JP2681473B2 - Automatic traveling work machine and general-purpose combine - Google Patents

Description

The present invention relates to an automatic traveling work machine and a general-purpose combine,
Specifically, ultrasonic waves are transmitted from the working machine sideways, and an ultrasonic sensor for detecting a crop on the side of the working machine and a rotation control for turning the working machine based on the detection result of the ultrasonic sensor. The present invention relates to an automatic traveling work machine including a direction control mechanism and a general-purpose combine harvester.

(Prior Art) Conventionally, as a steering control device of this type of automatic traveling work machine,
The crop detection sensor consisting of an ultrasonic sensor is attached to the machine body, and when the ultrasonic waves transmitted from the detection sensor are reflected by the crop, the reflected wave is received to detect the distance between the crop and the machine body, A device in which the turning control of the airframe is performed based on the detection result is disclosed in, for example, JP-A-61-161.
It is already known in the publication 28308.

(Problems to be solved by the invention) By the way, in the crop detection sensor using the ultrasonic sensor as described above, when performing the turning control of the airframe,
There were the following problems.

That is, when performing an automatic cutting work on a work site with an automatic traveling work machine, first perform a line direction work on one side of the outer periphery of the work site, and then turn the machine body in a direction intersecting with the line direction line. The work in the other direction is performed, and the work in the other direction and the work in the other direction are sequentially repeated to perform the automatic cutting work on the work site.

However, when performing the mowing work of the line direction strip, a problem is unlikely to occur because the spacing between the planting lines of the crop is relatively constant, but particularly when performing the mowing work of the other direction line, Due to the irregularity of the landing strips, the crop cannot be detected by the ultrasonic waves transmitted from the crop detection sensor, and the aircraft may be erroneously controlled based on the detection result. There is. Therefore, conventionally, a delay circuit or the like is separately connected to the detection sensor to prevent erroneous control of the machine body. However, in such a case, the control circuit becomes complicated and the response of the detection sensor is increased. This caused problems such as a delay in control of the machine body.

An object of the present invention is to set the detection range of ultrasonic waves in the crop detection sensor to be wider than that between the planting strips, thereby avoiding complication of the control circuit and control delay, and further Even when performing work in the other direction where the vertical strips are irregular, it is possible to reliably detect the crop with ultrasonic waves from the detection sensor and perform accurate turning control of the machine body. An object is to provide a steering control device for an automatic traveling work machine.

(Means for Solving Problems) An automatic traveling work machine according to a first aspect of the present invention is an ultrasonic sensor for detecting a crop on the side of the working machine body, in which ultrasonic waves are transmitted laterally from the working machine body. In an automatic traveling work machine including a turning control mechanism for turning control of the working machine based on a detection result of an ultrasonic sensor, the detection range H of the ultrasonic sensor is such that It is characterized in that L <H <2L with respect to L.

A general-purpose combine according to a second aspect of the present invention is provided with a take-up reel that is supported in a front part of a working machine body so as to be capable of moving up and down via a reel elevating device, a cutting blade for cutting crops scratched by the take-up reel, and the cutting. An ultrasonic sensor equipped with a platform for receiving crops cut by blades, and an ultrasonic sensor that emits ultrasonic waves laterally from the working machine, and a turning control of the working machine based on the detection result of the ultrasonic sensor. In a general-purpose combine having a turning control mechanism, the ultrasonic sensor is provided on a support member that supports the take-in reel, and the detection range H of the ultrasonic sensor is higher than that between the planting lines of the crop. It is characterized by being wide.

(Operation) In the first aspect of the invention, the detection range H of the ultrasonic sensor, which emits ultrasonic waves laterally from the work machine body, is L <H <2L with respect to the planting interval L of the crop. That is, since the detection range is wider than the interval L between two adjacent crops and narrower than the interval 2L between three adjacent crops, even if the interval L between crops is irregular. However, one crop can be detected without fail by the ultrasonic waves transmitted from the ultrasonic sensor. Therefore, while the ultrasonic sensor is detecting the crop, you can drive along the crop,
Further, when the crop is not detected, the working machine can be accurately and quickly turned.

Further, in the second aspect of the invention, since the ultrasonic sensor that emits ultrasonic waves laterally from the working machine body is provided on the support member that supports the take-up reel, as the take-up reel is moved up and down. It can be moved up and down.
Therefore, the position of the ultrasonic sensor can be changed up and down according to the lodging state of the uncut crop.

That is, the take-up reel is controlled to the upper position when the uncut crop is not lying, and is controlled to the middle position when the uncut crop is relatively lying, and the uncut crop is greatly lying. In this case, it is controlled to the lower position, but because an ultrasonic sensor is provided on the support member of this take-in reel, the uncut crop can be accurately detected without being affected by the lodging state of the uncut crop. Moreover, since the detection range H is made wider than that between the planting lines of the crop, even if the interval L between the planting lines of the crop is irregular, the ultrasonic wave transmitted from the ultrasonic sensor is detected. A single crop can always be detected by sound waves. Therefore, as a whole, the working machine body can be accurately and rapidly turned.

(Embodiment) Hereinafter, a steering control device for an automatic traveling work machine according to the present invention will be described with reference to an embodiment of the drawings.

Figures 5 and 6 show the general structure of a general-purpose combine (C) as an example of an automatic traveling work machine. The engine (2) is mounted on the upper part of the machine [hereinafter referred to as the work machine] (1), and the lower part A threshing device (4) having a traveling device (3) on both sides and a handling barrel (41) on the upper side of the machine body (1),
Further, a mowing device (5) is provided at the front part of the machine body (1).

The reaping device (5) has a platform (51) having a pair of side walls (51a) rising upward on both sides in the lateral direction of the body, and from the platform (51) to the threshing device (4) side. A transport chamber (52) for an extended crop (hereinafter referred to as a harvested harvested product) is provided, and a pair of support rods (53) are vertically rocked at positions above both side walls (51a) of the platform (51). It is supported so as to be vertically swingable via a hydraulic cylinder (54), and each support rod (5
At the front part of 3), movable receivers (56) are provided so as to be movable back and forth through front and rear moving cylinders (55), and each of these receivers (56) has a take-up reel (57) having a large number of reel tines. ) Is rotatably supported, and a cutting blade (58) is provided at a bottom position between the side walls (51a) of the platform (51), and a scraping drum (59) is provided at a rear bottom position of the cutting blade (58). While supporting the rotatably, the inside of the transfer chamber (52) is provided with a chain conveyor (52a) for supplying and feeding the harvested crop by the cutting blade (58) toward the threshing device (4) side. ing.

Further, the general-purpose combine (C) as described above is provided with a steering control device for performing automatic traveling control.

That is, various crop detections for detecting crops in the forward direction of the machine are provided on the tip side of a support member [hereinafter referred to as a support rod (53)] provided on the mowing device (5) and supporting the take-up reel (57). The sensor (6) is attached via the support arm (7), and a turning control mechanism (8) for controlling the turning of the machine body (1) based on the detection result of the detection sensor (6) is provided. .

As is apparent from FIG. 4, the various crop detection sensors (6) include a first sensor (61) for detecting an uncut crop (a) located in the platform (51), and the body (1). ) To control the vehicle straight ahead, a third sensor (63) to control the machine body (1) to run in parallel, and a fourth sensor (64) to detect the uncut portion of the harvest (a).
It is composed of

The first sensor (61) is located below the support arm (7) of the reel (57) located on the right side of the machine body traveling direction, and is located on the front side of the machine body traveling direction via the first casing (65). The oscillator (61a) supported in the direction and the lower part of the support arm (7) located on the left side of the aircraft in the traveling direction, the transmitter (61) is provided on the front side in the traveling direction of the aircraft via the second casing (66). 61a) and a receiver (61b) supported in an opposed manner. The receiver (61b) receives a transmission signal transmitted from the transmitter (61a), and the platform is controlled by the level of the reception level. The presence or absence of uncut crops in (51) is detected.

Further, the second sensor (62) includes a transmitter (62a) that is also used as the transmitter (61a) of the first sensor (61),
The transmitter (62a) in the first casing (65)
And a receiver (62b) that is supported inwardly on the lower side of the machine, and when the machine body (1) travels straight on the uncut crop (a), the transmission signal transmitted from the transmitter (62a) , The time until it is reflected by the uncut crop (a) positioned on the innermost side in the cutting width direction of the platform (51) and received by the receiver (62b), that is, the uncut crop (a) ) To the airframe (1)
The straight running control is performed.

Further, the third sensor (63) is located outside the support arm (7) located on the left side of the machine body traveling direction, at the upper and lower portions of the third casing (67) attached to the rear side of the machine body traveling direction, respectively. A transmitter (63a) and a receiver (63b) that are supported in the direction, and the transmitter transmits from the transmitter (63a) when the machine body (1) runs in parallel with the uncut crop (a). The time until the signal is reflected by the uncut crop (a) and received by the receiver (63b), that is, the distance to the uncut crop (a) is detected, and the aircraft (1 ) Parallel control is performed.

Further, the fourth sensor (64) is located outside the support arm (7) located on the right side of the machine body traveling direction, and outside the upper and lower parts of the fourth casing (68) attached to the rear side of the machine body traveling direction, respectively. When the transmission signal transmitted from the transmitter (64a) is received by the receiver (64b), the uncut crop ( Harvested product left after cutting (a)
I am trying to detect.

The ultrasonic sensor (6) is used as the various detection sensor (6) used in the steering control device of the general-purpose combine (C) as described above, and the sensor (6) is used.
The detection range of is larger than that between the planting lines of the harvested product (a).

The present invention is based on the above-mentioned first to fourth sensors (61).
To 864), but for convenience of description, the description will be made below based on the second sensor (62) that controls the straight movement of the machine body (1).

That is, as shown in FIG. 1, a transmission circuit (10) for outputting a signal of a predetermined frequency is provided, and a transmission period setting circuit (11) for outputting a transmission timing pulse is connected to the output side of the transmission circuit (10). At the same time, the output side of the setting circuit (11) and the output circuit (10) is provided with an ultrasonic oscillator (the second sensor (62) via an AND gate (12) and a transmission amplifier circuit (13) ( 62a) so that ultrasonic waves are intermittently emitted from the transmitter (62a).

Then, the detection range of the ultrasonic waves transmitted from the transmission circuit (10) is expanded, and the detection range of the ultrasonic waves transmitted from the transmitter (62a) is expanded as shown in FIG. It is wider than the space (L).

In addition, a detection circuit (1) is provided to the ultrasonic receiver (62b) that constitutes the second sensor (62) via a reception amplification circuit (14).
5) is connected to the output side of the transmission period setting circuit (11), and a reception period setting circuit (16) for delaying the period with respect to the transmission timing pulse output from the setting circuit (11) is connected. The output side of the setting circuit (16) and the detection circuit (15) is connected to the AND gate (17).

Further, the output side of the AND gate (17) is connected to an integration circuit (18) having a predetermined time constant for integrating the received ultrasonic waves of the receiver (62b), and the output side of the integration circuit (18) is connected. The turning control mechanism (8) is connected, and the turning control mechanism (8) is controlled by an output signal from the integration circuit (18) to control the turning of the machine body (1). Eggplant.

Therefore, when setting the detection range of the ultrasonic wave in the second sensor (62), the ultrasonic wave transmitted from the transmitter (62a) of the sensor (62) is the same as shown in FIG. As shown by the solid arrow in the figure, it is wider than the space between two adjacent crops (a) (L),
The angle (θ) is set so that it is smaller than the space (2L) between the adjacent three harvested products (a). By doing so, the ultrasonic waves transmitted from the transmitter (62a) are set. However, no matter what the condition between the planting lines of the harvested product (a) is, it is reflected by this harvested product (a) and, as shown by the phantom line arrow in the figure, the receiver (62a). Then, the steering control mechanism (8) is actuated by the received ultrasonic waves to accurately control the turning of the machine body (1).

More specifically, when the general-purpose combine (C) is automatically cut and traveled at the work site,
The work pattern is as shown in FIG. 3, where (m) is the number of turns of the general-purpose combine (C) at the work site, and (n) is each side of the work site. Respectively, for example, in the figure, (m
= 1, n = 1), the general-purpose combine (C) is on the first lap, traveling on the first side of the work site, and (m = 2, n = 4) is 2 general-purpose combine (C)
It indicates that the vehicle is traveling on the fourth side of the work site on the lap.

When performing the mowing work of the work site by the general-purpose combine (C), first, the line cutting work is performed from the first side (n = 1) side of the work site, and then the second side (n =).
Turning to 2), the second side (n = 2) side cutting work is performed, and the cutting work is performed for a predetermined number of turns (m). Then the first side of the work area (n = 1)
Alternatively, when the cutting work is performed on the third side (n = 3) along the line cutting direction, while the interval between the planting lines of the harvested product (a) is relatively constant, the work site is Second side of (n = 2)
Alternatively, when the cutting operation is performed along the horizontal cutting direction on the fourth side (n = 4), the spacing between the planting rows is irregular, and therefore, conventionally, the cutting is performed along the horizontal cutting direction. When performing work, the second sensor (62) cannot detect the harvested product (a), and the second sensor (6)
The detection result from 2) may cause the turning control mechanism (8) to malfunction to control the turning direction of the machine body (1) in the wrong direction.

However, the transmitter (62a) of the second sensor (62)
Since the detection range of the ultrasonic waves emitted from the ultrasonic wave is set wider than that between the planting lines of the harvested product (a),
In the case of performing the cutting operation in the horizontal cutting direction as well as the cutting operation, it is transmitted from the transmitter (62a) even if the spacing between the planting rows of the harvested product (a) is irregular. The ultrasonic wave is surely collided and reflected by one strain of the harvested product (a) and received by the receiver (62b). Therefore, the ultrasonic wave received by the receiver (62b) is detected. The turning control mechanism (8) is accurately operated by sound waves, and the body (1)
The turning control of is accurately performed.

The general-purpose combine (C) is provided with a stroke end detection sensor (not shown) on the rear side in the traveling direction of the machine body (1) and one side in the width direction, and the detection sensor detects the end of the mowing stroke. However, the present invention can be applied to such a stroke end detection sensor.

(Effects of the Invention) As described above, according to the first invention, the detection range H of the ultrasonic sensor in which ultrasonic waves are transmitted from the working machine body to the side
Is L <H <2L with respect to the interval L between crops, that is, the detection range is wider than the interval L between two adjacent crops and narrower than the interval 2L between three adjacent crops. Therefore, even if the planting intervals L of the crops are irregular, one crop of crops can always be detected by the ultrasonic waves transmitted from the ultrasonic sensor, and the working machine can be accurately measured.
Moreover, the turning control can be performed quickly.

Further, in the second aspect of the invention, since the ultrasonic sensor that emits ultrasonic waves laterally from the working machine body is provided on the support member that supports the take-up reel, as the take-up reel is moved up and down. It can be moved up and down and the position of the ultrasonic sensor can be changed up and down according to the lodging state of the uncut harvested product, so that the uncut harvested product is not affected by the lodging state of the uncut harvested product. Can be accurately detected, and the detection range H is wider than the spacing between the planting lines of the crop. Therefore, even if the spacing L between the planting lines of the crop is irregular, the ultrasonic sensor One crop can be detected without fail by the ultrasonic waves transmitted from. Therefore, as a whole, the working machine body can be accurately and rapidly turned.

[Brief description of the drawings]

FIG. 1 is a control block diagram of a steering control device according to the present invention, FIG. 2 is an explanatory view for explaining a detection range expansion state of an ultrasonic sensor, and FIG. 3 is a general view of an automatic traveling work machine at a work site. Fig. 4 is a work pattern diagram, Fig. 4 is a perspective view showing a mounting mode of the ultrasonic sensor, Fig. 5 is a side view of a general-purpose combine shown as an example of an automatic traveling work machine, and Fig. 6 is a plan view of the combine. (1) …… Airframe (6)… Ultrasonic sensor (8)… Rotation control mechanism (a)… Crops

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Wataru Nakagawa Wataru Nakagawa 1-32, Chayamachi, Kita-ku, Osaka, Yanmar Agricultural Machinery Co., Ltd. (72) Hiroshi Kawabuchi 428 Enami, Okayama, Okayama Seirei Industrial Co., Ltd. Incorporated (56) References JP-A-57-152810 (JP, A)

Claims (2)

(57) [Claims] 1. An ultrasonic sensor for transmitting a lateral ultrasonic wave from a work machine body, which detects a crop on the side of the work machine body, and a rotation control of the work machine body based on a detection result of the ultrasonic sensor. In the automatic traveling work machine including the turning control mechanism, the ultrasonic sensor has a detection range H
Is L <H <2L with respect to the planting interval L of the crop. 2. A take-up reel supported at a front portion of a working machine body so as to be capable of moving up and down via a reel raising / lowering device, a cutting blade for cutting crops scratched by the scraping reel, and a cutting blade for cutting the crop. An ultrasonic sensor, which includes a platform for receiving crops, further emits ultrasonic waves laterally from the working machine, and a turning control mechanism for controlling the working machine based on the detection result of the ultrasonic sensor. In a general-purpose combine comprising, the ultrasonic sensor is provided on a support member on which the take-up reel is supported,
Further, the detection range H is set wider than the space between the planting lines of the crop, which is a general-purpose combine.