JPH0446499Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The present invention is equipped with a stroke end detection means for detecting that the machine has reached the end of a working stroke, and also detects the next stroke after one working stroke is completed. A travel pattern storage means is provided for storing a travel pattern for automatically causing the aircraft to travel to the work stroke, and the travel end detection means is provided to automatically travel the aircraft along the travel pattern after the work stroke is completed. The present invention relates to a turn control device for a combine harvester, which is provided with a control device that automatically operates a steering device based on information stored in each of the travel pattern storage devices.

[Conventional technology]

Such a turn control device is used to perform so-called reciprocating mowing, in which the combine is turned 180 degrees at the end of each stroke, and so-called circular mowing, in which the combine is turned 90 degrees at the end of each stroke. It is.

By the way, conventionally, each of the above two turns has been stored in advance as a fixed running pattern, and the aircraft is automatically turned based on the running pattern.

Incidentally, the above two travel patterns are set so that the position of the machine body in the width direction after the turn is located at the optimal position with respect to the work target.

[Problem that the invention attempts to solve]

However, as mentioned above, because the traveling pattern was constant, for example, when the combine was turned in a field with soft mud, the traveling device would slip, and the position in the width direction of the machine after the turn would be the appropriate position for the work object. There were times when it would deviate from the correct position.

Therefore, among the weeding tools installed at the front of the machine, the one closest to the mowed side may be located on the unmowed side of the work target, which is located furthest to the mowed side. There was a risk that this would occur.

The present invention has been developed in view of the above-mentioned circumstances, and its purpose is to suppress uncut leaves that occur after a turn.

[Means for solving problems]

The characteristic configuration of this invention is to change the position of the weed divider by changing the position of the weed divider installed at the front of the machine, which is closest to the mowed side, to the mowed side before entering the next work process. The present invention is characterized in that an operating means is provided, and a weeding tool return operation means is provided for returning the weeding tool on the most mown side to the inside of the machine after entering the next work process, and its operation and effects are as follows. It is as follows.

[Effect]

In other words, in order to turn the aircraft by operating the steering device using the control means into which the information of the stroke end detection means and the travel pattern storage means is input, the control means installed at the front of the aircraft before entering the next work stroke. The position of the weed divider closest to the mowed side among the weed dividers is changed to the mowed side using the weed divider position change operation means, and the mowed blade is turned. The weeding implement returning operation means returns the weeding implement closest to the mowed side to the inside of the machine. (See Figure 1) [Effect of the invention] Therefore, if the weeding implement closest to the mowed side is moved to the mowed side before starting the next work process,
Even if the position in the width direction of the machine after the turn is on the uncut side of the appropriate position for the work target, it will not leave any uncut material.
I was able to get the work done even better.

〔Example〕

As shown in Fig. 6, a pair of left and right weeding tools 1a and 1b are used to separate the cut culms of rice, wheat, etc. in the field to the inside of the machine and the uncut culms to the outside of the machine. A reaping mechanism is installed at both ends of the front of the machine, and the grass culms that have been separated are raised on the inside of the machine to be harvested, and while the harvested stem culms are being conveyed, the posture is changed to a sideways posture, and the harvesting machine is delivered to the feed chain 2. 3 and a threshing device 4 for threshing the stem culms that are pinched and conveyed by the feed chain 2 and sorting and collecting grains, and a pair of left and right crawler traveling devices 5a and 5b as steering devices.
A self-propelled combine harvester is constructed by installing it on a machine V equipped with the following.

Note that C in the figure is a hydraulic cylinder for raising and lowering the reaping section 3, and the reaping section 3 is operated in an elevated state when traveling on the road or during non-operation such as when turning after each stroke. be.

As shown in Fig. 2, below the reaping section 3 is a contact type switch that outputs an ON/OFF signal by contacting the base of the stem H introduced into the reaping section 3 from the front. A stock sensor _S0 is provided, which is configured to detect whether or not reaping work is in progress.

a mounting frame 6 for the weeding tools 1a, 1b;
6 is biased toward the front side of the machine V, contacts the base of the stem culm H introduced into the reaping section 3, and rotates toward the rear side of the machine V by an angle corresponding to the contact position. Copying sensors S ₁ and S ₂ are provided, each consisting of a moving sensor bar 7 and a potentiometer R that detects the rotation angle of the sensor bar 7. Incidentally, since the stem culm H planted in the field comes into contact with the sensor bar 7 intermittently, the output signal of the potentiometer R changes intermittently. Therefore,
In order to detect the lateral deviation position B, signal processing such as averaging the output signal of the potentiometer R and detecting the maximum value per unit time is performed.

A stroke end detection means 101 is configured to detect that the machine body has reached the end of the working stroke when the stock sensor S ₀ is turned OFF and the copying sensors S ₁ and S ₂ are turned OFF. .

Further, an orientation sensor 8 is provided on the upper part of the aircraft V, which is an integral unit of a geomagnetic sensor that detects the absolute orientation by sensing changes in the geomagnetic field and a signal processing section that processes the detection signal. The direction of the image is detected.

As shown in FIG. 2, the output from the engine E is configured to be transmitted to a traveling transmission section 10 via a hydraulic continuously variable transmission 9, and an input shaft 10a to the transmission section 10 is connected to the transmission section 10. A distance sensor 11 is provided that detects running speed and running distance by detecting the number of revolutions.

The speed change device 9 is operated by a motor (not shown) during automatic travel or turn control, or by a speed change operation lever (not shown) during manual operation.

Also, steering clutch brakes 12L, 12R for intermittent power transmission from the transmission section 10 to the left and right crawler devices 5a, 5b, hydraulic cylinders 13L, 13R for turning on and off the steering clutch brakes 12L, 12R, and Hydraulic cylinder 1
A solenoid valve 14 is provided to operate the valves 3L and 13R.

In addition, numeral 15 in the figure is an electromagnetic valve for operating a hydraulic cylinder C that raises and lowers the reaping section 3.

Furthermore, a hydraulic cylinder 16 for changing the position of the weeding implement 1b on the mowed side of the weeding implements 1a, 1b is provided in the machine body, and a control device I to be described later is provided.
By operating the electromagnetic valve 17 based on a command from the controller, the hydraulic cylinder 16 is expanded and contracted to operate the weeding tool 1b. Further, a limit switch r is provided for detecting whether or not the weeding tool 1b whose position has been changed has completely returned to the inside of the machine.

To explain the determination based on the detection results of the left and right scanning sensors S ₁ and S ₂ , as shown in FIG. 7, the offset position B is divided into three zones for determination. In other words, shallow scanning is performed in which the body V is shifted away from the stem culm H from the state in which the sensor bar 7 returns to the front side of the body V to the state in which it is rotated backward by a predetermined angle. The zone is defined as a dead zone, and the state in which the stem is rotated further backward by a predetermined angle than this shallow tracing zone is defined as a state along the stem culm H, and the state is defined as a state in which it is rotated further backward from this dead zone. This is a deep tracing zone where the area is too deep into the stem culm H.

Hereinafter, various control means for automatically running the machine while following the stem culm H will be explained.

When performing reaping work while manually maneuvering the outermost part of the reaping work range in advance, the direction sensor 8
The detected orientation of each of the four sides is defined as the reference orientation of each side θ _a ,
θ _b , θ _c , θ _d , for example θ _a , is stored in the control device as the initial orientation, and after the end of one work stroke, the aircraft automatically travels to the next work stroke in the direction that intersects that stroke. Information from the driving pattern storage means 102 that stores the driving patterns of the vehicle is stored in the control device. (Hereinafter, the reaping work for memorizing the reference direction will be referred to as outer circumferential teaching.) Then, in order to cause the machine to automatically travel along the traveling pattern after the work stroke is completed, the stroke end detection means 101 , and the information in the driving pattern storage means 102, the steering device 5
A control means 103 is configured to turn the aircraft V by automatically operating the a and 5b.

After the end of the turn and before entering the next work process, the position of the weeding implement 1b closest to the mowed side of the aforementioned weeding implements 1a and 1b is changed to the already mowed side, A weeding implement position changing operation means 104 is configured.

The weeding tool return operating means 105 is configured to return the weeding tool 1b closest to the mowed side to the inside of the machine after entering the next work process.

Next, the operation of the control device is shown in FIGS. 3 and 5.
The explanation will be based on the flowchart shown in the figure.

As shown in Fig. 3, the operating state of the work mode selection switch SW ₀ , which sets whether to perform outer circumference teaching or automatic travel, is determined, and if this switch SW ₀ is in the ON state, outer circumference teaching is performed. Therefore, if the steering control start switch SW ₁ is turned on while the work mode selection switch SW ₀ is in the OFF state, the stock sensor S ₀
Determine the status of.

Then, when the machine is manually operated to start reaping work, the stock sensor S ₀ is turned on and reaping control is started.

Thereafter, during reaping control, the detection signals from the stock sensor S ₀ and copying sensors S ₁ and S ₂ are repeatedly checked, and after the stock stock sensor S ₀ is once turned OFF, the copying sensors S ₁ , S ₂ and When the stock sensor S ₀ is turned off for a predetermined period of time (1.5 seconds), it is determined that one stroke of reaping work has been completed, and turn control is started.

Turn control will be explained below based on the explanatory diagram of FIG. 4 and the flowchart of FIG. 5.

When turn control is started, it is determined whether the detected orientation θ ₀ by the orientation sensor 8 is at a set angle of 270° or more, and if the detected orientation θ ₀ is at a set angle of 270° or more, the detected orientation θ ₀ is initialized. By adding 360° to both the azimuth θ _a , the data is converted into 450° data to cover the detection limit range of the azimuth sensor 8. and,
After that, the reaping part 3 is raised, and the distance sensor 11 starts measuring the traveling distance L _{X ,} and the traveling transmission 9 is automatically increased in speed until the traveling distance _L When the vehicle travels the set _{distance L a while} adjusting the actual traveling speed _V , the aircraft V is turned at a set angle of 60° in the direction of the next stroke, and after the first turn is completed, the aircraft is decelerated until it stops, and the travel distance L _b until it stops is measured. Then, after the set time of 2.0 _seconds has elapsed, it starts to move backward, starts measuring the travel distance L _X , and reduces _{the travel speed V X until} the travel distance _L After increasing the speed to the next turn start speed V _b and traveling the second set distance (L _b + L _c ), the right crawler device 5b is stopped and the aircraft V is moved until the traveling direction reaches the next stroke direction β. After making a turn and completing the second turn, the aircraft V is decelerated and stopped.

Then, the mowing section 3 is lowered, the mowing tool 1b closest to the mowed side is repositioned to the mowed side, and the forward movement is started.While increasing the speed, the stock head sensor _S0 is
Determine whether it is ON or not, and stock sensor S ₀ is ON
Increase the traveling speed V _X to the set speed V _c until the After that, when stock sensor S ₀ turns on,
_By comparing _{the voltage value T} If the scanning sensor S1 is located in the deep scanning zone, move the machine V by a set amount to the right, and if the scanning sensor _S1 is located in the shallow scanning zone, move the weeding tool 1b back by the set amount. In this way, the position of the body V is corrected in the same manner as described above until the weeding tool 1b is completely returned.
Then, when the weeding tool 1b returns completely, the
It is determined whether or not the data has been converted to 450° data, and if it has been converted to 450° data, both the detected orientation θ ₀ and the initial orientation θ _a are subtracted by 360° and reset to 0 to 90° data.

[Another example]

In the embodiment described above, the stroke end detection means 101 is composed of the stock sensor S ₀ and the copying sensors S ₁ and S ₂ , but it may be only the stock sensor S ₀ .

Furthermore, in the above embodiment, the running pattern used was so-called circular mowing, in which the machine turned 90 degrees at the end of each stroke, but it was also changed to use so-called reciprocating mowing, in which the machine turned 180 degrees at the end of each stroke. Various types of running patterns may be used.

Furthermore, in the embodiment, when the weeding tool 1b closest to the mowed side is repositioned to the mowed side, and the weeding tool 1b located on the mowed side is returned to the inside of the machine, the first step is performed. As shown in FIG. 8, the position of the weeding tool 1b may be changed by swinging the weeding tool 1b, which is pivotally supported on the body side, using a hydraulic cylinder 20. Further, the position of the weeding tool 1b is changed to the mowed side after the end of the turn.
It may be performed after completing one process.

[Brief explanation of drawings]

The drawings show an embodiment of the turn control device for a combine harvester according to the present invention, FIG. 1 is a block diagram showing the overall configuration of the present invention, FIG. 2 is a block diagram of the control system, and FIG. 3 is a flowchart showing the control operation. Chart,
FIG. 4 is an explanatory diagram showing the operation of the turn control, FIG. 5 is a flowchart showing the turn control, FIG. 6 is an overall side view of the combine harvester, and FIG. 7 is an explanatory diagram of the copying sensor. FIG. 8 is a schematic diagram showing another embodiment of the weeding tool position changing operation means. 1a, 1b... weeding tool, 5a, 5b... steering device, 101... stroke end detection means, 102... travel pattern storage means, 103... control means, 10
4... Weeding tool position change operation means, 105... Weeding tool return operating means.

Claims (1)

[Scope of utility model registration request] It is equipped with stroke end detection means 101 for detecting that the machine body has reached the end of the working stroke;
A travel pattern storage means 102 is provided for storing a travel pattern for automatically traveling the machine to the next work cycle after the completion of one work cycle, and the drive pattern storage means 102 is provided to store a travel pattern for causing the machine to automatically travel to the next work cycle after the completion of one work cycle. Stroke end detection means 10
1, and a turn control device for a combine harvester, which is provided with a control means 103 for automatically operating the steering devices 5a and 5b based on the information of each of the traveling pattern storage means 102, and before entering the next work process,
A weeding tool position change operation means 104 is provided for changing the position of the weeding tool 1b closest to the mowed side of the weeding tools 1a and 1b provided at the front of the machine to the mowed side,
A turn control device for a combine harvester, which is provided with a weeding tool return operation means 105 for returning the weeding tool 1b on the most mown side to the inside of the machine after entering the next work stroke.