JPS5850007A - Travelling agricultral machine with automatic turn controlling mechanism - Google Patents

Abstract

PURPOSE:To perform a bearing detecting operation with high precision, by arranging a magneic compass in a high place above the machine body of a travelling agricultral machine. CONSTITUTION:When a machine body advances while turning left, deviations between bearing detected momently by a compass 23 and a stored reference bearing are operated and are compared with a prescribed angle; and when the direction of the machine body is changed to the left from the reference bearing by the prescribed angle, a lever is automatically operated to the neutral stop position. Further, the lever is automatically operated to a prescribed backward movement position, and a right operation clutch is broken to switch the direction to the backward movement direction. Since the compass 23 is provided in a place distance and a recovery tank 5, the compass 23 is hardl8 affected by the distortion due to their bulk magnetic materials.

Description

[Detailed Description of the Invention] The misfire relates to a mobile agricultural machine that uses a magnetic compass that utilizes geomagnetism to detect the orientation of the aircraft and automatically control the aircraft's rotation. It is completely constructed so that it can be operated with little influence from external disturbances.

Embodiments of the present invention will be described below based on the drawings.

Figure 1 shows the side view of a combine harvester, which is an example of a mobile agricultural machine.
Further, FIG. 2 shows a schematic plan view of the front part and the running part.
In the figure, +11, fl) is a crawler traveling device, (
21 is the engine, (3) is the cockpit, (4) is the threshing device,
(5) is - paddy collection tank, (6) is threshing feed chain.
(7)... is a raising device, (8) is a cutting device, (
9) is a lateral conveyance device that laterally conveys a plurality of raised cut husks and joins them; (IG is a rear conveyance device that supplies the merged cut husks to the feed chain (6)).

The crawler traveling equipment (11, fil is the left and right steering clutch (121, (1) provided in the transmission case αV).
The steering wheels are configured to be able to be driven and released independently via 21 (H steering wheels AG and AZ are driven by a pair of single-acting hydraulic cylinders +I41 and +H41 controlled by electromagnetic control valves 13). 412゛ζ, jiJ control valve a3 is configured such that:
The shell culm contact sensor (S
, ), (5,), and (S,) via a control circuit α9, and detects the lateral deviation of the planted shell C with respect to the aircraft body and adjusts the left and right steering quarters Q21 and u'ZI as appropriate. It is configured to automatically follow along the planted culm when activated.

In addition, the mission case (II) includes an engine (2).
Hydraulic continuously variable transmission that can switch forward and backward, connected to
HST) (The output from 1B is transmitted.

In addition, the speed change lever of the speed change device α0<-(171 is the speed change drive motor 0I via the friction plate type rotation transmission mechanism 081.
It is possible to perform arbitrary speed changes by directly manually operating the speed change lever Q71, and to perform speed changes driven by the motor ill, which is drive-controlled via the speed change drive circuit (2).

In the present invention, the combine harvester having the above configuration is further equipped with the following automatic rotation control mechanism.

A screw conveyor +211 for lifting and carrying out the stored grains from the grain collection tank (5) is equipped in a bendable manner between the upper and lower ends, and a non-magnetic material ( For example, a path ■ is installed.

This magnetic compass has a direct output shaft (
A disk made of non-magnetic material is attached to c), and
A geomagnetic intensity detection mechanism equipped with a magnetic flux lens and a Hall element is installed horizontally in the center of the upper surface of this disk (A), and small holes are arranged at a constant rotational phase angle pitch near the periphery of the disk (A). . is formed, and a photoelectric angular pulse generating mechanism (2) of a well-known structure is arranged opposite to this small hole .

FIG. 5 is a block diagram showing the outline of the automatic rotation control mechanism. The rotation part in the figure shows the circuit configuration of the above-mentioned magnetic compass (2), and the angle pulse generation mechanism (2) and the geomagnetic strength detection mechanism @
are connected to the counting circuit (to), the counting circuit gate control circuit (to), and the direction conversion circuit (to) as shown.

0) to f'J in FIG. 6 show signal waveforms of each circuit section.

From the angular pulse generation mechanism (2), a constant periodic pulse shown in (4) is always emitted, and this is used as a clock pulse. The output shown in (B) is obtained from the geomagnetic intensity detection mechanism fin. In this embodiment, the disk (2) Because it is rotating clockwise.

Positive peak point (5) is north, negative peak point (SN is south, reversal point from positive to negative (Ei is final, 6 reversal point - from negative to positive)
is determined as the face position. As shown in FIG. 1, for example, from the last position (Ei) to the next north position N, a gate signal that activates the counting circuit (2) is not generated from the gate control circuit (31).

The counting circuit (2) counts the number of clock pulses (12 pulses in the example diagram) between the last position (Ei) and the north position (N) every time the disk (2) rotates once, and also counts the number of clock pulses (12 pulses in the example diagram) In this case, the pulse generating mechanism (2) is attached to the aircraft body in such a way that the absolute orientation of the aircraft body relative to the ground is calculated from the azimuth and the pulse count value in the counting circuit (2).

Next, an automatic rotation control mechanism using the above-mentioned magnetic compass (2) will be explained.

The direction conversion circuit ■ includes a memory circuit (to) and a deviation calculation circuit (
The detection direction stored in the storage circuit (D) is used as a reference direction, and the deviation between this reference direction and the actual detected direction is calculated by this circuit (D).

Then, this arithmetic circuit So is connected to a program control circuit (to) for turning the desired angle, and a command from this program control circuit (to) operates the valve control circuit a9 and the speed change drive circuit (■). It is configured. or.

The memory circuit (to) is connected to a culm presence/absence detection sensor (Sl) provided near the end of the lateral conveyance device (9),
When the presence or absence of a culm is detected, the detection direction at that time is memorized.

Next, the automatic rotation operation with the above configuration will be explained.

Figure 7 shows the process of cutting the planted culm group (B) along its outer periphery, so-called circular cutting. ).

(Sl) is used for automatic follow-up reaping travel.

When the reaping travel stroke (=) of the above-mentioned -stroke is completed T and the aircraft leaves the shell culm group (B), the sensor (S,) detects the presence or absence of the shell culm, and from this point on, the preset 4 After traveling straight for the distance, the gear shift lever 071 is automatically operated to the neutral stop position and the aircraft temporarily stops. Moreover, the sensor (
At the time when S4) detects the presence or absence of grain stalks, the detection direction at that time is stored.

Next, the speed change drive circuit ■ is activated to automatically operate the speed change lever (17+) to the preset forward rotation position, and the valve control circuit α9 is activated to shift only the left steering clutch. Kiri 11 The aircraft turns to the left and moves forward. During this turning process, the deviation between the direction detected from time to time by the compass and the memorized reference direction is calculated by the door difference calculation circuit (foundation), and the deviation is calculated in advance. It is compared with the set desired rotation angle.

Then, set an angle (for example, 45°) to the left from the reference direction.
When the direction has been changed by t, the gear shift lever 0η is automatically operated to the neutral stop position.

Once the aircraft has stopped, the gear shift lever 071 is automatically operated to the preset reverse rotation position fIt, and the right steering clutch a2 is disengaged to move to the reverse clockwise rotation stroke (+1). At the same time, the desired turning angle for reverse clockwise turning is newly set, and the deviation between the reference heading and the actual detected heading is compared moment by moment, and the set angle (for example, 90°) is set.
), the gear shift lever (171) is automatically operated to the neutral stop position.

With the above, one automatic rotation is completed. Then, the operator manually operates the gear shift lever a9 to switch to forward mode and move on to the next automatic follow-up reaping travel stroke (, i).

In addition, in the above circulation control, the magnetic compass is installed at a position far above the iron plate thresher (4) and collection tank (5), so the magnetic field is distorted by the large capacity of the magnetic material. is extremely unlikely to be affected.

In addition, another pillar-shaped device used to attach the magnetic compass (2) may be an upright muffler exhaust pipe,
As shown by the imaginary line in FIG. 1, it is preferable to attach a magnetic compass port near the upper end of the exhaust pipe via an intermediate member (support) made of non-magnetic material.

As described in detail in the embodiments above, the present invention provides a magnetic compass that is placed at a high place above the aircraft body to perform detection operations with high accuracy and with less influence of distortion of the magnetic field due to the aircraft body mainly made of iron. However, when installing the magnetic compass at a high place above the aircraft, it is possible to easily position it at the desired position by effectively utilizing the pillar-shaped installation device installed on one aircraft without installing a special support. It was possible to deploy a magnetic compass.

[Brief explanation of drawings]

The drawings illustrate an embodiment of the mobile agricultural machine with an automatic rotation control mechanism according to this J1 man, and Fig. 1 is an overall detailed view of the combine harvester, and - Fig. 2' is a schematic plan view showing the front part and running part of the combine harvester. Figure 3 is a longitudinal sectional front view of the magnetic compass, Figure 4 is a perspective view of the magnetic compass, Figure 5 is a block diagram showing the schematic configuration of the automatic rotation control mechanism, Figure 6 G) ~ (/) 7 is a signal waveform diagram of each part, and FIG. 7 is a schematic plan view showing a rotation control process. ■・・・Magnetic compass, <211・・・・・・
Screw conveyor, (to)...Muffler exhaust pipe.

Claims (1)

[Claims] ■ A magnetic compass for transmitting the absolute direction detection signal of the aircraft to the automatic rotation control mechanism is attached near the top of a column-shaped device that stands up and protrudes upward from the aircraft. A mobile agricultural machine with an automatic rotation control mechanism, characterized by
(2) A mobile agricultural machine in which the columnar device is a screw conveyor (21) for lifting and conveying threshed grains. (4) A mobile agricultural machine in the range 1' section 9' of the 411