JPH0446530B2 - - Google Patents

Description

[Detailed Description of the Invention] (a) Industrial Application Field The present invention relates to a vehicle speed control device for mobile agricultural machinery, particularly combine harvesters, and more specifically, to a vehicle speed control device for a mobile agricultural machine, particularly a combine harvester, and more specifically, a device for controlling the vehicle speed to automatically set the vehicle speed according to the working conditions. The present invention relates to a vehicle speed control device.

(b) Conventional technology Conventionally, in mobile agricultural machinery equipped with a continuously variable transmission device, such as a combine harvester, the vehicle speed can be freely changed using a continuously variable transmission lever. When other operations such as the side clutch, reaping clutch, raising/lowering the pre-processing section, and main gear change are concentrated temporarily, the vehicle speed change using the continuously variable transmission lever will be delayed, resulting in the turning and field This resulted in an increase in travel time and a decrease in reaping efficiency.

In addition, as shown in Japanese Patent Application Laid-Open No. 55-150814,
Based on the commands of the microcomputer (control unit) based on each sensor, the combine moves to follow the grain culm line to be harvested, and when moving to the next step, turns the machine at the corner of the uncut grain culm group, Furthermore, reciprocating mowing, in which only row mowing is repeated, and circular mowing, in which row mowing and horizontal mowing are alternately performed, are selectively performed, and in reciprocating mowing,
A combine harvester has been devised that is configured to accelerate the traveling speed when traveling through a field.

(c) Problems to be solved by the invention However, since the combine harvester with the automatic harvesting function runs at a preset speed both during reaping and when moving around the field, It is not possible to change the set speed depending on reaping conditions such as the degree of lodging of the culm and the dry/wet condition of the field.
It could only be used under limited conditions, making it impractical.

(d) Means for Solving the Problems The present invention aims to solve the above-mentioned problems, and as shown in FIG. A work state detection means (main clutch pedal switch, main shift lever switch, grain culm detection sensor, threshing lever switch, direction sensor, etc.) that detects horizontal mowing, field movement, reversing during reaping, etc., and a work state detection means for detecting each work state. It is equipped with a speed change/setting means (continuously variable speed lever) that changes/sets the vehicle speed accordingly, and the signal from the vehicle speed change/setting means is stored in the control section, so that each working state of the next process is stored in the corresponding manner. The present invention is characterized in that the speed change operation driving means is driven so that the vehicle speed reaches the specified vehicle speed.

(e) Effect When the vehicle speed change/setting means is operated in accordance with the operator's proficiency level and field conditions during the first or second round of field work (reaping work), each work state from the next stage will be the same as that of the previous stage. The vehicle speed is automatically set to the one you operate.

(F) Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.As shown in FIG. It is equipped with an engine 7. Further, the rotation of the engine 7 is transmitted to a counter shaft 9, and a continuously variable transmission 13 comprising a driving side split pulley 10, a driven side split pulley 11, and a belt 12.
The signal is transmitted to the clutch 15 via the transmission gear 15, and then to the sprocket 17 that drives the left and right crawlers via a transmission 16 consisting of a large number of selection gears.

Furthermore, whether or not the engine 7 is rotating is inputted into the input of the microcomputer 19 using the regulator L terminal. Furthermore,
Continuously variable speed lever 20 that operates the continuously variable transmission 13
is connected to a potentiometer P1, which outputs a voltage V that increases in proportion to the movement θ of the lever 20 toward the speed increasing side, and the output value is sent to the AD port of the one-chip microcomputer 19. I am typing. In addition, the continuously variable transmission 13 includes a drive side split pulley 1
The effective diameter of 0 is controlled by a forward/reverse motor 21 and the speed is changed.
A potentiometer P2 is connected to the potentiometer P2, and the meter P2 outputs a voltage V that increases in proportion to an increase in vehicle speed l based on the opening of the pulley 10, that is, the gear ratio of the continuously variable transmission 13. , the output value is input to the AD port of the microcomputer 19. Further, a pedal switch 23 is disposed facing the main clutch pedal 22 that operates the clutch 15, and the switch 23 is turned on when the pedal 22 is in the normal position, that is, in the connected position of the clutch 15, and the signal is sent to the microcomputer 1.
9 is input into the import. Furthermore, transmission 16 is set to reverse R, neutral N, forward 1st speed F1, and forward 2.
Main shift lever switches 26 and 27 are arranged facing the main shift lever 25 for switching to speed 2F.
The switch 26 is turned on when the main shift lever 25 is in the reverse R position, and the switch 27 is turned on when the main shift lever 25 is in the reverse R position.
The signal is turned on at the forward first speed F1 position, and these signals are input to the import of the microcomputer 19. Furthermore,
A grain culm detection sensor 30 is disposed on the handling depth conveyor 29 that conveys the grain culm from the pre-processing section 6 to the threshing machine 2. When it detects that work is in progress, it turns on and inputs the signal to the import of the microcomputer 19. Also, facing the threshing clutch lever 31 disposed in the driver's seat 5, the threshing lever switch 3 is operated.
2 is installed, and the switch 32 turns on when the threshing clutch is engaged, and inputs the signal to the import of the microcomputer 19. Furthermore, a hydraulic lever switch 35 is installed facing the pre-processing section lifting/lowering hydraulic lever 33 disposed in the driver's seat 5, and this switch is turned on by lowering the lever 33 and sends the signal to the import of the microcomputer 19. I am typing.
Furthermore, direction sensors 37 are disposed on the left and right dividers 36 in front of the pre-processing section 6, respectively, and these sensors 37 come into contact with the grain culms to detect the running position of the combine harvester 1 with respect to the grain culm rows. In addition, an automatic vehicle speed switch 40 is provided on the operation panel 39 of the driver's seat 5.
is installed, and the switch 40 turns it on and off.
The off signal is input to the import of the microcomputer 19. In addition, the vehicle speed indicator 42 is
As shown in FIG.
5, the indicator 42 is installed to correspond to the instruction number (1 to 9) of the microcomputer 1.
Based on the output from 9, the light is turned on to display the actual vehicle speed. Note that 43 in the figure is a side clutch lever.

FIG. 3 is a diagram showing the running state of the combine harvester 1 during circular mowing and reciprocating mowing operations, where A indicates the row cutting stroke during circular mowing and reciprocating mowing operations, and B
is the field movement travel stroke during reciprocating mowing work, C is the backward travel stroke during circular mowing work, and D is the horizontal mowing stroke during circular mowing work.

Further, FIG. 4a is a diagram showing the guide plate 45 of the main shift lever 25 and the continuously variable shift lever 20, and FIG. 4b is a diagram showing the main shift lever 2 in each working state.
5 is a table showing the positions of the continuously variable transmission lever 20 and the standard position V of the continuously variable transmission lever 25.

Next, the flowchart shown in FIG. 5 will be explained.

V(1) to V(4) in step S1 are the standard speeds of the continuously variable transmission 13 in each working state; for example, during row mowing A, V(1) = 4, and during side mowing D, V(2). =2,
The values are stored in advance in the memory of the microcomputer 19, such as V(3)=7 for B when traveling in the field and V(4)=3 for C when traveling in reverse. Further, P3 is a variable that stores the value of the potentiometer P1 of the continuously variable speed lever 20 one loop before.

In step S2, it is determined whether or not the engine 7 is rotating, and if the engine is not rotating, loop a is repeated, and the next step is started depending on the engine rotation.
Proceed to S3...

In step S3, it is determined whether the aircraft is running or not by turning on the main gear shift lever switch 26 or 27 and turning on the pedal switch 23, etc., and if it is not running, it is changed to each work state A according to path b. The variable S guided to a state position other than ~D (I=0) and compared with the potentiometer P2 based on the continuously variable transmission 13 is at the lowest speed position (S=
1) and if the vehicle is running, the process proceeds to the next step S4.

In step S4, the vehicle speed automatic switch 40
It is determined whether the automatic vehicle speed control is on or off depending on the on/off state of When S is set to the value of potentiometer P1 by the continuously variable speed lever 20 (S = P1), and therefore the position is controlled by the continuously variable speed lever 20, and the vehicle is in the ON state, that is, the vehicle speed automatic control state. is advanced to the next step S5.

At step S5, threshing lever switch 3
2, it is determined whether the working machine clutch, that is, the threshing clutch, is in the on or off state. If it is in the off state, the position is controlled by the path c (S = P1), and if it is in the on state, , the process proceeds to the next step S6.

In step S6, it is determined by the main shift lever switches 26 and 27 whether the machine is in the forward or reverse state. If the switch 26 is on and the machine is in the reverse state, the path d is used to shift the machine to the reverse state position at the time of reaping (I = 4 ) and compared with the potentiometer P2 becomes the pre-stored value V(4), and if the switch 27 is on and in the forward state, the process proceeds to the next step S7.

In step S7, it is determined based on the grain culm detection sensor 30 whether or not harvesting is actually in progress. If harvesting is not in progress, the route e leads to the field running state position (I=3), and the variable S is set to the above-mentioned value. If the pre-stored value V(3) is reached and the cutting is in progress, the process proceeds to the next step S8.

In step S8, the grain culm detects the direction sensor 37.
Based on the number of times within a predetermined period of time that the pulse signal is repeated by approaching and separating from the machine, it is determined whether the state is row mowing or horizontal mowing,
In the horizontal cutting state, the path f leads to the horizontal cutting state position (I=2), and the variable S becomes the pre-stored value V(2), and in the row cutting state, the path g leads to , the row cutting state position (I=1), and the variable S becomes the pre-stored value V(1).

Then, in step S9, the variable S at each state position is compared with the value of the continuously variable transmission 13, that is, the potentiometer P2, which is proportional to the vehicle speed,
When the variable S is larger than the meter P2 (S>P2), the motor 21 rotates forward and the effective diameter of the split pulley 10 is controlled to be large, increasing the vehicle speed, and the variable S is set to the meter P2. If it is smaller (S<P2), the motor 21 reverses to reduce the vehicle speed, and if the variable S is the same as the meter P2 (S=P2), the motor 21 stops and maintains the vehicle speed at that state.

Furthermore, in step S10, it is determined whether each state position I is 0, and if it is 0 (I=0),
It passes directly to F by route h, and if it is other than 0 (I≠0), it proceeds to the next step S11.

In step S11, the value of the potentiometer P1 is compared with the pre-stored value P3 of the potentiometer P1 in the same working state one loop ago, and it is determined whether or not the continuously variable speed lever 20 is currently operated. If it is determined and not operated (P1 = P3), it passes directly to F by route h,
If it is operated, the process proceeds to the next step S12 via path i.

In step S12, the standard position V(1) in each working state is newly set to the value of the potentiometer P1 based on the current operating position of the continuously variable transmission lever 20, and the new standard position V(1)= P1 is stored in the microcomputer 19.

Also, in step S13, a value is used as a reference for determining whether or not the continuously variable transmission lever 20 is operated in the next stroke.
P3 is set to the new potentiometer P1 value,
The reference value P3=P1 is stored in the microcomputer 19.

Next, the driving operation of the vehicle speed control device of this embodiment will be explained.

First, when operating the combine 1 manually without controlling the vehicle speed, the automatic vehicle speed switch 40 is turned off. Then, in the flowchart of FIG.
0, the motor 21 is controlled in reverse so that the split pulley 10 is at the lowest speed S = 1, which is the most open position, and when traveling, the motor 21 is always started from the lowest speed to prevent a sudden start when the clutch 15 is engaged. Inside,
Position control in which the motor 21 is controlled so that the variable S becomes the value of the potentiometer P1, and the value of the meter P1 based on the continuously variable transmission lever 20 matches the value of the meter P2 based on the continuously variable transmission 13. The vehicle speed of the combine harvester 1 is controlled by.

Then, when the vehicle speed automatic switch 40 is turned on, the combine 1 runs under vehicle speed control. In addition,
Even if the automatic switch 40 is in the ON state, if the threshing lever switch 32 is OFF, that is, the threshing clutch is not engaged, it is assumed that the farm is not working, and manual operation is performed using the normal position control using the continuously variable speed lever 20. First, when the key switch is turned on, the microcomputer 19 is activated, and at the time of starting work, the set standard speed V (1) ~
(4) will be run. That is, if the working machine (threshing) clutch is in the engaged state, is in the forward state, is in the process of reaping, and is in the row mowing state, the row mowing state position I = 1 and the standard speed V(1) = 4 is set. , the combine harvester 1 is run at a speed corresponding to position 4 of the continuously variable speed lever 20, and similarly, when the horizontal mowing state position I=2 is reached, it is run at the standard speed V(2)=2, and the combine harvester 1 is moved to the field running state. Position I
=3, the vehicle travels at a high speed at the standard speed V(3)=7, and when the reverse state position I=4, the vehicle travels at the standard speed V(4)=3.

Then, when the operator becomes proficient with the combine harvester 1 and wants to speed it up faster than the standard speed, or when there are many lodging grain culms and wants to slow down the traveling speed, the operator sets the continuously variable speed lever 20 to the desired speed. At this time, since the vehicle speed is independent of the position of the gear shift lever 20, the operator, while recognizing the current vehicle speed by looking at the indicator 42, can arbitrarily set the vehicle to a high speed position or a low speed position from the lighted position of the indicator 42. Operate and set the gear shift lever 20. Then, as shown in path i, combine 1
The motor 21 is controlled so that the potentiometer P2 of the continuously variable transmission 13 matches the value of the potentiometer P1 corresponding to the shift operation position of the continuously variable transmission lever 20, that is, the motor 21 is controlled by position control. Similarly, the vehicle speed is changed to a speed corresponding to the continuously variable transmission lever 20, and at the same time, the new setting value is stored in the microcomputer 19, and the new setting value V(1 )=P1 causes the combine harvester 1 to travel. Similarly, the horizontal mowing state V(2)=P1, the field driving state V(3)=P1, and the reverse moving state V(4)=P1 are also controlled by the operation and setting of the continuously variable speed lever 20 in each state. The new set speed will be set. Then, once or twice at the beginning of mowing,
Since the optimum speed is set depending on the operator or the field, the operator is not required to operate the continuously variable transmission lever 20, and the machine automatically travels at the optimum speed for each work condition.

In the above embodiment, the vehicle speed was changed and set using the continuously variable transmission lever 20, but the driving panel 29
It is also possible to provide a dedicated setting device such as a volume to the device, and use the dedicated setting device.

(g) Effects of the invention As explained above, according to the present invention, the working state detection means 23, 2 for detecting each working state A to D
7, 30, 32, and 37, the vehicle speed is automatically changed according to each work state, so even when many operations are temporarily concentrated, such as when combine harvester 1 enters into harvesting or turns. , it is possible to omit the gear shifting operation, making the operation easier, and improving work efficiency by eliminating waste caused by delayed operation. Furthermore, the set vehicle speed for each work condition can be arbitrarily set by the operator using the vehicle speed change/setting means 20, so the vehicle speed can be set to the optimum speed according to the operator's driving proficiency level, field conditions, etc., and work can be carried out efficiently under any conditions. It can be performed. In addition, if the vehicle speed change/setting means is the continuously variable speed lever 20, the vehicle speed from the next stroke can be set at the same time as the currently traveling vehicle speed is changed by operating the continuously variable speed lever 20, and even in automatic vehicle speed control, The same operation as changing the vehicle speed is sufficient, and it is possible to set the vehicle speed with a good feeling.In addition, there is no need for a special setting device, and the work status detection means that are already installed can be used, so this can be achieved without incurring a large cost increase. can do.

[Brief explanation of the drawing]

FIG. 1 is a functional block diagram showing the configuration of the present invention.
FIG. 2 is a control block diagram showing an embodiment of the present invention;
Fig. 3 is a plan view showing each working state, Fig. 4a is a plan view showing the guide plate, Fig. 4b is a diagram showing the shift position in each working state, and Fig. 5 is a flowchart according to the present invention. be. 1... Mobile agricultural machinery (combiner), 13... (stepless)
Transmission device, 16...Mission, 19...Control unit (microcomputer), 20...Vehicle speed change/setting means, 21...Shift operation drive means (forward/reverse motor),
26, 27, 30, 32, 37...Working state detection means, 40...Vehicle speed automatic switch, 42...Indicator.

Claims (1)

[Scope of Claims] 1. A vehicle speed control device for a mobile agricultural machine 1, which has a transmission 13 and a speed change operation drive means 21, and drives the speed change operation drive means to control the transmission based on a signal from a control unit 19. , a working state detection means for detecting each working state A to D of the mobile agricultural machine, such as whether the mobile agricultural machine is in a working state or not, whether it is in a forward or backward state, and whether it is working vertically along the crop row or horizontally orthogonally thereto; 23, 26, 27, 30, 3
2, 37, and a vehicle speed changing/setting means 20 for changing and setting the vehicle speed according to each work state, and a signal P1 from the vehicle speed changing/setting means is stored in the control section to control each work in the next process. A vehicle speed control device for a mobile agricultural machine, which drives a speed change operation drive means so that the state becomes the stored vehicle speed. 2. The vehicle speed control device for a mobile agricultural machine according to claim 1, wherein the transmission is a continuously variable transmission 13. 3. The vehicle speed control device for a mobile agricultural machine according to claim 2, wherein the vehicle speed changing/setting means is a continuously variable speed lever 20.