JPH11299331A - Direction control device such as combine - Google Patents

Abstract

(57) [Summary] [Problem] To output no steering control based on detection of a cutting direction sensor when it is determined that a streak is smaller than a predetermined streak width during a harvesting operation of a combine or the like. An analog-type mowing direction sensor (2) that can steer the body (1) left and right by simultaneous detection of the inter-row (A) left and right sides of the vegetation and culm to control the straight traveling along the streak direction. Rod 4
When it is determined that the streak A detected by the direction sensor 2 is narrower than a predetermined streak width in the combine or the like arranged in the combine, the weeding rod 4 approaches the uncut grain culm strain on the left and right sides of the streak A. The output control means 5 which does not perform the control output is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a directional control device such as a combine and the like, and relates to a device for performing left and right steering in the traveling direction by simultaneously detecting the left and right sides of the interline of a vegetative culm by a reaping direction sensor. Belongs to.

[0002]

2. Description of the Related Art Conventionally, there has been provided a digital-type cutting direction sensor that can control the straight running by steering the body left and right by detecting the left and right sides between the streaks and culms. The weeding rod supporting the weeding body of the reaper is separately arranged for the right and left side detection, and the distance from the uncut kernel culm strain to the weeding rod and the distance between the studs are calculated. When the output is simply performed by changing the output on / off delay time, unnecessary output is increased, and the smoothness and followability of left-right steering deteriorate. Therefore, in order to improve this, there is one that changes to an analog type of cutting direction sensor and detects the left and right sides of the strip simultaneously, thereby fuzzy calculating the detected value and calculating the ON time of the left and right steering output. However, even in this method, when the streak becomes narrower than usual due to various factors, each time the weeding rod approaches the uncut culm stalk, Since the steering output is performed, a malfunction may occur.

[0003] For this reason, when the analog type of cutting direction sensor arranged on the weeding rod is detected, if the streak is narrower than usual, the weeding rod is located close to the uncut grain culm strain on the left and right sides of the streak. Also does not perform control output.

[0004]

SUMMARY OF THE INVENTION The present invention is directed to an analog type of mowing direction in which the body 1 is steered left and right by simultaneous detection of the streaks A on the left and right sides of the vegetation and culm, and can be controlled to move straight along the streak direction. In a combine or the like in which the sensor 2 is disposed on the weeding rod 4 of the mowing device 3, when it is determined that the streak A detected by the direction sensor 2 is smaller than a predetermined streak width, the weeding rod 4 is moved to the streak A. The direction control device is characterized in that output control means 5 is provided which does not perform control output even when approaching the uncut grain culm strain on the left and right sides.

[0005]

According to the above construction, as shown in FIG. 2, the analog type cutting mower which can steer the body 1 left and right and simultaneously control the straight running along the streak direction by simultaneously detecting the streak A between the streaks and the culm as shown in FIG. The direction sensor 2 is attached to the weeding rod 4 that supports the weeding body, and the direction sensor 2 normally causes the distance between the weeding rod 4 and the uncut kernel culm strain and the weeding rod 4 to approach the grain culm strain. The speed and the distance between the strips are detected, and the detected values are sent to a controller or the like to perform fuzzy arithmetic processing. Based on the processing results, the output on-time of the left-right steering control is calculated. As shown in Fig. 3, due to planting work or the like, it is determined that the gap between the strips is smaller than the predetermined streak A partially, or when the grain culm falls down near the root of the plant, etc., it is impossible to raise the fallen grain culm. In this case, the direction sensor 2 detects this lodging culm. When it is determined that the width A is narrower than the predetermined line A, the direction sensor 2 detects that the weeding rod 4 has approached the uncut grain culm line, and instructs the output of the left-right steering control. Output control means 5 built in a controller or the like.
Regulates not to output.

[0006]

As described above, as a result of inputting each detection value detected by the analog type of cutting direction sensor 2 and performing fuzzy arithmetic processing, for example, a predetermined value is partially determined due to work convenience or the like. When it is determined that it is narrower than the streak A or when it is determined that the grain stalk is approximately narrower than the predetermined streak A, it is determined that the weeding rod 4 has approached the uncut grain culm strain. Even if the direction sensor 2 detects and instructs the output of the left and right steering control, the output restricting means 5 restricts the control output so that the aircraft 1 may cause a state such as chattering due to frequent steering output. In addition to being able to suppress, it is possible to prevent a malfunction due to a grandchild stock (a jumping stock that has protruded from the row) or the like.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 15 shows the overall structure of the combine, in which a traveling device 8 having a pair of left and right traveling rollers 7 traveling on the soil surface is provided below the chassis 6, and a feed chain is mounted on the chassis 6. A grain tank 10 for threshing the grain culm supplied by being pinched and conveyed to 9 and for selectively collecting the threshed grain and temporarily storing the grain; and a flour auger 10a for discharging the stored grain to the outside of the machine. Is provided.

[0008] In front of the threshing device 11, a weeding body 12 for weeding the planted grain culm from the front end side thereof, a raising part 13 for causing the weeded grain culm, and a cutting blade part 14 for cutting the caused grain culm. The harvesting device 3 having the grain culm transport portion 15 for transferring the cut culm to the feed chain 9 while changing the culm to the rear side while transporting the harvested culm to the rear side is hydraulically operated from the front end side of the chassis 6. The mowing cylinder 16 is driven to move up and down on the soil surface by driving.

An operating device 17 for controlling the operation of the combiner and an operating seat 18 for operation are provided on one side of the reaper 3, and an engine 19 is mounted below the operating seat 18 and a rear side. Is provided with a cabin 20 that covers the operating device 17 and the operating seat 18 while disposing the Glen tank 10, and the traveling device 8, the threshing device 11, the mowing device 3, the operating device 17, the engine 19, the cabin 20, and the like. The combine body 1 is constituted.

A transmission transmission case 21 is mounted on the front end of the undercarriage 6, and as shown in FIG. 7, a pawl 22a is meshed and connected to a gear transmission path built in the transmission case 21 by hydraulic operation to transmit power. The left and right steering clutches 22 to be operated and the left and right steering brakes 23 for further applying braking from the disengaged state of the steering clutch 22 are provided, and the left and right traveling wheels are driven by drive wheels 24 at the last stage of the transmission path. La 7
And a vehicle speed sensor 25 for detecting the vehicle speed at an appropriate position on this transmission path.

As shown in FIGS. 5 and 6,
The mowing stand 26 fixed to the upper end of the transmission case 21
The cutting input case 27 is supported so as to be rotatable up and down, and a pipe-like input vertical case 28 extending downward from the cutting input case 27 is provided at the lower part of the cutting device 3 over its entire width. The lower vertical transmission case 29 is joined to the vicinity of the center thereof, and the lower vertical transmission case 29 is joined and extended forward and obliquely upward from the vicinity of the left end of the lower horizontal transmission case 29. The power is transmitted from the reaping input shaft 31 which is mounted on the shaft through the cases 28, 29 and 30.

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. Via a plurality of lug drive cases 33 projecting
The power is transmitted to each of the stock collecting and transferring sections 34 for collecting and transferring the stock roots of the cereal stems, and to each of the two upper and lower head collecting and transferring sections 35 for collecting and collecting the head side. The cutting blade portion 14 is divided into right and left and arranged over the entire width of the reaper 3, and the left and right cutting blade portions 14 are respectively supported by left and right crank mechanisms 36 which are respectively supported on both ends of the lower lateral transmission case 29. A plurality of weeds 12 for weeding a plurality of planted grain culms are arranged at the front end of the mowing device 3 configured to be able to reciprocate left and right, and a plurality of weeding rods 4 supporting each of the weeds 12 are arranged. The cutting blade portion 14 is joined to a lower horizontal frame 37 to which the cutting blade portion 14 is attached. The lower horizontal frame 37 is fixed to the lower horizontal transmission case 29, and a plurality of raising portions 13 Are arranged so that a plurality of stems can be raised at one time, and a raising case 38 of each raising portion 13 is provided with a raising lug 39 therein.

The harvesting culm from the reaper 3 is fed to a threshing device
In order to adjust the supply depth at the time of feeding, the culm transport is performed by a feed lug 40 for feeding on the tip side and a supply chain 41 for feeding on the stock side, which are provided in two upper and lower stages on the tip side and the stock side. The unit 15 is configured. As shown in FIGS. 1 and 2, an analog cutting direction is provided on the front side of the weeding rod 4 that supports the weeding body 12 in the middle of a pair of left and right raising parts 13 located on the left side of the mowing device 3. The left direction sensor 2a and the right direction sensor 2b of the sensor 2 are mounted vertically at the front and rear positions.

From the left direction sensor 2a, the left detection rod 42a is projected to the left with a certain retreat angle with a detectable length so as to be rotatable back and forth.
b, to the right, the right detection rod 42b once protrudes forward, is bent from this protruding position, has the same receding angle and length as the left detection rod 42a, and is formed to protrude in an inverted L-shape. The rotation angles of the left and right detection rods 42a and 42b are configured to be detectable based on the level of voltage by a potentiometer or the like.

The arrangement of the left and right direction sensors 2a and 2b and the shapes of the left and right detection rods 42a and 42b are described in detail below.
Any form may be used without departing from the gist of this embodiment. As shown in FIG. 4, an output restricting means for disposing the CPU to independently perform the fuzzy operation and the operation control of the automatic circuit, and disabling the output of the left-right steering control when the clearance becomes smaller than a predetermined interval A. 5, a direction control switch 44 for turning on / off the direction control via an input interface 43a, and a left direction sensor 2a and a left direction sensor 2 for the direction sensor 2 for cutting and cutting. The right direction sensor 2b and the vehicle speed sensor 25 are connected to each other, and the left and right clutch solenoids 45 for engaging and disengaging the left and right steering clutches 22 and braking the steering brakes 23 to the output side via the output interface 43b.
Are connected to each other.

When the machine 1 is moved forward by the traveling device 8 and the cutting device 3 cuts the cultivated cereals, the culms that have been weeded by the weeds 12 are raised by the respective raising portions 13 to perform an action. At the same time, the stock portion is scraped by the stock collecting and transferring section 34, and the scraped stock portion is cut into the cutting blade 1
4, and the cut roots are transferred from each root collection part 34 to the supply chain 41 of the cereal culm transport part 15 via the transfer collection part, and the tip part is removed. Transfer 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 4 is attached to the planting grain culm on the left and right sides of the streak A that has been weeded by the weeding body 12. The right and left detection rods 42a and 42b, which have the same posture and shape and have a fixed receding angle, protruded to the left and right from the left and right direction sensors 2a and 2b, respectively, are simultaneously contacted and rotated left and right to perform detection.

The value detected by the cutting direction sensor 2 is transmitted to the controller 43 to perform fuzzy arithmetic processing.
The fuzzy arithmetic processing is performed by setting a grade based on the detected value of the distance B from the weeding rod 4 to the uncut grain culm strain and setting a grade based on the detected value of the inter-strip A distance by using a membership function as shown in FIG. Thus, a grade that is a degree of conformity with the control rule applied to the fuzzy control rule map as shown in FIG. 9 is selected, arithmetic processing is performed, and the on-time of the control output pulse of the left and right clutch solenoids 45 is calculated. Of steering clutch 22 and steering brake 23
, The straight line A can be controlled to control the cutting direction A, which is very smooth and has good followability.

When the left-right steering control is performed by the detection of the direction sensor 2 as described above, as shown in FIG. The stalk A that has spilled out) narrows the strip A,
Detection of left or right of the direction sensor 2 detecting the streak A, such as when the direction sensor 2 rushes into the lodging grain culm when the cereal stem falls down near the base of the stock and the detection rod 42 rotates more than necessary. The rotation angles of the rods 42a and 42b are calculated by a voltage value of a potentiometer or the like, and the calculated value is calculated by the controller 4.
3, and when it is determined that the width of the weeding rod 4 is narrower than the predetermined streak width, the direction sensor 2 determines that the weeding rod 4 has approached the uncut culm strain on the left and right sides of the streak A. Even if the output of the left-right steering control is detected and instructed, the output is not output by the output restricting means 5 for restricting the output, so that the steering output is frequently performed in the narrow strip A and the body 1 is in a state such as chattering. Can be suppressed, and malfunctions due to grandchild strains protruding from the rows can be prevented.

In the straight-running control in the cutting run, the direction sensor 2 has been conventionally used to repeat the approach at a distance B to the uncut culm stalk or when the approach speed is high.
However, in order to improve this difficulty, a value detected by the cutting direction sensor 2 is transmitted to the controller 43 to perform a fuzzy arithmetic process, as shown in FIG. FIG. 11 shows the setting of the grade based on the detected value of the distance B from the weed rod 4 to the uncut culm strain and the setting of the grade based on the detection value of the approach speed to the uncut culm strain using the membership function. An optimal output for performing control processing by selecting a grade which is a degree of conformity of the control rule applied to the map of the fuzzy control rule as shown in FIG. 12 and performing control output from the rotation angle range of the detection rod 42 of the direction sensor 2 as shown in FIG. By calculating the start point a and performing the output of the left-right steering control based on the output start point a, the neutral range of the direction sensor 2 can be always widened. And it is possible to carry out the ride comfortable straight control.

Further, in the straight-running control in the cutting run, the detection value of the cutting direction sensor 2 is transmitted to the controller 43, and the output of the left-right steering control is performed based on the result of the fuzzy calculation processing by the controller 43. ,
As shown in FIG. 13, each of the detection rods 42a and 42b of the left and right direction sensors 2a and 2b is the left detection rod 42a in the (n-2) -th time.
Only at the next (n-1) -th rotation, only the left detection rod 42a similarly rotates more than the (n-2) -th rotation, and at the next n-th rotation, the left and right detection rods 42a, 42a.
When b simultaneously rotates more than the rotation amount of the (n-1) -th left detection rod 42a, the weeding rod 4 gradually advances to the left from the (n-2) -th rotation, and goes through the (n-1) -th rotation to the n-th rotation. Finally, the state in which the uncut grain culm strain is interrupted is shown, and by detecting such a state, the right for correcting the direction until the weeding rod 4 returns to the center position of the substantially strip A in the normal state. By performing only the output of the steering control, it is possible to easily follow even if the degree of bending of the row is large, and it is possible to improve the reliability at the time of the direction control.

Further, in the straight-running control in the cutting run, the detection value of the cutting direction sensor 2 is transmitted to the controller 43, and the output of the left-right steering control is performed based on the result of the fuzzy calculation processing by the controller 43. ,
After the braking output of the left or right steering brake 23 by the left-right steering control, the braking output of the steering brake 23 in the opposite direction is not performed for a predetermined fixed distance or a predetermined time. Conventionally, if the control output in the opposite direction is performed immediately after the previous braking output of the steering brake 23 in accordance with the detection state of the direction sensor 2, as shown in FIG. Even after the output is stopped, the clutch pawl 22a of the steering clutch 22 has a time lag b in the meshing connection at the time of return, so that both the left and right steering clutches 22 may be disengaged at the same time, and the riding comfort is extremely poor. However, these problems can be improved by delaying the output in the opposite direction during a certain distance or a certain time during the time lag b.
It should be noted that this correspondence content can also be applied when performing the side cutting control by the side cutting direction sensor.

[Brief description of the drawings]

FIG. 1 is a side view showing a state in which a cutting direction sensor is attached to a weeding rod of a reaper.

FIG. 2 is a plan view showing a shape and an arrangement state of a detection rod of a direction cutting direction sensor.

FIG. 3 (a) is an array diagram showing a state in which the space between the rows of the vegetative culm is partially narrowed during planting. (B) The operation figure which shows the state which a direction sensor rushes and detects in the row | lined planting grain culm which fell.

FIG. 4 is a block diagram showing a control circuit for executing a cutting direction control.

FIG. 5 is a side view showing the overall configuration of the reaper.

FIG. 6 is a plan view showing the overall configuration of the reaper.

FIG. 7 is a schematic front view showing states of a steering clutch and a steering brake in a transmission case.

FIG. 8 is a diagram showing a membership function in fuzzy arithmetic processing.

FIG. 9 is a table showing control rules in fuzzy arithmetic processing.

FIG. 10 is a diagram showing a membership function in fuzzy arithmetic processing.

FIG. 11 is a table showing control rules in fuzzy arithmetic processing.

FIG. 12 is a schematic plan view showing a control output starting point from a rotation range of a detection rod of a cutting direction sensor.

FIG. 13 is an operation view showing a state in which the detection rod of the direction-of-cutting sensor is shifted leftward and cuts into an uncut culm strain.

FIG. 14 is a diagram showing a state of a time lag of the meshing connection at the time of returning the clutch pawl of the steering clutch.

FIG. 15 is a side view showing the entire configuration of the combine.

[Explanation of symbols]

 1. Airframe 2. 2. Cutting direction sensor Reaper 4. Weeding rod 5. Output regulation means

Claims (1)

[Claims] 1. An analog-type mowing direction sensor 2 which can steer the body 1 left and right by simultaneous detection of the inter-row A of the planting and culm and the right and left sides, and can control the straight traveling along the streak direction. When it is determined that the streak A detected by the direction sensor 2 is smaller than a predetermined streak width in a combine or the like arranged on the grass rod 4, the weeding rod 4 is uncut on the left and right sides of the streak A. A direction control device provided with an output restricting means 5 that does not perform a control output even when the vehicle approaches the vehicle.