JPH11146706A - Cutting direction control device for combine harvesters - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the lateral steering control performance in the reaping work with a combine by fuzzy inference of a detection value the right and left furrow of row-planted culms detected by a row-reaping direction sensor. SOLUTION: This combine is provided with an analog-type row-reaping direction sensor 2 to control the straight motion of the combine by laterally steering the machine body by the simultaneous detection of the right and left sides of a furrow of row-planted culms. The output on-time of the lateral steering control is calculated by fuzzy inference with inputted detection values of the distance A from the unreaped culm to the grass-dividing rod 3 having the direction sensor 2 and the distance B between the rows.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cutting direction control device such as a combine and the like, which performs simultaneous left and right steering in a traveling direction by simultaneously detecting the left and right sides of a streaking culm with a cutting direction sensor. And so on.

[0002]

2. Description of the Related Art Conventionally, there has been provided a digital type of cutting direction sensor capable of controlling the straight running by steering the body left and right by detecting the left and right sides of the streaks of the vegetation and grain. By arranging the weeding rod supporting the weeding body of the reaper on the weeding rod for the left side detection and the right side detection side by side, vertically and vertically, the direction sensor detects the distance from the uncultivated cultivars to the weeding rod and the distance between the weeds. The distance is calculated and the on / off delay time of the left / right steering output is changed according to the calculated value to perform the direction control. However, there is a problem that the left and right steering is not smooth due to factors such as an increase in unnecessary output, and the followability is deteriorated.

[0003] For this reason, the detection value of an analog type of cutting direction sensor arranged in the fore-and-aft direction is fuzzy inferred, and the output on-time of left-right steering control is calculated.

[0004]

SUMMARY OF THE INVENTION The present invention relates to a combine harvesting direction sensor 2 of an analog type that can control the straight running by steering the machine body 1 left and right by simultaneous detection of the left and right sides of the streak and culm. And the like, the direction sensor 2
And a fuzzy inference by inputting both detected values of the distance A to the weeding rod 3 and the distance between the streaks B in which the weeds are arranged, and calculating the output on-time of the left-right steering control. Configuration.

[0005]

According to the above construction, an analog-type cutting direction sensor 2 capable of straight-moving and controlling the body 1 by moving the machine body 1 left and right by simultaneous detection of the space between the streaks and culms is supported. In the appropriate position of the weeding rod 3, the left and right detections are separately arranged vertically in the front-rear position, and the weeding rod 3 is detected by the direction sensor 2 from the uncultivated cultivars.
The detected values of the distance A and the strip distance B to the controller are input to a controller or the like, and fuzzy inference processing is performed. Based on the processing result, an output on-time for left-right steering is calculated and the cutting direction control is performed. .

[0006]

As described above, both of the detected values of the distance A and the inter-strip distance B from the uncultivated stalks to the weeding rod 3 detected by the analog type of cutting direction sensor 2 are input. Based on the result of the fuzzy inference processing, the output on-time for left and right steering can be calculated and the cutting direction control can be performed. As in the case of performing left-right steering control, the problem that unnecessary control output is increased, so that the left-right steering lacks smoothness and the followability is deteriorated has been improved. It is possible to perform a good cutting direction control.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 21 shows the entire structure of the combine, in which a traveling device 6 having a pair of left and right traveling rollers 5 traveling on the soil surface is disposed below the traveling frame 4 and a filter is provided on the traveling frame 4. A threshing apparatus 10 including a grain tank 8 and a drainage cylinder 9 for threshing grain culms supplied by being pinched and conveyed to the dochen 7 and selectively collecting the threshed grains for temporary storage. I have.

[0008] In front of the threshing apparatus 10, a weeding body 11 for weeding the planted grain culm from the front end side thereof, a raising part 12 for causing the weeded grain culm, and a cutting blade part 13 for cutting the caused grain culm. A cutting device 15 having a grain stalk transport portion 14 and the like, which transfers the cut stalks to the feed chain 7 while changing the stalks to the rear side while transporting the harvested stalks rearward, is hydraulically operated from the front end side of the traveling frame 4. The mowing cylinder 16 is driven to move up and down on the soil surface by driving.

An operation device 17 for controlling the operation of the combine is provided on one side of the reaper 15 and an operation seat 1 for this operation.
And an engine 19 is provided below the operation seat 18.
The Glen tank 8 is disposed on the rear side, and a cabin 20 that covers the operation device 17 and the operation seat 18 is provided.
The traveling device 6, the threshing device 10, the reaper 15, the operating device 17, the engine 19 and the like constitute the combine body 1.

A traveling transmission case 21 is mounted on the front end of the traveling frame 4.
As shown in FIG. 6, the left and right steering clutches 22 that engage and connect the pawls 22 a by hydraulic operation to transmit power to the gear transmission path provided in the inner gear 1, and the left and right steering clutches 22 that perform further braking from the disengaged state of the steering clutch 22. A steering brake 23 is provided, and power is transmitted to the left and right traveling rollers 5 by a driving wheel 24 at the final stage of transmission, and an acceleration sensor 25 for detecting acceleration of vehicle speed at an appropriate position on this transmission path. Arrange and configure.

As shown in FIGS. 7 and 8, the cutting device 15 supports a cutting input case 27 in a vertically rotatable manner on a cutting stand 26 fixed to the upper end of the transmission case 21. An input vertical case 28 in the form of a pipe extending downward from 27 is joined to the lower part of the mowing device 15 at a position near the center of a lower horizontal transmission case 29 provided over the entire width thereof. The intermediate vertical case 30 is joined and extended from the vicinity of the left end of the transmission case 29 obliquely upward and forward, and the cutting input shaft 31 supported by the cutting input case 27 passes through each case 28, 29, 30. To transmit power.

The intermediate vertical case 30 is joined to an upper horizontal transmission case 32 provided over the reaper 15 over the entire width thereof, and is directed downward from the upper horizontal transmission case 32 at appropriate intervals. Through the four rug drive cases 33 protruding from each other, a collection unit 34 for collecting the roots of the cereal stems, and a collection of top and bottom two-stages for collecting the heads. The power is transmitted to the sending unit 35.

The cutting blade portion 13 is divided into right and left parts so that the cutting device 1
5 is arranged over the entire width of the cutting device 5, and the left and right cutting blades 13 are configured to be reciprocally driven left and right by left and right crank mechanisms 36 respectively supported on both ends of the lower lateral transmission case 29. At the front end, a plurality of weeds 11 for weeding a plurality of planted grain culms are arranged, and a plurality of weeding rods 3 supporting each of the weeds 11 are attached to a lower horizontal frame 37 to which the cutting blade 13 is attached. The lower horizontal frame 37 is fixed to the lower horizontal transmission case 29 and
A plurality of raised portions 12 are arranged diagonally from the rear to the upper rear to enable a plurality of raised stems to be raised at one time, and a raised lug 39 is mounted on a raised case 38 of each raised portion 12. To be configured.

The harvesting culm from the reaper 15 is removed from the threshing apparatus 1.
In order to adjust the supply depth at the time of supply to the tip 0, the supply lugs 40 for the supply of the tip side provided at the upper and lower two stages on the tip side and the stock side.
The cereal culm transport unit 14 is constituted by the supply chain 41 for supplying the stock side. As shown in FIGS. 1 and 2, an analog cutting direction is provided on the front side of the weeding rod 3 that supports the weeding body 11 in the middle of the pair of left and right raising parts 12 located on the left side of the reaper 15. A left detection rod, which is provided with a left direction sensor 2a and a right direction sensor 2b of the sensor 2 mounted vertically in a front-rear position, and protrudes from the left direction sensor 2a to the left with a detectable length and a fixed receding angle. 42a is supported and configured to be pivotable back and forth.

From the right sensor 2b, a right detecting rod 42b is provided.
From the support position that is supported to be able to rotate back and forth.
a, once protruding forward to the rotation support position, and bent from this protruding position to have a reversible angle in the same posture as the left detection rod 42a with a detectable length and protrude rightward in an inverted L-shape. The rotation angles of the left and right detection rods 42a and 42b can be detected (for example, the voltage level of a variable resistor or the like).

The arrangement of the left and right direction sensors 2a and 2b, the shape of the left and right detection rods 42a and 42b, and the like are as follows.
Any form may be used without departing from the gist of this embodiment. As shown in FIG. 3, a controller 43 is provided for independently controlling a CPU to perform fuzzy inference and operation control of an automatic circuit. Direction control is input to an input side of the controller 43 via an input interface 43 a. Direction control switch 44 to be turned off, direction sensor 2 for cutting
The left and right direction sensors 2a and 2b are connected to each other, and the left and right clutch solenoids 45 for turning on and off the left and right steering clutches 22 via the output interface 43b are connected to the output side. .

The body 1 is advanced by the traveling device 6,
When cutting the planted grain culm by the cutting device 15,
At the same time, the grain stems that have been weeded by the weeds 11 are raised and acted by the respective raising portions 12, and at the same time, the root portions are scraped by the respective strain collecting and transferring sections 34, and the scraped root portions are cut. The cutting portion is cut by the blade portion 13, and the cut portion is transferred from each stock collecting and transferring section 34 to the supply chain 41 of the grain culm conveying section 14 via the transfer collecting and transferring section. The part is transferred to the supply lug 40.

At the time of such a cutting operation, the direction control switch 44 is turned on, and the cutting direction sensor 2 attached to the weeding rod 3 is attached to the planting grain culm on the left and right sides of the streak weeded by the weeding body 11. When the left and right direction sensors 2a and 2b are protruded from the left and right direction sensors 2a and 2b to the left and right sides and have the same posture and shape and have the same attitude and shape, the left and right detection rods 42a and 42b are used. At the same time, it is rotated by contact and detection is performed.

The value detected by the cutting direction sensor 2 is transmitted to a controller 43, which performs fuzzy inference processing. The fuzzy inference processing is performed by a membership function as shown in FIG. Setting of the grade based on the detection value of the distance A from to the weeding rod 3;
By setting the grade based on the detected value of the strip distance B, FIG.
By applying a fuzzy control rule map to a fuzzy control rule map and selecting a grade that is a degree of conformity with the control rule and performing an arithmetic process, and calculating the on-time of the control output pulse of the left and right clutch solenoids 45, extremely smoothness is achieved. The cutting direction control which is rich and has good followability can be performed.

In the above-described cutting direction control,
When a pulse output for direction control is performed in response to the detection of a non-stubble by the direction sensor 2 for cutting, the arithmetic control by the automatic control circuit as shown in FIG.
The first pulse is output with a long on-time until the steering clutch 22 is disengaged, and the second and subsequent pulses have a short cycle such that the pawl 22a of the steering clutch 22 is shallowly engaged. By providing the output in on-time, there is no derailment from the cutting row and the cutting direction control can be performed smoothly.

Further, the first pulse as described above is output with a long on-time until the steering clutch 22 is disengaged and the steering brake 23 is braked. The output may be configured to be output with an ON time having a cycle short enough to turn on and off the braking of the steering brake 23 with the direction clutch 22 being disengaged. In any case, when increasing the direction correction amount, it is necessary to increase the on-time for the second and subsequent shots.

Further, as described above, when performing the cutting direction control by the fuzzy inference processing, when determining the sampling value of the distance A from the uncutted plant, which is one of the fuzzy inputs, to the weeding rod 3, FIG. As shown in the table of FIG. 10, the previous sampling value x is corrected by the previous sampling value y and the previous sampling value z as shown in the table of FIG. Since the distance A from the stubble to the weeding rod 3 can be accurately predicted, it is possible to perform the cutting direction control that is rich in smoothness and has good followability.

Also, as described above, when the cutting direction control by the fuzzy inference processing is performed, if the detection by the left and right direction sensors 2a and 2b frequently occurs even if the inter-strip distance B is large, FIG. As shown in FIG. 11, the on-time of the control output pulse is shortened by the arithmetic control by the automatic control circuit as shown in FIG. Etc.
It can be mitigated that the control output on the left and right sides is frequently generated and the ride comfort of the operator is deteriorated.

When the direction control is performed by calculating the position of the weeding rod 3 between the streaks and culms by the arithmetic control by the automatic control circuit shown in FIG. 3, the right and left direction sensors 2a for cutting are used. , 2b, the right and left detection rods 42a, 42b simultaneously detect contact with the uncultivated stubble, and when the rotation angle is equal to or more than a predetermined angle and the inter-strip distance B is equal to or less than a predetermined value, FIG. As shown in the figure, the left and right direction sensors 2
By determining whether the body 1 is closer to the left or right based on the position of the weeding rod 3 before the a and 2b detect the un-stumped stumps, the left and right sides of the strip can be determined by performing a left-right direction control output. The deviation of the weeding rod 3 with respect to can be accurately detected, so that the cutting direction control that does not derail from the cutting line can be performed.

The automatic control circuit shown in FIG.
As shown in FIG. 14, when the direction control is performed by calculating the position of the weeding rod 3 between the streaks of the planting culm by arithmetic control by a circuit further connected to the lateral cutting direction sensor 46, as shown in FIG. Each time the distance A from the un-stumped plant to the weeding rod 3 is sampled, the strip distance B is calculated. When the strip distance B is larger than a predetermined value, it is determined that the row is cut. Is determined to be side-cutting, and when the same determination is continued for a certain number of times or more, by starting the row-cutting direction control or the side-cutting direction control, it is possible to accurately select and switch between row-cutting and side-cutting. It can be carried out. In addition,
When it is determined that the side mowing is performed, the control may be stopped.

The automatic control circuit shown in FIG.
As shown in FIG. 16, when the direction control is performed by detecting the acceleration by the acceleration sensor 25 by arithmetic control by a circuit further connected to the acceleration sensor 25, as shown in FIG.
When the detected value of the acceleration during left-right steering corresponding to this direction control output is larger than a predetermined value, the on-time of the control output pulse is shortened to weaken the braking force of the steering brake 23. Accordingly, the tendency of the steering amount to the left and right sides to be increased by the braking force of the steering brake 23 by the same control output at the time of left and right steering in a wet field or the like can be reduced.

Conventionally, there is provided a setting dial or the like for changing the braking force to a high or low level. However, even if this dial or the like is not separately provided, when the acceleration during left-right steering is large, the on-time of the control output pulse is not changed. , The optimum braking force of the steering brake 23 can be automatically obtained. Also, as shown in FIG. 17, the distance C from the un-stumped plant to the weeding rod 3b on the right side and the detection value of the degree of change D of this distance C are fuzzy inferred by the analog side-cutting direction sensor 46. In the setting of the on-time of the output pulse during the side mowing control, as shown in FIG.
A controller 47 is provided which mainly performs PU and performs fuzzy inference and operation control of an automatic circuit. A direction control switch 48 for turning on / off direction control via an input interface 47a to an input side of the controller 47. And the side-cutting direction sensor 46, respectively, and to the output side,
The left and right clutch solenoids 45 for connecting and disengaging the left and right steering clutches 22 are connected to each other via the output interface 47b.

The value detected by the side-cutting direction sensor 46 is transmitted to the controller 47 to perform fuzzy inference processing.
This fuzzy inference processing is performed by a membership function, as shown in FIG.
By setting the grade based on the detected value of the distance C and setting the grade based on the detected value of the degree of change D of the distance C, the grade that is the degree of conformity of the control rule applied to the fuzzy control rule map as shown in FIG. By performing arithmetic processing and calculating the on-time of the control output pulse of the left and right clutch solenoids 45, two digital cross-cutting direction sensors arranged in the front and rear conventionally determine the degree of approach to the un-stumped plant. Compared to the case where the approach speed is calculated and only the on-time of the control output on the right side is changed, it is possible to perform the lateral cutting direction control which is rich in smoothness and has good followability.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram of a shape arrangement diagram of a detection rod of a cutting direction sensor and fuzzy inference.

FIG. 2 is a side view showing a mounted state of a direction-obturing sensor.

FIG. 3 is a block diagram showing an arithmetic and control circuit for executing a cutting direction control.

FIG. 4 is a diagram showing a membership function in fuzzy inference.

FIG. 5 is a chart showing control rules in fuzzy inference.

FIG. 6 is a schematic front view showing states of a steering clutch and a steering brake in a transmission case.

FIG. 7 is a side view showing the entire configuration of the reaper.

FIG. 8 is a plan view showing the entire configuration of the reaper.

FIG. 9 is a diagram showing a control output pulse of a steering clutch detected by a cutting direction sensor.

FIG. 10 is a chart showing a method of correcting a sampling value based on detection of a cutting direction sensor.

FIG. 11 is a diagram showing a control output pulse when detection of the cutting direction sensor frequently occurs.

FIG. 12 is a schematic plan view showing an operation state of a cutting direction sensor when a weeding rod is interrupted by an uncut plant.

FIG. 13 is a block diagram showing an arithmetic and control circuit for selectively executing the cutting or side cutting direction control.

FIG. 14 is a schematic plan view showing a state of determination of cutting and side cutting based on detection by a cutting direction sensor;

FIG. 15 is a block diagram showing an arithmetic and control circuit that executes the cutting direction control in consideration of acceleration.

FIG. 16 is a diagram showing a pulse change state of a cutting direction control output based on a detection value of an acceleration sensor.

FIG. 17 is a schematic arrangement diagram of a detection rod of a side-cutting direction sensor and a schematic block diagram of fuzzy inference.

FIG. 18 is a block diagram showing an arithmetic and control circuit for executing lateral cutting direction control.

FIG. 19 is a diagram showing a membership function in fuzzy inference.

FIG. 20 is a chart showing control rules in fuzzy inference.

FIG. 21 is a side view showing the overall configuration of the combine.

[Explanation of symbols]

 1. Airframe 2. 2. Cutting direction sensor Weeding rod

Claims (1)

[Claims] 1. A combine or the like having an analog type cutting direction sensor 2 capable of straight-moving and controlling the body 1 by moving the body 1 left and right by simultaneous detection of the left and right sides of the vegetation and culm. And a fuzzy inference by inputting both detection values of the distance A and the distance B between the weeding rod 3 on which the direction sensor 2 is disposed and calculating the output on-time of the left-right steering control. Cutting direction control device.