JPH09103114A - Automatic direction control device for mobile harvester - Google Patents

Abstract

(57) 【Abstract】 PROBLEM TO BE SOLVED: To make it possible to smoothly control the direction of a traveling machine body along the undulation of a grain row. A signal of a direction sensor is converted into a pulse signal to intermittently operate a side clutch, and an off time t _OFF of the pulse signal is made longer than a delay time t _D forming a dead zone for the stock.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic direction control device for a mobile harvester such as a combine harvester, and more particularly, to a method in which a side clutch is connected / disconnected by a pulse signal based on a signal from a direction sensor, and a traveling machine is moved along a row of grain culms. The present invention relates to an automatic direction control device configured to travel.

[0002]

2. Description of the Related Art In general, an automatic direction control device for a mobile harvester, for example, a combine, is provided with a direction sensor operating in contact with a root portion of a grain culm at a lower front portion of a traveling machine body, and detects the grain culm by the direction sensor. The side clutch is connected / disconnected in a timely manner based on the signal, whereby the direction of the traveling body is automatically corrected. Further, a timer composed of a transmitter is interposed in the control circuit, thereby converting the continuous signal of the detection of the pied cereal culm by the direction sensor into a pulse signal having a predetermined width including an on-time and an off-time. Based on the pulse signal, the side clutch is operated intermittently at regular intervals, giving the discomfort that the traveling machine body suddenly rotates and shakes the worker, and prevents problems such as shaking the worker down, It is configured to maintain a constant control state.

[0003]

By the way, since the grain culm planted in the field is planted by the rice transplanter which runs along the marker, the grain culm may meander in a zigzag pattern, but in one direction. Although it is rarely bent continuously, according to the above-described conventional automatic direction control device, the inching off time, which adjusts the feedback amount during the inching control performed by the pulse signal, forms a dead zone between the stocks. Since it is set to the same length as the delay time provided to do so, for example, FIG.
As shown in, even after the delay time t _D after the sensor arm 11 detects the grain culm k _{1 of the} grain culm row that swells in the direction of the cut side when traveling along the meandering grain culm If the grain culm is not detected, the combiner is directionally corrected toward the cut side by intermittently disengaging the right side clutch with a pulse signal, but the swell is reversed in the opposite direction immediately after turning. Since the grain culms k ₂ and k ₃ to be started are deeply contacted with each other, the sensor arm 11 detects that the grain culms are directly turned to the uncut side. Therefore, when the operation is repeated, the combine is performed as shown in FIG.
As shown in (b), the moving width W becomes a wide zigzag state, the running property becomes unstable, and the operation feeling becomes poor.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems. For example, referring to FIGS. 1 and 2, direction sensors (10) and (12) can be used.
Is converted into a pulse signal consisting of an on-time (t ₁ ) and an off-time (t _OFF ) of a predetermined width via the oscillators (TU1), (TU2), and further based on the pulse signal, a solenoid valve ( In the mobile harvester (4) configured to operate SlL) and (SlR) to operate the side clutch and the like to control the direction of the traveling body (5), the transmitters (TU1) and (TU2) are used. Off time (t _OFF )
Is the delay time (t _D ) that constitutes the dead zone for the stocks.
It is characterized by being configured longer.

[0005]

According to the above construction, when the moving harvester (4) mows, the grain culm is detected by the direction sensors (10) and (12), and the next grain culm is not detected after the delay time (T _D ). The input signal to the transmitter (TU1), (T
U2) to turn on time (t ₁ ) and off time (t
_OFF ). In this case, since the off time (t _OFF ) is set longer than the delay time (t _D ), the side clutch is relatively gently connected and disconnected, so that the mobile harvester (4) does not cause hunting, and Run smoothly along the line. Note that the reference numerals in parentheses do not limit the configuration at all.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. The combine 4 is, as shown in FIG.
At the front of the traveling machine body 5, the uncut side divider 1, the center divider 2, the already cut side divider 3, and the culm conveying device 6
The driver's seat 7 is arranged on the right side of the driver's seat.

As shown enlarged in FIG. 4, a divider frame 1a supporting the uncut side divider 1 is provided with a cut side sensor 10, and the sensor 10 is moved rightward. It has a projecting sensor arm 11. Further, the divider frame 3a supporting the uncut side divider 3 is provided with a cut-side sensor 12, and the sensor 12 has a sensor arm 13 projecting to the left.

In the uncut side sensor 10, the sensor arm 11 is biased counterclockwise by a spring (not shown), and when the sensor arm 11 is in the rotation range _B, only the switch S _A in the sensor 10 is provided. Is on, and when it is in the rotation range c, only the switch S _B in the sensor 10 is on, and when it is in the rotation range b between them, both switches S _A and S _B are both off. Is configured to be in a state. On the other hand, the cut side sensor 12
Means that the sensor arm 13 is urged in the clockwise direction by a spring (not shown), and when the sensor arm 13 is in the rotation range a ′, only the switch S _C in the sensor 12 is turned on, and the rotation range h In the case of ', only the switch S _D in the sensor 12 is turned on, and in the rotation range b'between them, both of the switches S _C and S _D are turned off. .

Next, the control circuit of this embodiment will be described with reference to FIG. The switches S _A , S _B , S _C and S _D of the uncut side sensor 10 and the cut side sensor 12 are connected as shown in the figure. Further, R ₁ and R ₂ are switching relays for switching between the cutting and the horizontal cutting, which are normally held at the cutting contacts a, c, e and g, but by the switching command circuit C, the horizontal cutting contact b, It is configured to be switched and held to d, f, and h. Tr1 and Tr2 are output stage transistors which output the input from the main switch SM to the right control solenoid SIR and the left control solenoid SIL of the circulating operation solenoid valve, respectively. The solenoid valves are connected to the left and right clutches via a hydraulic circuit. Operate.

Further, the TU1 outputs the input signal t ₀ for a predetermined time t
_D is the delay timer for the output signal of the (delay time) delay, also TU2 converts a continuous input signal to the pulse output signal of the on-time t ₁ of a predetermined width, the AND element A1, A
It is an intermittent signal timer consisting of oscillators for outputting to each of 1 '. A vehicle speed detecting potentiometer RP1 is connected to the delay timer TU1, and a vehicle speed detecting potentiometer RP is connected to the intermittent signal timer TU2.
2 are connected to each other and are configured to change the values independently of each other in accordance with the vehicle speed. This allows the delay time t _D and the inching off time t _{OFF to} be simplified as in the conventional device. If the two different timer values do not match and the delay time t _D is too short, unnecessary signals between stocks cannot be removed and unnecessary connection signals are output. When the delay time t _D is too long, the unnecessary signal can be completely removed, but the contact signal to be originally output is delayed and the response is deteriorated. Prevents the occurrence of defects. The off-time t _OFF sandwiched between the on-time t ₁ of the pulse signal converted by the intermittent signal timer TU2 is longer than the delay time t _D and twice as long as the off-time t _OFF , as shown in FIG. Short, ie t _D <t
_It is set so that _OFF <2 · t _D, and when the grain culm is detected by the sensor arm, the engagement / disconnection rate of the side clutch is reduced compared to the conventional one, and the combine is meandered. It is constructed so that it can be smoothly steered along the grain culm.

The switching command circuit C shown in FIG.
ND elements A2, A3, A4, A5, OR elements OR and N
A switching timer T that outputs for a fixed time T _{1 at} the instant t _O when the input signal from the OT element N and the switch S _B is cut off
U3 and a timer TU4 that converts a short pulse signal input into a signal output with a long pulse width T ₂ and can make a continuous signal by re-triggering. After the switch S _B is turned off, the switch S _A is instantly turned on. If the switch S _B is in the on state and both the switches S _C and S _D are in the on state, the switching relays TU and TU4 are used to switch the switching relays R ₁ and R ₂ for a certain period of time for the horizontal cutting contacts b, d, and
Switch to f and h.

Since this embodiment is constructed as described above, the sensor arm 11 of the uncut side sensor 10 is provided only during horizontal cutting based on the fact that the width of the striation is wider than that between the stocks in the cutting. After contacting the grain culm and turning on the switch S _B , the arm 11 is disengaged from the grain culm and the switch S _A is instantly turned on, whereby it is judged whether the line cutting or the horizontal cutting is performed.

Then, for example, in the strip cutting state, as shown in FIG. 1, the switching relays R ₁ and R ₂ connect the strip cutting contacts a,
When held in c, e, g, the uncut side sensor 10
When the sensor arm 11 of No. 1 does not come into contact with the grain culm and becomes in the rotation range _B , the switch S _A is turned on, the delay timer TU1 is energized via the contact point a of the relay R ₁ , and the delay time constituting the dead zone between the stocks. The signal is output after t _D and is further converted by the intermittent signal timer TU2 into a pulse signal having an on-time t ₁ of a predetermined width, and is output via the AND element A 1, the contact e of the switching relay R ₂ and the transistor Tr1 to the right control solenoid SlR. Is intermittently excited, whereby the right side clutch is intermittently disengaged via the hydraulic circuit, and the combine 4 is corrected toward the cut side. In this case, the off-time t _OFF following the on-time t ₁ of the pulse signal converted by the intermittent signal timer TU2 is longer than the delay time t _D and shorter than twice the delay time t _D , that is, t _D <t.
_{Since the} setting is such that _OFF <2 · t _D , the engagement / disengagement ratio of the side clutch can be reduced as compared with the conventional one, as shown in FIG. As shown in FIG. 2 (b), the steering is smoothly performed along the meandering grain culm row. Further, even when the sensor arm 11 comes into contact with the grain culm k ₃ undulating in the opposite direction, the left side clutch is engaged and disengaged this time, and the combine 4 smoothly rotates in the uncut side direction, as described above. To do. Therefore, as shown in FIG. 2B, the combine 4 is steered gently by narrowing the movement width W ′.

As shown in FIG. 5, the uncut side sensor 10 and the already-cut side sensor 12 have the same height H from the field of the sensor main body and the sensor arm 1 thereof.
1 'and 13' are gently inclined from the vicinity of the sensors 10 and 12 toward the central portion thereof and bent so that the height becomes H '. In addition to being able to reliably detect the root of the stem that is not affected by the fall or bulging of the culm, by raising the vicinity of the rotation base near the tip, it is possible to prevent erroneous detection of the cut k 'or the raised mud 15. You may comprise.

[0015]

As described above, according to the present invention,
Since the off time (t _OFF ) converted through the transmitters (TU1) and (TU2) is set longer than the delay time (t _D ) forming a dead zone between the stocks, the meandering grain line causes hunting. As a result, it is possible to reliably prevent problems such as unstable steering performance, and to perform smooth direction control along the undulations of the grain culm. The ring can also be improved.

[Brief description of the drawings]

FIG. 1 is an electric circuit diagram according to the present invention.

FIG. 2 (a) is a diagram contrasting a steering trajectory and a delay time of a combine to which the present invention is applied. (B) is a diagram showing the movement width of the locus.

FIG. 3 is a plan view showing a front part of the combine.

FIG. 4 is a diagram showing a direction sensor in detail.

FIG. 5 is a front view showing another embodiment of the direction sensor.

FIG. 6A is a diagram showing a steering locus by a conventional direction control device. (B) is a diagram showing the movement width of the locus.

[Explanation of symbols]

4 Mobile harvester (combine) 5 Traveling machine 10, 12 Direction sensor (uncut side sensor, cut side sensor) t ₁ On-time TU1 Transmitter (delay timer) t _OFF Off-time t _D Delay time TU2 Transmitter (intermittent) Signal timer) SlL, SlR solenoid valve (left / right control solenoid)

Claims (1)

[Claims] 1. A signal from a direction sensor is converted into a pulse signal having an on-time and off-time of a predetermined width via a transmitter, and a solenoid valve is operated based on the pulse signal to operate a side clutch or the like. However, in the mobile harvester configured to control the direction of the traveling machine body, the off-time by the transmitter is configured to be longer than the delay time configuring the dead zone between the stocks, the automatic direction control in the mobile harvester. apparatus.