JPS60232012A - Automatic steering control of reaming harvester - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a pair of left and right stock detection sensors that protrude in opposite directions to a planted stem culm introduction path, and both sensors detect the absence of a stock. The present invention relates to an automatic steering control method for a reaping/harvesting machine that automatically controls a traveling device to achieve the following conditions.

[Prior art]

The above control automates the operation of the machine during reaping travel along the rows of planted stem culms, so-called row mowing, and stops the automatic control when reaping travel across the rows, so-called horizontal mowing. There is a need. For this reason, conventionally, focusing on the fact that the spacing between plants in the row direction (plant spacing) is smaller than the row spacing (row spacing), horizontal cutting is determined as soon as the left and right sensors detect plants at the same time. Based on this judgment, a method was adopted in which automatic steering control was suspended for a certain period of time long enough to pass between the lines.

[Problem that the invention seeks to solve]

However, the above-mentioned horizontal cutting discrimination will give correct results if the plant spacing is sufficiently small compared to the protrusion of the left and right sensors, but if the plant spacing is uneven, both sensors will not necessarily detect the plants at the same time even during horizontal cutting. There was a risk that automatic steering control would be activated during horizontal mowing, causing the aircraft to spin out of control.

[Means to solve the problem]

The present invention is aimed at solving the above-mentioned conventional drawbacks, and its characteristics are as follows: When a sensor detects a stock for a predetermined time or more within a set unit time, it is set to a stock presence detection state; The automatic steering control is stopped when it is determined that both the left and right sensors have continuously entered the stock presence detection state a set number of times or more.

[For production]

Therefore, even if the left and right sensors detect stocks with a time difference due to misalignment of stocks, as long as the stock sensing time within the set unit time is a certain period of time, it is considered to be a stock detection state in this unit time period.1. The horizontal cutting state is recognized by the frequency with which the determined plant detection state is simultaneously brought about in the left and right sensors.

〔Effect of the invention〕

As a result, it is now possible to prevent automatic steering control based on row mowing judgment during horizontal mowing, which was seen in the conventional system, and to perform automatic steering control favorably only during row mowing.

〔Example〕

Figure 1 shows a schematic plan view of a combine harvester, which is an example of a reaping harvester.
Ks Frame rods (2) that form a path for introducing multiple planted stem culms are installed in parallel, and a weeding tool (3) is installed at each tip.
)... is installed.

A pair of left and right plant detection sensors (4L) and (4R), which protrude in opposite directions to each other, are provided on the central frame rod (z) so as to swing backward when they come into contact with the planted stems and culms.
Based on the detection results of these two sensors (4L) and (4R), the left and right crawler traveling devices (5L) and (5R)
Hydraulic cylinder (7L), which drives and operates the steering clutch (6L), (6R) of ), electromagnetic control valve (8) of (7R)
, thereby controlling the operation of both the sensors (4L).

(4R)! >It is configured to automatically follow along between the E stock rows. 1 When both of the sensors (4L) and (4R) are swung backward by a certain angle or more due to contact with the stock, the built-in switch is turned on, and when the connection is disconnected, the sensors return to the original protruding position and swung back to the original position, and then the switch is turned off. is configured to do so. The sensors (4L), (4R) and the electromagnetic control valve (8) are operated by an arithmetic unit (
9), an input interface (lO), and an output interface (■).

Next, automatic steering control operation using the sensors (4L) and (4R) will be explained.

This automatic steering control (ADC) is used when cutting along the rows of planted stems and culms, so-called row cutting.
The left sensor (
4L) is detected as being turned on, a steering control command to the right is issued, and the standard is for the aircraft to proceed straight with both sensors (4L) and (4R) off the stock. , this is called row cutting mode.

In addition, if the above steering control is performed during so-called lateral rowing, in which the machine is reaping in a direction transverse to the rows of planted stems and culms, the aircraft will run out of control, so the steering control should be stopped during lateral rowing. There is a need.

A program is set to automatically perform this based on information from sensors (4L) and (4R), and the operating state in which automatic steering is stopped in this manner is called horizontal mowing mode.

Figure 2 is a time chart showing the operation and mode switching of the left and right sensors (4L) and (4R). (sensing) time is integrated, and if this on-time integration is longer than a certain time (1), it is considered that the stock presence is detected in that unit time period.

When the left and right sensors (4L) and (4R) are both considered to be in the stock presence detection state for a set number of times (n units) [three times in the example], it is determined that the row position is present, and the controller θ No is automatically switched to the above-mentioned horizontal cutting mode.

Further, if at least one of the left and right sensors (4L) and (4R) is not in the stock presence detection state, the condition occurs for a set number of times (, 2) j times in example C] that is greater than the set number of times (nl). The control device (12) automatically returns to the row mowing mode and performs automatic steering control.

Note that the unit time (T) is the time it takes to pass between the plants when traveling at the lowest reaping speed during horizontal mowing; for example, the distance between the rows is jOtx, and the minimum traveling speed is r o'
If R7',..., then T=/s'.

Further, the set time (1) for determining the presence of a stock is the time required to pass through the stock when traveling at the maximum reaping speed during horizontal cutting. For example, if the stock diameter is ja+ and the traveling speed is /
If θ□ CsA, then t=0.0J@.

Furthermore, the integration of the sensor on time within the set unit time (T) is based on counting the number of sensor on times in the control routine for each /θ control, and in this example, when the sensor on time is counted 5 or more times, the on time integration is It is assumed that there are 00053 or more.

Figure 8 shows the control routine every 70m5, Figure 4 shows the control routine every 70m5.
Flowcharts of control routines for each 0% S are shown. The contents of the symbols in the chart are as follows.

LC: Count of left sensor on RC: Count of right sensor on LS: Flag indicating that the left sensor is in the stock presence detection state R8: Flag indicating that the right sensor is in the stock presence detection state CNT (1): Horizontal cutting determination Count CNT (21: Count for determining row cutting [Another embodiment]) The present invention can be applied not only to combines but also to harvesting machines and binders for row-planted crops other than rice and wheat.

The stock detection sensors (4L) + (4R) may be of a stock following type that act from both the left and right sides of the - row stock row.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic steering control method for a reaping harvester according to the present invention; FIG. 1 is a schematic plan view of a combine harvester and a configuration diagram of an automatic steering control mechanism; FIG. 2 is a time chart of sensor signals; 8 and 4 are flowcharts, respectively. (4L), (4R)...Stock detection sensor, (5L
), (5R)... Traveling device, (T)...
・Setting unit time, (1)...Stock sensing time, (nl
)・・・・・・Number of settings. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] A pair of left and right stock detection sensors (4L) and (4R) protruding in opposite directions to each other is provided in the planting stem culm introduction path, and both sensors (4
An automatic steering control method for a reaping/harvesting machine that automatically controls the running device (5L) and (5R) so that both L) and (4R) are in a plant absence detection state, the sensor When the time when the stock is detected within (T) is longer than a certain time (1), the stock presence is detected, and the left and right sensors (41,),
An automatic steering control method for a reaping/harvesting machine, wherein the automatic steering control is stopped by determining that both (4R) have entered the plant presence detection state continuously for a set number of times (nl) or more.