solve the problem]

In the steering control device for a reaping harvester according to the present invention, at least the width of the tip of the path closest to the cutting side among the plurality of stem rod introduction paths arranged in parallel in the reaping processing section is larger than that of the other paths. a cut-side sensor that detects a lateral distance between a stem stick introduced into the most cut-side path and an end of the cut side of the path; A first sensor on the uncut side that detects the lateral distance between the cut end of the route in the route, and a lateral distance between the stem rod introduced into another route and the uncut end of the route in the other route. A second sensor on the uncut side for detecting the interval is provided, and a steering control means is provided for controlling the steering based on information from these sensors, and its characteristic configuration is as follows. .

That is, the steering control means controls the aircraft if the frequency with which the lateral distance detected by the already-cut side sensor becomes smaller than the set value while the aircraft travels the set distance is greater than the set number of times. The steering operation is performed to the mowed side, and when the number of times is smaller than the set number of times, the steering is controlled based on information from the first sensor and the second sensor on the uncut side. be.

[For production]

Normally, the steering is controlled based on the information from the first and second sensors on the unmown side, and the steering is performed on the path closest to the mowed side, which is detected using the information from the already mowed side sensor. If the frequency at which the horizontal distance between the introduced stem rod and the cut end of the route is smaller than the set value is greater than the set number of times,
In other words, if the entire reaping processing section is biased towards the un-mow side, by having the steering control performed on the un-mow side, the dead band for steering control by the un-mow side sensor can be widened. Even if it is configured not to follow the fine irregularities of the stem row, it is possible to prevent uncut areas from being left uncut by using the information from the sensor on the already cut side.

〔Effect of the invention〕

Therefore, by effectively utilizing the configuration inherent in the device, it has become possible to improve the appearance of the mowing marks without reducing the ability to follow the stalks.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figures 1 and 2, a combine harvester, which is an example of a reaping harvester, has a pair of left and right crawler running devices (1).
A threshing device (2) is mounted on a machine body (V) equipped with a threshing device (2), and a reaping processing section (3) is attached to the front part of the machine body (V).

The reaping processing section (3) includes a plurality of weeding tools (4A) arranged side by side at intervals in the width direction of the machine body.

(4B), (4C), (4D) and their weeding tools (
4A), (4B).

(4C) and (4D), a triggering device (5) that triggers the stalk, a clipper-type cutting blade (6) that cuts the base of the raised stalk, and a machine that moves the clipped stalk. Conveying devices (7) for locking and conveying to the rear side are provided in a state in which they are sequentially lined up from the front side of the machine body to the rear side of the machine body in that order.

That is, the plurality of weeding tools (4A), (4B),
(4C).

(4D), a plurality of stem-rod introduction routes (L
1), (L2), and (L3) are formed.

In Fig. 2, (8) is a feed chain that conveys the reaped stalks transported by the conveying device (7) to the threshing device (2), and (SO) is a feed chain that contacts the base of the reaped stalks. This is a stock sensor for detecting whether or not a reaping operation is in progress, and is provided in the transport path of the transport device (7).

However, the plurality of weeding tools (4A), (4B), (
4C).

Weeding tool (4D) located on the most mowed side of (4D)
The distance between the weeding tool (4C) and the weeding tool (4C) located on the uncut side by one level from the mowing tool (4D) on the most cut side is the distance between the weeding tool (4C) and (4D). The other weeding tool (4A) is located on the uncut side so that two rows of stalks can be introduced.
It is formed larger than the interval between (4B) and (4C). That is, the plurality of stem-rod introduction routes (LL), L
), (L3), the width of at least the tip of the path (L3) on the most already cut side is formed to be larger than the other paths. Moreover, the triggering device (5
) is the plurality of weeding tools (4A), (4B), (
4C) and (4D).

The reaping processing section (3) includes each of the weeding tools (4A).

A plurality of steering control sensors (S1), (Sri, (S3)) detecting the lateral distance from the end of the path to the stem rod introduced between (4B), (4C), and (4D). ,
One of the sensors (S3) is installed on the support frame (9) of the weeding implement (4A to 4D) with one sensor (S3) located at the rear side of the weeding implement (4D) on the most mowed side. ing.

That is, the sensor (S3) located at the rear side of the weeding tool (4D) on the most mowed side is connected to the stem rod introduced into the most mowed route (L3) and the already mowed side end of the route. Two sensors (S1), located at the rear side of the other weeding tool, correspond to the already-cut side sensor that detects the lateral distance from the other weeding tool.
S2) is a first sensor (S1) on the uncut side that detects the lateral distance between the stem rod introduced into the other route and the cut end of the route in the other route; They respectively correspond to the second sensor (S2) on the uncut side that detects the lateral distance between the introduced stem rod and the uncut side end of the route in another route.

However, the sensor (S3) located at the rear side of the weeding tool (4D) on the most mowed side is connected to the triggering device (5D).
), and the other sensors (S1) and (S2) are
It is provided so as to perform a detection action on the stem rod on the rear side of the triggering device (5).

The plurality of steering control sensors (S1), (S2)
.

(S3) has the same configuration, and as shown in FIG.
10) and a potentiometer (R) that detects the rotation angle toward the rear of the aircraft body.

By the way, since the stem rods are planted intermittently along the direction of movement of the aircraft, the sensor bar (10)
If the length is short, the stem will contact the stem intermittently, and the potentiometer (R) will output a signal that changes intermittently, and the signal corresponding to the cutting position will not be continuous. There is a disadvantage that you will not be able to obtain it. Therefore, in order to maintain the length of the sensor bar (10) so that a plurality of stem rods aligned in the direction of movement of the aircraft can be kept in contact with each other at the same time, the stalk rods are planted to a length (300 mm) according to the spacing. It is set to .

In other words, as the machine (■) moves, the weeding tool (
4A to 4D), the stem base of the stem rod introduced during the period (4A to 4D) continuously contacts the sensor bar (10), and the sensor bar (10)
The potentiometer (R) rotates toward the rear of the machine at a rotation angle corresponding to the position of contact with the stem rod from its rotation fulcrum, and the potentiometer (R
), each sensor is attached to the stem rods lined up in the aircraft's direction of travel, so that the smaller the position, that is, the horizontal distance from the end of the stem rod introduction path, the larger the signal is output. .

Next, the plurality of steering control sensors (S,).

(S2) A control configuration for controlling the steering so that the aircraft (■) automatically travels along the stems lined up in the aircraft traveling direction using S will be described.

As shown in FIG. 7, the crawler traveling device (1) includes:
A driving transmission (1) that changes the output of the engine (E)
1) to the transmission case (12). The mission case (12) includes the crawler traveling device (
1) are equipped with steering clutches (13L) and (13R) that operate the transmission of driving force to the left and right sides separately, and the steering operation is performed with the side of the crawler traveling device (1), which has been operated to cut off the driving force, as the turning center. is configured to do so.

In the figure, (S4) is a rotational speed sensor for detecting the traveling distance and traveling speed based on the input rotational speed to the transmission case (12), and (14L) and (14R) are the steering clutches. (14L) and (14R) are steering hydraulic cylinders for turning and operating the steering hydraulic cylinders (14L) and (14R), and (15) is an electromagnetically operated steering cylinder that controls the supply of hydraulic oil to the steering hydraulic cylinders (14L) and (14R). Control valve for (16)
is the plurality of steering control sensors (S1).

The operation of the steering control valve (15) is controlled based on the information in (S2) and (S3), and the aircraft (■) is operated to automatically travel along the stem rods lined up in the aircraft traveling direction. This is a control device using a microcomputer, which constitutes a steering control means (100) for controlling the steering direction.

To explain the operation of the control device (16), the eighth
As shown in the figure, basically the stock sensor (So
The steering control sensors ( Based on the information in S1), (S2), and (S3), the cutting style for the stalks lined up in the direction of movement of the aircraft is determined, and the stock sensor (SO) changes from ON to 0.
In FFt, the steering control is performed so as to maintain the appropriate mowing position range set according to the determined mowing type until the mowing operation is completed.

To explain the above-mentioned cutting method, - In boat fishing, stem rods are planted so as to form rows in the direction.
D) The planting of the stem rods is carried out in a row-cutting format (see Figure 4) in which the stem rods are planted in a direction parallel to the direction so that a row of stem rods for each drug is introduced; (see Figure 5), which runs in a direction that intersects the rows of rows, and a weeding tool (4D) on the most mowed side to divide the mowing work range in advance, for example. There are three types of cutting methods: the middle splitting method (see Fig. 6), in which two rows of stem rods are introduced between the weeding tool (4C) on the uncut side of the weeding tool (4C).

In the following description, the intermediate cutting type will be referred to as the +1 row cutting type.

Therefore, in the row mowing method, one row of stalks is introduced between each weeding tool, so basically, the weeding tool (4B) on the uncut side is Based on the information of the first sensor (S1) and second sensor (S2) on the uncut side attached to the rear side, both sensors (S
Steering control is performed so that the detected reaping position in steps 1) and (S2), that is, the lateral distance from the end of the stem rod introduction path, is maintained within a preset dead zone. However, in order to prevent uncut mowing, use the weeding tool (4D) on the most mowed side.
Using the information of the already-mowed side sensor (S3) attached to the rear side of the , the vehicle (V) is steered toward the already mown side to correct the traveling direction.

In the horizontal cutting type, since the cutting mode is such that it runs in a direction that intersects the rows of stems, the machine of the cutting tool (4D) is basically designed to prevent uncut areas. The cut side is adjusted so that the position in the width direction is maintained within the set appropriate cutting position range with respect to the row of uncut stem rods on the most cut side located at the boundary between the cut part and the uncut part. Steering control is performed based on information from the sensor (S3).

In the above-mentioned +1 row cutting method, the above-mentioned most cutting double splitting tool (4D
) and the weeding tool (4D) on the uncut side of the weeding tool (4D).
C), so basically the two uncut side sensors (S1
), (32) based on the information of the second sensor (S2) located on the already-cut side and the information of the already-cut side sensor (S3), the splitting tools (4C), (4D) During this period, the steering control is performed so as to maintain the state in which two doses of stem rods are introduced.

Next, the reaping type determination process will be described based on the flowchart shown in FIG.

The three steering control sensors (S1), (S1) operate while traveling a set distance (for example, 1 m) from the time when the stock sensor (So) turns on and starts mowing work.
, (S3) at a set distance (for example, 5c
m), and the reaping format is determined based on the sampled information. However, although it will not be explained in detail, automatic steering cannot be performed by the control device (16) until the mowing type is determined. You will have to perform steering operations.

That is, each steering control sensor (S1) is sampled every set distance (for example, 5 cm).

Two uncut side sensors (S2) and (S3) (
S1), the number of times (K4
), and the detected value (AD3n) of the already-cut side sensor (S3) is set to a preset threshold (A3-AD).
Count the number of times (N3) that this happens.

Then, while traveling a set distance (for example, 1 m) from the time when the mowing work is started, the sum (AD 1 +
It is determined whether the number of times (K4) that AD2n) is equal to or greater than a preset threshold (A, -AD) is equal to or greater than a set threshold (K1), and if it is equal to or greater than the set threshold (K1), the horizontal It is designed to determine that it is a cutting type.

In other words, in the horizontal cutting mode, the two uncut side sensors (S1) run in a direction that intersects the rows of planted stems.

This takes advantage of the fact that (S2) comes into contact with the stem rod more frequently than in the row cutting type.

If it is determined that the horizontal mowing type is not used, the number of times (N3) that the detected value (AD3n) of the already mowed side sensor (S3) is equal to or greater than the preset threshold (A, -AD) is set to the set threshold (
K2) or less, and if it is less than or equal to a set threshold (K2), it is determined to be a row-cutting type, and if it exceeds a set threshold (K2), it is determined to be a +1 row-cutting type. It's Nishide.

In other words, the distance between the cutter (4D) to which the already cut side sensor (S) is attached and the cutter (4C) on the uncut side from the cutter (4D). Since the spacing is wider than the spacing between other weeding tools on the uncut side, in the row mowing format where one dose of stem rod is introduced between each weeding tool, the above-mentioned cut side Sensor bar (1) of sensor (S3)
0) becomes less frequent, and as a result, the number of times (N3) that the detected value (AD3n) of the already-cut side sensor (S3) is equal to or higher than the preset threshold (A, -AD).
is below the set threshold value (N2), but in the case of +1 row cutting type, the most cut fraction leather tool (4D) and its weeding tool (
4D) and one uncut side weeding tool (4C), two stem rods are introduced between the weeding tool (4C) on the uncut side.
The frequency at which the stem rod comes into contact with the sensor bar (10) in 3) is higher than in the row cutting type, and
) detected value (AD3n) is the preset threshold (A3-A
D) The fact that the number of times (N3) or more is greater than the set threshold (N2) is used to distinguish between the row mowing format and the +1 row mowing format.

Next, steering control according to each cutting type will be explained.

To explain the steering control in the row cutting type,
As shown in FIG.
The detected value of the mowed side sensor (S3) and the detected value of the uncut side sensor (S1) are sampled every 5 cm), and based on the sampled values, the detected value is It is designed to determine whether to perform a steering operation, that is, whether to perform a steering operation toward the uncut side or toward the mown side, and whether to maintain a straight-ahead state (steering neutral).

That is, first, the detection value (AD3n) of the already-mowed side sensor (S3) is set to a preset threshold value (AD-R3).
Count the number of times (RN3) or more, and count the number of times (RN3)
) is greater than or equal to the set threshold (RNC3), that is, the frequency at which the lateral distance detected by the already-mowed side sensor (S3) is smaller than the set value while the aircraft (V) travels the set distance is set. If the number is greater than the number of times, the uncut side sensors (S1) and (S
Regardless of the detected value in step 1), the steering operation is performed to turn right, that is, to the already-mowed side.

The number of times (
If RN3) is less than the set threshold (RNC3),
The number of times (RNI) that the detection value (ADln) of the first sensor (S1) on the most unmown side among the unmown side sensors (S1), (S1) is equal to or higher than a set threshold value (AD-R1) is counted. If the number of times (RNI) is greater than or equal to the set threshold value (RNCI), the steering operation is performed to turn left, that is, to the uncut side.

If the number of times (RNI) that the detected value (ADln) of the first sensor (S, ) is equal to or higher than the set threshold value (AD-R1) is less than the set threshold value (RNCI), the unmown side sensor (31 ), (32), the detected value (AD2n) of the second sensor (S1) on the mowed side is the set threshold value (AD
-R2) or more is counted (RN2), and if the number of times (RN2) is greater than or equal to the set threshold value (RNC2), the steering operation is performed to turn right, that is, to the already-mowed side.

However, each number of times counted (RNI), (RN2),
When (RN3) is less than each set threshold value, that is, when the lateral distance from the end of the path to the stem rod is within the set dead zone, the steering neutral state is maintained. Further, when the aircraft (V) travels the set distance (1 m), the respective number of times (RNI), (RN2).

The value of (RN3) will be cleared to zero.

To explain the steering control in the horizontal mowing format,
As shown in FIG. 11, basically, the steering operation is performed only based on the detected value (AD3n) of the already-mowed side sensor (S3).

That is, in the same manner as the control in the row cutting type,
While traveling the set distance (1 m), the set distance (5 cm)
), the detected value (AD3) of the already-cut side sensor (S3)
n), and the number of times the detected value (AD3n) is outside the set dead zone (AD-R7 to AD-R8)
RN7) and (RN8) are counted, and as the number of times exceeds the set thresholds (RNC7) and (RNC8), the steering operation is performed in the corresponding left and right directions.

However, the width of the set dead zone in the horizontal cutting format is as follows:
The width of the dead zone in the row mowing format (the set threshold value (AD-R1) of the non-mow side sensor (S1), (32))
, (corresponding to a value between AD-R2)).

To explain the steering control in the +1 row mowing format, as shown in Fig. 12, basically, of the two uncut side sensors (S1) and (S2), the sensor is located on the already cut side. The detected value (AD2n) of the second sensor (S2)
) and the detection value (AD3) of the most mowing side sensor (S3)
While steering based on the difference between
The detected value (AD3n) of the most mowed side sensor (S3)
).

That is, in the same manner as the control in the row cutting type,
While traveling the set distance (1 m), the set distance (5 cm)
), the detected value (AD3) of the already-cut side sensor (S3)
n), count the number of times (RN3) that the detected value (AD3n) is equal to or higher than the set threshold value (AD-R3), and as the number of times (RN3) becomes equal to or higher than the set threshold value (RNC3), In order to prevent uncut leaves, the steering operation is made to turn to the right, that is, to the already cut side, regardless of the detected value of the second sensor (S2) on the uncut side.

Detection value (AD3n) of the already-mowed side sensor (S3)
If the number of times (RN3) at which the The detected value (AD2n) of the second sensor (S2) located
) and the detected value (AD
The number of times (RN4) that the difference (AD2n - AD3n) from 3n It is designed to be steered towards the uncut side.

The difference (AD2n-AD3n) is the set threshold value (AD-R
5) The number of times (RN4) or more is the set threshold (RNC4)
If it is less than, the difference (AD2n-AD3n)
The number of times (RN5) that becomes less than the set threshold value (AD-R6) is counted, and as the number of times (RN5) becomes more than the set threshold value (RNC5), the steering operation is performed to turn right, that is, to the side of the mowed area. It's Nishide.

In other words, in the +1 row mowing format, the most mowed side weeding tool (
4D) and the weeding tool (4D) on the one uncut side of the weeding tool (4C), the second sensor (S2) The degree of approach of the stem rod to and the degree of approach to the already-cut side sensor (S3) both become high. Therefore, the second sensor (
Based on the difference between the detected value of S2) and the detected value of the already-mown side sensor (S3), it is determined whether the mowing position is shifted to the left or right with respect to the set appropriate mowing position.

In addition, the steering control in each of the reaping formats explained above is as follows:
This process will be repeated until the stock sensor (SO) turns off.

[Another example]

In the above-mentioned embodiment, the case where the reaping type is automatically determined is illustrated, but the reaping type may also be instructed manually. Further, the specific configuration of each part necessary for carrying out the present invention can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the steering control device for a reaping harvester according to the present invention, in which FIG. 1 is a schematic plan view of the reaping processing section, FIG. 2 is a schematic side view thereof, and FIG. 3 is a steering control sensor. 4 is an explanatory diagram of the positional relationship between the weeding tool and the stem rod in the row mowing format, and FIG. 5 is an explanatory diagram of the positional relationship between the weeding tool and the stalk in the horizontal mowing format. Figure 6 is an explanatory diagram of the positional relationship between the weed divider and stem rod in the +1 row mowing format, Figure 7 is a block diagram of the control configuration, Figure 8 is a flowchart of control operation,
FIG. 9 is a flowchart of the cutting type determination process, the first
Diagram O is a flowchart of steering control in row cutting format;
FIG. 11 is a flowchart of steering control in horizontal mowing mode, and FIG. 12 is a flowchart of steering control in +1 row mowing mode. (S1)...The first sensor on the uncut side, (S2
)...Second sensor on the uncut side, (S3)...
・・・・Already cut side sensor (■)・・・・Aircraft,
(L1), (L2), (L3)...Plural stem and rod introduction paths, (3)...Reaping processing section, (100)...Steering control means .

Claims (1)

[Claims] A plurality of stem introduction paths (L) are arranged in parallel in the reaping processing section (3).
The width of at least the tip of the path (L_3) on the most already-mown side of _1), (L_2), and (L_3) is formed to be larger than the other paths, and
A cut-side sensor (S_3) that detects the lateral distance between a stem rod introduced in the other route and the end of the already-cut side of the route; A first sensor on the uncut side that detects the horizontal distance from the cutting side edge (
S_1) and a second sensor (S_2) on the uncut side that detects the lateral distance between the stem rod introduced into the other route and the uncut end of the route in the other route, and these sensors A steering control device for a reaping harvester, which is provided with a steering control means (100) that performs steering control based on information of (S_1), (S_2), and (S_3), the steering control means (100) comprising: 100), if the frequency at which the lateral distance detected by the already mowed side sensor (S_3) becomes smaller than the set value while the machine (V) travels the set distance is greater than the set number of times, the machine (V) to the mowed side, and if the number of times is less than the set number of times, the steering is performed based on the information of the first sensor (S_1) and the second sensor (S_2) on the unmoved side. A steering control device for a reaping harvester configured to control.