JPH036761B2 - - Google Patents

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention is directed to the first grain culm row, which is introduced into the reaping section as it travels, through the first introduction path arranged on the already cut side.
A reaping/harvesting machine with a tracing sensor, which is equipped with a control system that causes the machine to travel following grain culm rows by detecting the sensor _S1 and a second sensor arranged on a second introduction route on the uncut side. It is related to.

[Conventional technology]

Conventional reaping and harvesting machines with tracing sensors of this type detect grain culm rows in the field and scan the grain culm rows in order to avoid leaving uncut leaves when performing reaping and harvesting work. In order to do this, a sensor was installed that could detect the deviation of the machine body relative to the row of grain culms introduced into the reaping section.

As such a sensor, a contact bar is provided whose rotation angle to the rear changes depending on the position where the grain culm row contacts, and when the rotation angle exceeds a predetermined value,
It was configured to detect grain culm rows using an ON/OFF switch or a potentiometer that detects the rotation angle of the contact bar, and to detect the deviation of the machine body relative to the grain culm rows.

[Problem to be solved by the invention]

By the way, grain culms planted in a field are usually planted in such a way that they are arranged densely in the row direction and coarsely in the horizontal direction at predetermined intervals, taking into account the ease of planting work and subsequent management. There is.

Therefore, in reaping work, there are three types of cutting: row cutting, which is performed sequentially along the above-mentioned row direction, horizontal cutting, which is performed from the side to this row direction, and mid-splitting, which is performed to pre-divide the reaping work range of the field. There are different basic working styles, each with a different pattern of grain culm rows introduced into the reaping section.

Therefore, the optimal position of the grain culm row to follow the grain culm row introduced into the reaping section is different for each of the three types of work modes, since the cutting width of the reaping section is constant. .

Here, focusing on row mowing work and mid-splitting work, compared to row mowing work, mid-split work usually reaps one more row of grain culms. The pattern of introduction of grain culm rows into the grains is different.

To be more specific, in conventional reaping and harvesting machines, the cutting width of the reaping section is smaller than the width of the traveling body, so during splitting work, the crawler traveling device, etc. must be under continuous conditions to avoid crushing the grain culm. It is common to harvest one more grain culm row than the mowing operation.

It is also conceivable to configure the reaping harvester so that the cutting width of the reaping section approximately matches the width of the machine body so that grain culm rows with the same number of rows are harvested during row cutting and splitting. If such a configuration is attempted, not only will the transportation path for the harvested grain culm from the reaping section to the threshing device become longer, resulting in an increase in the size of the machine, but also
This structure has not been adopted from the viewpoint of structure and workability, since the front view of the machine is obstructed by the equipment in the reaping section.

However, when trying to change the introduction pattern of grain culm rows in this way, if the sensor has an ON/OFF switch, the entire sensor is configured to swing, and this swing causes the sensor to swing. Change the detection range of the sensor or turn it on/off.
It tends to become mechanically complex, such as providing a large number of OFF switches and changing the detection range of the sensor by selecting the switches.

In addition, when trying to change the introduction pattern of grain culm rows, if the sensor has a structure with a potentiometer, changing the detection area of the sensor
Although it is relatively easy to adjust electrically,
When the aircraft is running, the contact bar repeatedly contacts and separates from the grain culm, so the signal voltage from the potentiometer will pulsate at a constant cycle. For example, when the aircraft is running at low speed, ,
If the distance between the plants is large, voltage fluctuations due to pulsation may become large, making it impossible to perform normal tracing.

Also, taking a combine harvester for two-row cutting as an example, when performing splitting work with this type of combine harvester,
During row mowing work, two grain culm rows are introduced into either the introduction route located on the cut side or the introduction route located on the uncut side. For example, for example, the introduction route on the uncut side If the width of this introducing route is set large so that two rows of grain culms are introduced into the row, the weeding tool at the end of the uncut side will be stretched toward the uncut side during row mowing work. As a result, this weeding tool may come into contact with uncut grain culms, so there is room for improvement.

An object of the present invention is to easily switch between two types of work formats: row cutting work and mid-splitting work, and to
The objective is to rationally configure a harvester that can smoothly follow and travel during each type of work.

[Means to solve the problem]

A feature of the present invention is that, as described above, a row of grain culms introduced into the reaping section is detected by a pair of sensors, and in a reaping harvester equipped with a tracing sensor that travels by following the grain culms, the first introducing route is The path width is set to be larger than the path width of the second introduction path, and the first sensor and the second sensor each have a rod that swings backward when it comes into contact with the grain culm, and the amount of swing of this rod is converted into a voltage value. The rod length of the first sensor is set to be larger than the rod length of the second sensor among these rods, and the detection range of the grain culm by the first sensor and the second sensor is set respectively. divided into multiple zones corresponding to
A voltage range for determining the grain culm position is set corresponding to each zone, and an integrating means for averaging the voltage signals from each potentiometer is provided, and the voltage signal from the integrating means is set in the voltage range. It is equipped with a steering direction determining means that determines the steering direction by determining where the grain culms are present, and furthermore, during row cutting work, one row of grain culms is introduced into each of the first introduction route and the second introduction route. However, in order to introduce two rows of grain culms into the first introduction route and one row of grain culms into the second introduction route during the middle splitting process, the detection settings are set on the first sensor and the second sensor, respectively. The voltage range changing means B is provided for changing at least one of the voltage ranges, and its functions and effects are as follows.

[Effect]

If the above characteristics are configured as shown in Fig. 2, for example, during row mowing work, the detection zone is set as shown in Table 1 of Fig. 5, and the voltage range is set corresponding to this zone, so that the machine can run. In this case, the pulsed signals from potentiometers P ₁ and P ₂ are averaged by integrating means A ₀ and A ₀ , and this averaged voltage signal and the voltage range are steered. The comparison between the direction determining means A ₁ , A ₂ , and A ₃ enables tracing travel.

In addition, by setting the detection zone as shown in Table 3 in Figure 5 during the middle splitting process, two rows of grain culms are introduced into the first introduction route _L1 , while the above-mentioned row cutting process is performed. Similarly, it becomes possible to follow the path.

Also, the path width of the first introduction route _L1 is the second introduction route
Although the path width is set larger than the path width of L ₂ , the rod length of the rod 3 of the first sensor S ₁ placed on the side of this first introduction path L ₁ is set larger than the rod 4 of the second sensor S ₂ . Therefore, this first introduction route L ₁
Even when one row of grain culms is introduced in a row, the first sensor _S1 can reliably detect the position of the row of grain culms.Moreover, since the path width is set in this way, During mowing work, as a result of the weeding tool at the end of the cut side extending toward the already cut side, the weeding tool does not come into contact with the grain culm compared to when it extends in the opposite direction.

Furthermore, switching between the row mowing work and the middle splitting work is possible by changing the detection range of the sensors S ₁ and S ₂ , that is, by changing the reference voltage.

Also, during splitting work, compared to when row cutting work, the zones for straight forward movement on each side expand to the outside of the machine, making it possible to introduce two rows of grain culms into one introduction route. In addition, when introduced in this way, each of the outermost grain culm rows of the three grain culm rows will be introduced from a position relatively close to the weeding tool compared to row mowing work. .

The system for changing the voltage range in this way is called voltage range changing means B in the present invention, and in the embodiment, it is composed of a switch SW, software set in a microcomputer, and a D/A converter 8. It is completed.

〔Effect of the invention〕

Therefore, since it is equipped with a pair of sensors, compared to a model equipped with a single sensor, it suppresses the "shift" of the machine body in the left and right direction with respect to the grain culm row, and allows smooth tracing even at low speeds. A harvester has been constructed that can easily switch between two types of work: row cutting work and mid-splitting work.

In particular, in the present invention, grain culm rows are introduced in the widthwise center of each introduction path during row mowing operations, which are used exclusively for normal harvesting operations. Also, the introduced grain culm rows are less likely to come into contact with the weeding tool or the frame supporting the weeding tool, and the work can be carried out extremely smoothly.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic plan view of a combine harvester as an example of a reaping harvester, in which a weeding tool 2 is provided at the front of a reaping section 1 provided at the front of the machine, and this weeding tool 2... On the frames 2a and 2a on the mowed field side and the uncut field side at both ends supporting the grain culm row, there are scanning sensors S ₁ and S ₂ which are sensors for detecting deviation of the machine body in the left and right direction with respect to the grain culm row. It is provided. These sensors S ₁ and S ₂ are arranged between the rows of grain stalks, and when the rods 3 and 4, which are rods that protrude laterally, come into contact with the grain stalks, the rods move backward. The rod rotates, and the potentiometers P ₁ and P ₂ provided at the base of the rod generate a voltage proportional to the rotation angle, thereby detecting the deviation of the machine body relative to the grain culm row. The rod 3 of the first sensor _S1 has a longer rod length than the rod 4 of the _second sensor S2.

The sensors S ₁ and S ₂ are as shown in FIG.
When one side of the carrier machine is detected, the detection signal continues to be emitted for a predetermined time longer than the machine travels between rows of grain culms, and malfunctions do not occur between rows where grain culms are not present. Similarly, the generated voltages are averaged by integrating circuits A ₀ and A ₀ as integrating means.

By the way, in row mowing and horizontal mowing, as shown in Fig. 3, grain culm rows in the same position are
Since the pattern of contact with 4 is different, the integration time of the integration circuit A ₀ is shorter than T during row cutting.
It is configured to be switchable so that the time T' is longer than that during horizontal mowing.

Therefore, even if the grain culm rows are in the same position,
The detected voltage V ₁ is detected as a voltage V ₁ ′ that is lower overall during horizontal mowing than during row mowing.
Based on this and the fact that the position of the optimal grain culm row to be followed differs depending on the reaping direction, the detection zones of the grain culm row of the sensors S ₁ and S ₂ are set as shown in FIG. For row mowing and horizontal mowing, the sensor S ₁ has zones , , to zones ′, ′,
In the sensor _S2 , a mechanism is provided that can switch between zones ' and ', respectively.

As this zone switching mechanism, the sensor
The outputs v ₁ and v ₂ of the integrating circuits S ₁ and S ₂ are inputted to comparators A ₁ and A ₂ and comparator A ₃ , respectively, which serve as the main stage for determining the steering direction, and the respective reference voltages ref1,
When converting into logic signals D ₁ , D ₂ , D ₃ corresponding to the respective zones in comparison with ref 2 and ref 3, the reference voltages ref 1 , ref 2 , and ref 3 are shifted by a predetermined amount, respectively. It has been done.

Then, in order for the machine to follow the grain culm row zone that is optimal for each of the reaping operations of row mowing, horizontal mowing, and mid-splitting, the above-mentioned signals for each of the three types of operations are applied.
Based on the combination of D ₁ , D ₂ , and D ₃ , the control device 5 drives the electromagnetic clutches 7 and 7' of the traveling crawlers 6 and 6', thereby automatically moving the machine along a predetermined row of grain culms. It is to make it possible.

The control device 5, as shown in FIG.
It is composed of an O port, a CPU, a memory, etc. (not shown), and is configured to function as a so-called microcomputer.

Then, the mode selection switch SW selects each mote for each of the reaping work modes of row mowing, horizontal mowing, and mid-splitting as mode 1, mode 2, and mode 3, and corresponding to this mode, After selecting the integration times T and T' and setting the detection zone, based on the combination result of the logic signals D ₁ , D ₂ and D ₃ as zone detection signals of the sensors S ₁ and S ₂ . , it decides whether to turn left or right or go straight.

That is, the sensor corresponding to each mode
Detection zones of S ₁ , S ₂ and corresponding signals D ₁ , D ₂ , D ₃
The traveling directions based on the states and combinations thereof are determined based on tables 1, 2, and 3 shown in FIG.

In other words, in mode 1, the detection zone of sensor S ₁ is set to , and the detection zone of sensor S ₂ is set to .
, the integration time is set to a short time T, and the reference voltage of each comparator A ₁ , A ₂ , A ₃ is changed by the D/A comparator 8 so that it becomes an overall high reference voltage corresponding to row cutting. Initialize. Then, the signals D ₁ and D ₂ are Low, and the signal D ₃
When is High, the left electromagnetic clutch 7 is turned OFF for a predetermined period of time to steer leftward. When the signal D ₁ is high and the signal D ₃ is low, the right electromagnetic clutch 7' is turned off to steer the vehicle to the right. In other cases, both clutches 7 and 7' are activated to move straight.
Turned on.

Next, in mode 2, in order to disable the grain culm detection of the sensor S ₂ , the state of the signal D ₃ is ignored, the integration time is set to a long time T', and the reference voltage of the comparators A ₁ and A ₂ is By setting ref1 and ref2 low overall, the detection zone of sensor S ₁ is switched from zone , , to zones ′, ′, ′.

Then, if the signals D ₁ and D ₂ are both low, one of the clutches 7 and 7' is turned off for a predetermined period of time to steer the vehicle leftward, and if both signals D 1 and D2 are high, the vehicle is steered rightward.
do. On the other hand, if the signal D ₁ is High and the signal D ₂ is Low, both clutches 7 and 7' are turned on so that the vehicle can move straight.

Further, in mode 3, the sensor S ₁ is set to a detection zone corresponding to row cutting, and the sensor S ₂ is set to a detection zone ′, corresponding to horizontal cutting.
′ is set, the integration time and the comparator
The reference voltages A ₁ , A ₂ , and A ₃ are also changed correspondingly to correspond to the intermediate splitting operation of reaping three rows with the two-row combine harvester as the embodiment shown in FIG. Then, signals D ₁ and D ₂ are High and signal D ₂ is Low.
If so, to the left, signals D ₁ and D ₂ are High and signal D ₂
If is Low, one of the clutches 7 and 7' is turned OFF to steer the vehicle to the right. In other combinations of signals D ₁ , D ₂ , and D ₃ , the vehicle travels completely straight.

In this way, it has become possible to automatically trace and travel along the appropriate grain culm row position corresponding to each reaping operation.

FIG. 6 is a flowchart showing the operation of the control device 5 described above.

In this embodiment, the switch SW, the program set in the microcomputer,
The D/A converter 8 constitutes a voltage range changing means B.

[Another example]

Note that the present invention can be modified in various ways as shown below.

That is, although the detection zone of the sensor S ₂ is configured to be divided into only two zones, three zones may be provided as in the case of the sensor S ₁ , and in this case, the detection zone of the row mowing The grain culm position may be detected using only this sensor _S1 .

Furthermore, as a means for automatically determining the row cutting and horizontal cutting, the sensor S ₂ as shown in FIG.
It may be configured to detect the grain culm rows based on the difference in the pattern of the generated voltage with respect to time shown in FIG. 2, and to automatically switch between row mowing and horizontal mowing.

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping and harvesting machine with a scanning sensor according to the present invention, in which Fig. 1 is a schematic plan view of the combine harvester, Fig. 2 is a block diagram of the control device, and Fig. 3 is a waveform diagram of the voltage pattern generated by the sensor. , Fig. 4 is a conceptual diagram of the grain culm row detection zone of the sensor, Fig. 5 is a table of grain culm row position detection in each mode, and Fig. 6 is a conceptual diagram of the grain culm row detection zone of the sensor.
The figure is a flowchart showing the operation of the control device, and FIG. 7 is a conceptual diagram of the row mowing/horizontal mowing discrimination means. DESCRIPTION OF SYMBOLS 1... Reaping part, 3, 4... Rod, _A0 ... Integrating means, _A1 , _A2 , _A3 ... Steering direction determining means, B...
... Voltage range changing means, L ₁ ... First introduction path, L ₂ ...
...Second introduction route, _S1 ...First sensor, _S2 ...Second sensor.

Claims (1)

[Claims] 1. Grain culm rows introduced into the reaping section 1 as the machine travels are transferred to the first introduction route _L1 on the already cut side.
By detecting with the sensor S ₁ and the second sensor S ₂ arranged on the second introduction path L ₂ on the uncut side,
A reaping/harvesting machine with a tracing sensor comprising a control system for moving the machine body following a row of grain culms,
The width of the introduction path _L1 is set to be larger than the path width of the second introduction path _L2 , and the rod 3 swings backward when it comes into contact with the grain culm, and the first sensor _S1 and the second sensor _S2 , respectively. 4, and potentiometers P ₁ and P ₂ that convert the amount of swing of the rods 3 and 4 into voltage values, and among these rods 3 and 4, the rod length of the first sensor S ₁ is Set the rod length to be larger than that of sensor S ₂ , and set the length of the first sensor S ₁ and the second sensor S ₂
The detection area of the grain culm by each is divided into a plurality of zones corresponding to each zone, and the voltage range for determining the grain culm position is set corresponding to each zone, and the respective potentiometers P ₁ , It comprises an integrating means A ₀ , A ₀ for averaging the voltage signal from P ₂ , and the integrating means A ₀ ,
It includes steering direction determining means A ₁ , A ₂ , A ₃ that determines the steering direction by determining in which of the voltage ranges the voltage signal from A ₀ exists; 1 introduction route L ₁ , 2nd introduction route L ₂
In each case, one row of grain culms is introduced, and during the middle splitting work, two rows of grain culms are introduced into the first introduction route _L1 , and one row of grain culms is introduced into the second introduction route _L2. A reaping/harvesting machine with a copying sensor is provided with voltage range changing means B for changing at least one of the detection ranges set for each of the first sensor S ₁ and the second sensor S ₂ .