JPS5934806A - Automatic steering control apparatus of reamer - Google Patents
Automatic steering control apparatus of reamerInfo
- Publication number
- JPS5934806A JPS5934806A JP57147086A JP14708682A JPS5934806A JP S5934806 A JPS5934806 A JP S5934806A JP 57147086 A JP57147086 A JP 57147086A JP 14708682 A JP14708682 A JP 14708682A JP S5934806 A JPS5934806 A JP S5934806A
- Authority
- JP
- Japan
- Prior art keywords
- steering control
- sensor
- reaper
- steering
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は、植立茎稈に対する機体の左右方向での変位量
を検出するセンサーと、このセンサーの検出結果に基づ
いて、機体が植立殻稈群に沿って追従走行するように、
機体を左右に自動的に操向制御する機構とを備えた刈取
機の自前操向制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention includes a sensor that detects the amount of displacement of the aircraft body in the left-right direction with respect to the planted culms, and the aircraft body follows the planted culms based on the detection results of this sensor. Like running,
The present invention relates to an independent steering control device for a reaper, which is equipped with a mechanism that automatically controls the steering of the machine body to the left and right.
この種の刈取機による目刺操向制御状態を考察してみる
さ、植立茎稈群が大きく蛇行している場合では、前記操
向制御機構による同一方向の連続操向制御時間が長くな
って、植立茎稈群に対する機体の復帰角度がきつくなる
ため、オーバーランによるハンチング制御が大きくなる
欠点があった。When we consider the state of sting steering control by this type of reaper, we find that when the planted stem culm group is meandering significantly, the continuous steering control time in the same direction by the steering control mechanism becomes longer. As a result, the return angle of the aircraft relative to the planted stem group becomes steeper, which has the disadvantage of increasing hunting control due to overrun.
本発明は、上述のような制御上の欠点を改善する点に目
的を有する。The present invention has an object to improve the above-mentioned control drawbacks.
かかる目的を達成するためになされた本発明の自ｖＪ操
向制御装置による特徴構成は、Ｍｆｌ ＆ｉ操向制御機
構による同一方向の連続操向制御時間を計測して、その
計７Ｊｌｌｌ値が設定値よりも大なるとき、センサーが
操向中立領域に復帰した時点で１ｆｔ記操向制御機構を
前記の連続操向制御方向とｄ−逆方向に操向制御作動さ
せる機構を設けた点にある。The characteristic configuration of the automatic VJ steering control device of the present invention, which has been made to achieve such an object, is that the continuous steering control time in the same direction by the Mfl&i steering control mechanism is measured, and the total 7Jlll value is set as the set value. The present invention is provided with a mechanism for operating the 1ft steering control mechanism in the d-direction opposite to the continuous steering control direction when the sensor returns to the neutral steering range.
つまり、植立茎稈群が大きく蛇行している場合のように
、０り記操向制御機構による同一方向の連続操向制御時
間が設定時間よりも長くなって、植立茎稈群に対する機
体の復帰角度がきつ（なったときでも、センサーが操向
中立領域に復帰した時点で操向制御機構ｌｃ ｉｆＪ記
の連続操向制ｆｆＱ＋方向とは逆方向に操向制御作−）
させることにより、次回の逆方向の操向ｆｌｊ制御時間
を可及的に短縮することが可能となり、オーバーランに
よるハンチング制御時間を極力、短（して操向制御の安
定化を図り得るに至った。In other words, when a group of planted stems and culms is meandering significantly, the continuous steering control time in the same direction by the zero steering control mechanism becomes longer than the set time, and the aircraft relative to the group of planted stems (Even if the return angle of
By doing so, it becomes possible to shorten the next steering flj control time in the opposite direction as much as possible, and the hunting control time due to overrun can be shortened as much as possible (thus making it possible to stabilize the steering control). Ta.
以下、本発明の実施例を図面に基づいて説明するさ、左
右一対のクローラ式走行装置ｉｌｌ 、 ｔｌ＋、これ
ら両走行装置（Ｂ 、 ｉｌｌへの伝動系に介在の操向
クラッチ＋２１ 、 ＋２１を内装するミッションケー
ス（３）、前記操向クラッチＦ２＋ 、 （２）を入切
作動する油圧シリンダ＋４１ 、 ＋４１を備えた本機
の前方に、植立茎稈を複数の導入経路＋ｌＬｌφ・に導
くデバイダ（６）・・、各経路１ａｌ・・に導入された
茎稈に作用する引起し装置（６１・・を有する刈取前処
理部を配設しであるコンバインにおいて、これに装備さ
れる自明操向制御装置は次の如く構成されている。Hereinafter, embodiments of the present invention will be described based on the drawings.A pair of left and right crawler type traveling devices ill and tl+, and steering clutches +21 and +21 interposed in the transmission system to both of these traveling devices (B and ill) are installed internally. At the front of this machine, which is equipped with a mission case (3), hydraulic cylinders +41, +41 for turning on and off the steering clutches F2+ and (2), there is a divider ( 6)..., a combine harvester equipped with a pre-reaping treatment section having a pulling device (61...) that acts on the stem culm introduced in each route 1al..., an obvious steering control installed in the combine harvester. The device is constructed as follows.
即ち、ｉＩ記茎稈導入経路＋ａｌ・・のうち、最も既刈
地側に位置する経路＋ａｌの横外側脇で、前記デバイダ
（５）の支持杆＋７１ Ｋ １導入植立茎稈との接当に
伴なう後方への揺動により１植立茎稈に対する機体の左
右方向で、の変位量、つまり、茎稈が経路中を３分割し
た領域のうち、中央の直進走行領域（ａｌ）から左旋回
領域（ａ２）又は右旋回領域（へ）の何れに変位したか
を検出する積別時用のセンサー＋８） ｆ：設け、この
センサー（８）の検出結果に基づいて、茎稈が［１［Ｉ
記の直進走行領域（ａｌ）に属するように、言換えれば
、機体が植立茎稈群に沿って追従走行するように、前記
油圧シリンダｔ４１ 、 ＋４１に対スるコントロール
パルプ（９）の励磁部（９ａ）、（９ａ）を間欠作ｎｒ
＋１制御【〜で機体を左又は右に自萌操向制御する機構
［１０）と、この操向制御機構（則による同一方向の連
続操向制御時間をｄ１測して、その計測値が設定値より
も大なるとき、ｎＩ記セセンー（８）が直進走行領域（
ａｌ）に復帰した時点で前記操向制御機構ｌ１１）を明
記の連続操向制御方向とは逆方向に操向制御作製Ｊさせ
る機構（１１）とを設けている。That is, the support rod of the divider (5) contacts the planted stem culm +71 K1 introduced at the lateral outer side of the route +al located closest to the cut field side among the stem culm introduction routes +al... The amount of displacement in the left-right direction of the aircraft relative to one planted stem culm due to the backward swing associated with A sensor for sorting that detects whether the displacement is to the left turning area (a2) or the right turning area (toward) + 8) f: Provided, and based on the detection result of this sensor (8), the stem culm is [1[I
Excitation of the control pulp (9) for the hydraulic cylinders t41 and +41 so that the machine belongs to the straight traveling region (al) described above, in other words, so that the machine follows the planted stem culm group. Intermittent cropping of parts (9a) and (9a) nr
+1 control [mechanism [10] that automatically steers the aircraft to the left or right with ~, and this steering control mechanism (measuring the continuous steering control time in the same direction according to the rule d1, and setting the measured value. When it is larger than the value, nI-Kisesen (8) is in the straight running area (
A mechanism (11) is provided for causing the steering control mechanism l11) to perform steering control in the direction opposite to the specified continuous steering control direction at the time of returning to the direction al).
そし７て、植立茎稈が左右方向Ｑこ小さく蛇行している
場合では、操向制御機構（１０）による左又は右方向へ
の連続操向制御時間が設定４ｉｔＦよりも短いため、ｉ
ｌ記機構（ＩＩ）は作動すす、明記センサー（８）が直
進走行領域に復帰すると、Ｈｆｒ記操向制御機構（１０
１Ｋよる操向制御が停止される。7. In the case where the planted stem culm meanderes a little in the left and right direction Q, the continuous steering control time to the left or right by the steering control mechanism (10) is shorter than the setting 4itF, so i
When the specified sensor (8) returns to the straight-ahead driving range, the Hfr steering control mechanism (10) is activated.
Steering control by 1K is stopped.
（直１″Ｌ茎稈が左右方向に太き（蛇行している場合で
は操向制御機構（１０１による左又は右方向への連続操
向制御時間が設定値よりも長くなるため、前記機構用）
が作曲し、前記センサー（８）が直進走行領域に復帰し
た時で操向制御機構（１ｏ）が少し逆の右又は−左側に
操向制御作動される。 これにより、オーバーランによ
るハンチング制御時間を極力短くして、操向制御の安定
化を図ることができるのである。(If the straight 1"L stem culm is thick in the left and right direction (meandering), the continuous steering control time to the left or right by the steering control mechanism (101) will be longer than the set value, so )
When the sensor (8) returns to the straight-ahead driving range, the steering control mechanism (1o) is operated to perform steering control to the slightly opposite right or -left direction. Thereby, the hunting control time due to overrun can be shortened as much as possible, and steering control can be stabilized.
また、最未刈地側に位置する茎稈導入経路１ａ、）の両
側脇で、１１０記デバイダ（５）、（６）の支持杆（７
）。In addition, on both sides of the stem culm introduction path 1a, located on the most uncut side, the support rods (7
).
（７）にも、導入植立茎稈との接当に伴々う後方・＼の
揺曲ＪにＪす、植立茎稈に対する機体の左右方向での変
位Ｍを検出する条刈時用のセンサー＋１２１゜＋１３が
設けられ−（いる。 この４ｚ ７す１１２１ 、 ｆ
１２１ｒＩ″ｉ曲記操向制御礪構（１０１に接続され、
積別、条刈の両刈取作業形１渇に応じて、０「１記セン
サー（８）の検出結果に基づく操向制卸状態とこめ両セ
ンザーｆ１２１ 、１１２１の検出結果に基づ（操向制
御状態とに選択切換えｎｆ能に構成されている。(7) is also used for row cutting, which detects the displacement M in the left and right direction of the machine body relative to the planted stem culm due to the rearward/＼ oscillation J that occurs when it comes into contact with the introduced planted stem culm. A sensor of +121° +13 is provided.
121rI''i music steering control structure (connected to 101,
Depending on the type of reaping operation (1) for stacking and row mowing, the steering control state is determined based on the detection results of the sensor (8) described in 1. The control state is configured so that it can be selectively switched between nf and control states.
尚、前記機構（１１）による逆方向への操向制御量は例
えば、操向制御機構（１０）にて３パルス以上の右旋回
制御が続いたときに１パルス分たけ左方向に旋回制御す
る七いった具合に固定値だけ逆方向に操向制御すべく構
成しても良く、また、センザー復帰直前の同一方向・＼
の連続操向制御時間長さに応じて、その時間長さが大き
いほど大となるように自−ノ変更すべ（構成しても良い
。The steering control amount in the opposite direction by the mechanism (11) is, for example, when the steering control mechanism (10) continues to control the right turn for three or more pulses, the steering control amount is controlled to the left by one pulse. It may be configured to control the steering in the opposite direction by a fixed value in the same manner as above, or it may be configured to control the steering in the opposite direction by a fixed value.
Depending on the length of the continuous steering control time, the automatic steering control may be changed (or configured) so that the longer the time length is, the larger the time length becomes.
図面は本発明に係る刈取機の自動横向制御装置の実施例
を示す操向制御系統図である。
（８） センサー、１１０１・・ 操向制御機構、
ＯＩ）・・・４ｆｉ構。
代理人 弁理士 北 村 修The drawing is a steering control system diagram showing an embodiment of an automatic lateral direction control device for a reaper according to the present invention. (8) Sensor, 1101... Steering control mechanism,
OI)...4fi structure. Agent Patent Attorney Osamu Kitamura
Claims (1)
出するセンサー（８１＆ 、このセンサー（８）の険出
結果に基づいて、機体が植立殻稈群に沿って追従走行す
るように、機体を左右に自ｇＪ的に操向制御する機構（
１０）とを備えた刈取機の自動操向制御装置において、
前記操向制御機構＋１０）による同一方向の連続操向制
御時間を計測して、その計測値が設定値よりも大なる々
き、センサー（８）が操向中立領域に復帰した時点でｎ
ｉＪ記操向制御機構（ｌＯ）をｎｆｒ記の連続操向制御
方向とけ逆方向に操向制御量１ｆｆＪさせる機構（１１
）を設けであることを特徴とする刈取機の自前操向制御
装置。 （＝）ｔｉｒｌ記イ幾構（１１）による逆方向への操向
制御量が固定値である特許請求の範囲第０項に記載の刈
取機の自前操向制御装置。 ■ 前記機構１１１１ Ｋよる逆方向への操向制御量が
センサー復帰直前の同一方向への連続操向制御時間長さ
に応じて、その時間長さが大きいほど大となるように自
動変更されるべく構成されている特許請求の範囲第０項
に記載の刈取機の自動操向制御装置。[Claims] ■ A sensor (81&) that detects the displacement HA of the aircraft body in the left-right direction with respect to the planted culms; A mechanism that controls the aircraft to steer left and right in a self-gJ manner so that it follows the flight.
10) In an automatic steering control device for a reaper, comprising:
Measure the continuous steering control time in the same direction by the steering control mechanism +10), and when the measured value becomes greater than the set value and the sensor (8) returns to the neutral steering region, n
Mechanism (11
) An independent steering control device for a reaper. (=) An independent steering control device for a reaper according to claim 0, wherein the amount of steering control in the opposite direction by the third mechanism (11) is a fixed value. ■ The amount of steering control in the opposite direction by the mechanism 1111K is automatically changed in accordance with the length of time for continuous steering control in the same direction immediately before the sensor returns, so that the larger the time length is, the larger the steering control amount is automatically changed. An automatic steering control device for a reaper according to claim 0, which is configured to
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57147086A JPS5934806A (en) | 1982-08-24 | 1982-08-24 | Automatic steering control apparatus of reamer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57147086A JPS5934806A (en) | 1982-08-24 | 1982-08-24 | Automatic steering control apparatus of reamer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5934806A true JPS5934806A (en) | 1984-02-25 |
| JPH0147963B2 JPH0147963B2 (en) | 1989-10-17 |
Family
ID=15422145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57147086A Granted JPS5934806A (en) | 1982-08-24 | 1982-08-24 | Automatic steering control apparatus of reamer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5934806A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4877570A (en) * | 1987-10-05 | 1989-10-31 | Rieter Machine Works Ltd. | Method for continuously crimping thermoplastic filaments |
| WO2012073457A1 (en) | 2010-12-01 | 2012-06-07 | パナソニック株式会社 | Heating cooker |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51145723A (en) * | 1975-06-06 | 1976-12-14 | Yanmar Agricult Equip | Combine |
-
1982
- 1982-08-24 JP JP57147086A patent/JPS5934806A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51145723A (en) * | 1975-06-06 | 1976-12-14 | Yanmar Agricult Equip | Combine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4877570A (en) * | 1987-10-05 | 1989-10-31 | Rieter Machine Works Ltd. | Method for continuously crimping thermoplastic filaments |
| US4974302A (en) * | 1987-10-05 | 1990-12-04 | Maschinenfabrik Rieter Ag | Apparatus for continuously crimping thermoplastic filaments |
| WO2012073457A1 (en) | 2010-12-01 | 2012-06-07 | パナソニック株式会社 | Heating cooker |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0147963B2 (en) | 1989-10-17 |
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