CN1059305C - Apparatus for controlling of steerage of cutting combine - Google Patents
Apparatus for controlling of steerage of cutting combine Download PDFInfo
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- CN1059305C CN1059305C CN94106625A CN94106625A CN1059305C CN 1059305 C CN1059305 C CN 1059305C CN 94106625 A CN94106625 A CN 94106625A CN 94106625 A CN94106625 A CN 94106625A CN 1059305 C CN1059305 C CN 1059305C
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Abstract
To carry out more proper steering control based on an advance angle of a machine body as well as position deviation of the machine body from a stem culm line. Plural culm separating tools are attached, in a separated state at intervals in the lateral width direction of a machine body, to a reaping and treating part fixed to the front part of a machine body. A pair of right and left steering control sensors S1 and S2 for detecting a lateral width interval between stem culm lines introduced to both the right and the left of a specific culm separating tool among the plural culm separating tools and the culm separating tool are installed. A steering controlling means 100 for working steering devices 12R and 12L to make the culm separating tool take a proper state against the stem culm lines at both the sides based on the information of the sensors S1 and S2 judges the position of the machine body against the stem culm lines by difference in detected values of a pair of both the right and the left sensors S1 and S2, distinguishes an advance angle of the machine body against the stem culm lines by change of the difference in the detected values of both the sensors with time and controls steering based on the information on the position and the advance angle.
Description
The present invention relates to a kind of cutting type reaping machine, its steering control device particularly, it has set on a plurality of nearside dividers that are arranged on the reaping machine front portion, as to detect the information control reaping machine that obtains as the plant of harvesting object and the laterally spaced sensor between the nearside divider and by this sensor direction of travel.
In the past, in order to prevent by the harvesting of the such cutting type reaping machine of combine as the plant of harvesting object, plant is taken place leak problems such as cutting or step on down owing to fuselage turns to from suitable position deviation, the steering control device of this cutting type reaping machine is to detect the interval of nearside divider between being listed as with its left and right sides plant by being arranged on sensor that pair of right and left on the specific nearside divider rear side position in a plurality of nearside dividers turns to control usefulness, for example makes this between left and right every the direction of travel of equally controlling reaping machine.That is, the middle position state that makes this specific nearside divider be in left and right sides plant row turns to control.Therefore, if and the lateral separation between left side plant row is bigger than the right side, the deflection right side of just judging, fuselage position makes the transfer action then, for example the break-make clutch of running gear to the left (for example cterpillar drive etc.) transferring power is disconnected, make fuselage turn left to.And if the lateral separation between left side plant row is littler than the right side, then be judged as deflection left side, fuselage position and above-mentioned similarly the disconnections such as clutch of running gear transferring power to the right, fuselage is turned to the right.
But, even depart from proper states (middle positions between the plant row) in the fuselage position, for example be offset to the right side, and fuselage direction (fuselage is with respect to the angle that enters of plant row) is to point under the situation in left side from directly advancing direction, even if do not make the transfer action, along with walking, fuselage is diverted the left side, and the position deviation of fuselage is diminished.And adopt above-mentioned prior art, even under this occasion, also to make fuselage make the transfer action with turning to the left, therefore carry out useless go to action problem with regard to having, because forming, this go to action surpasses the result who turns to the left who needs simultaneously, fuselage just departs from bigger from proper states to the left, and depart from and just need make it make big go to action to the right in order to revise this, just make swing significantly about fuselage thus, form so-called swinging condition, thereby the follow performance of reduction to the plant row arranged, the problem that the ride comfort sense is worsened.
The present invention makes for the shortcoming that overcomes above-mentioned prior art existence, its objective is that providing a kind of does not just turn to control according to the fuselage position deviation, and the direction of fuselage is also more suitably turned to the cutting type reaping machine of the problem of the above-mentioned prior art existence of solving of control with taking into account.
Be provided with a kind of cutting type reaping machine of steering control device of the present invention, it has the harvesting part that is installed in the reaping machine front portion, opens the compartment of terrain along horizontal sky and is installed in a plurality of nearside dividers on the above-mentioned harvesting part; At least be arranged in above-mentioned a plurality of nearside divider one go up, sensor device that in fact metering is planted in interval between object plant and above-mentioned at least one nearside divider on the same line; Control the advance transfer of direction of above-mentioned reaping machine; Above-mentioned reaping machine of calculating according to the information that obtains with above-mentioned sensor device and first information of the resulting result of distance between the object plant, to the control device that the action of above-mentioned transfer is controlled, it is characterized in that above-mentioned control device is according to above-mentioned first information, and calculates reaping machine by the variable quantity between this first information and first information that before obtained and with respect to the result's of the angle gained of the direct of travel of the line of above-mentioned plantation object plant second information action of above-mentioned transfer is controlled.
By such structure, differentiate the position of fuselage with the detected value that turns to the control sensor with respect to the plant row, also turn to the time of the detected value of control sensor to change the enter angle of differentiation fuselage with respect to the plant row by above-mentioned, be judged to other fuselage position and enter the information of angle according to above-mentioned then, can maintain above-mentioned specific nearside divider with respect to the transfer action that makes fuselage on the correct position of plant row.Below, illustrate and turn to control, for example, when the fuselage position when proper state is offset to the right side, the angle that enters of fuselage is just needn't make the transfer action from directly advancing direction under the situation in left side, but fuselage enter angle towards directly advancing under the direction occasion, and, will turn to the left and make the transfer action like that from directly advancing direction under the occasion on right side.
Like this, since steering control device of the present invention not only according to the position of fuselage from departing from respect to the proper states of plant row, and make the transfer action of fuselage with respect to the situation that enters angle of plant row according to fuselage, with former the sort of position deviation the transfer action of fuselage was compared according to fuselage, can avoid unnecessary go to action, simultaneously can not make the steering state of fuselage be swinging condition yet, thereby can overcome the shortcoming of prior art, raising can improve ride comfort sense ground simultaneously and turn to control the performance of following of plant row.
Fig. 1 is the side view of combine;
Fig. 2 is the plane of the pith of expression combine front portion;
Fig. 3 is a combine control system block diagram;
Fig. 4 is the plane of feeler of the present invention;
Fig. 5 is the flow chart of control system of the present invention;
Fig. 6 is the flow chart of control system of the present invention;
Fig. 7 a is expression and the interval of the corresponding sampling of travel distance and the chart of potentiometric output;
Fig. 7 b is the key diagram of the chart of explanation sampling;
Fig. 8, Fig. 9, Figure 10 are the key diagrams of meta-function;
Figure 11 is the key diagram of control law;
Figure 12 (a) and Figure 12 (b) are the meta-function key diagrams of another embodiment;
Figure 13 (a) and Figure 13 (b) are the meta-function key diagrams of the 3rd embodiment.
Below, with reference to accompanying drawing, the embodiment of the combine of the cutting type reaping machine that the present invention is suitable for is described.In the explanation of this embodiment, suppose as the plant of harvesting object and roughly plant linearly that the plant on combine right side is gathered in, near the place ahead of combine and the plant in left side also do not gathered in.Therefore, in explanation, the combine right side is called as cuts side, and the left side of combine is called does not cut side.
As depicted in figs. 1 and 2, on combine, front portion at the fuselage V with pair of right and left cterpillar drive 1 can be provided with harvesting processing section 3 free lifting, at its rear side manipulation seat 17 is being set, is being provided with at this rear side of handling seat 17 simultaneously the plant by 3 harvestings of harvesting processing section is carried out the threshing apparatus 2 that shelling is handled.
On above-mentioned harvesting processing section 3, a plurality of nearside divider 4A～4D separate under the state of certain intervals along fuselage transverse width direction, are being provided with by support 9 with supporting, form many plants importing path L between these nearside dividers 4A～4D
1～L
3And, in the back of above-mentioned a plurality of nearside divider 4A～4D, be provided with in order ordered state and will importing each bar path L respectively
1～L
3In the raising apparatus 5 propped up of plant, being propped up the reciprocal hairclipper formula cutter 6 that plant roots is cut off, the clamping of harvesting plant is transported to the Handling device 19 of fuselage back, but above-mentioned many plants importing path L
1～L
3In, be in the most close path L that has cut side
3Make and can import two avenue system things simultaneously, the transverse width of its leading section is made than other and is in the path L that does not cut side at least
1, L
2Transverse width big, the 8th, the harvesting plant by Handling device 19 carrying is transported to the feeding chain of 2 li of threshing apparatus.In addition, root sensor S is being set at the rear of above-mentioned cutter 6
0, whether it is used for detecting being in the harvesting plant roots and gathers in the operation in contact.
Two above-mentioned path L about the specific nearside divider 4B in above-mentioned a plurality of nearside divider 4A～4D (more close nearside divider 4B who has cut side) than the nearside divider 4A that does not cut side
1, L
2On, the sensor S that pair of right and left turns to control usefulness is set
1, S
2, they are to detect the plant row be imported into and the lateral separation between nearside divider 4B is used, also, and the above-mentioned control sensor S that turns to
1, S
2By first sensor S
1With the 2nd sensor S
2Constitute.First sensor S
1Be arranged on not cutting on the side lateral location of specific nearside divider 4B, detect the path L that is directed to the left side
1Interior plant row and path have cut the lateral separation between side end; The second sensor S
2Be arranged on cutting on the side lateral location of specific nearside divider 4B, detect the path L that is directed to the right side
2Interior plant row and path do not cut the lateral separation between side end.
Below, the first and second sensor S are described
1, S
2, as shown in Figure 4, they are except this point of left-right symmetry, and all the other all are same spline structures.Each sensor all is bar-shaped feeler, behind fuselage, laterally sprawl, as shown in the figure, the bending backward of the centre of each sensor rod 10, can free rotating each sensor rod 10 rely on the direction of colliding with plant behind the fuselage, also being provided with is collided by each sensor rod 10 and plant detects the potentiometer R of the angle of revolution of rotating to the fuselage rear
1(R
2).Also promptly, along with the walking of fuselage V, be imported into path L
1, L
2Between plant root and sensor rod 10 collide, make sensor rod 10 with corresponding to turning round to the fuselage rear with the plant locational angle of revolution of colliding.Then, potentiometer R
1(R
2) by detecting above-mentioned angle of revolution, output detection signal En, this detection signal En be the plant row of the left and right sides with each sensor installation site be and tunnel end between small signal value is big more more in the lateral separation.The length setting of the sensor rod 10 become can be simultaneously and fore-and-aft direction roughly two strain plants arranged side by side collide, above-mentioned lateral separation with near the position of tunnel end to from a tunnel end side far away, equally spaced number set six scopes 0～5 in order for; Than the farther side of scope 5 setting range 6 also, be positioned at nearside divider 4B under the central situation of plant row of suitably plantation, about the lateral separation detected value respectively in scope 3.
Below, the control structure of combine is described, as shown in Figure 3, control structure is made the output of engine E is passed to oil pressure endless gearing device 16 by belt gear, the output of stepless speed change device 16 is by the above-mentioned cterpillar drive 1 of gearbox 15 rear drives, be provided as turning to of fuselage V transfer on the above-mentioned gearbox 15 with clutch 12L, 12R, they about switch on or off respectively crawler unit 1 transferring power, that side of the crawler unit 1 that cuts off driving force is circled round as centre of gyration ground, among the figure, S
4Be that basis is input to the revolution detection speed of a motor vehicle of gearbox 15 and several sensors of walking around that travel distance is used, S
5It is the engine rotation sensor that detects the revolution of engine E, 13L, 13R are the hydraulic cylinders that turns to usefulness that switches on or off above-mentioned steering cluth 12L, 12R, 14L, 14R be control offer above-mentioned turn to turn to the oily electromagnetic type of hydraulic cylinder 13L, 13R action use control valve.In addition, do not represent among the figure in addition, harvesting processing section 3 is passed in the output of above-mentioned stepless speed change device 16, pass to above-mentioned threshing apparatus 2 simultaneously by the harvesting clutch.
The control device 11 that utilizes the microcomputer machine also is set, from above-mentioned root sensor S
0, first and second sensor S
1, S
2, tachometer generator S
4And engine rotation sensor S
5The signal of output is imported into this and controls in the device 11.Also be arranged on manual control and automatic operation building and change the manual automatic transfer switch SW of usefulness
1, from manual automatic transfer switch SW
1The signal that sends also is introduced in the control device 11, also turns to control valve 14L, 14R output drive signal above-mentioned from control device 11.
Also make the driving signal of stepless speed change device 16 speed changes by executive component output not shown in the figures from above-mentioned control device 11.And, when above-mentioned engine E load increases, its revolution is reduced, thereby above-mentioned engine rotation sensor S
5Function as the engine load detection means is arranged.Above-mentioned control device 11 is made when turning round automatically, can be according to tachometer generator S
5Detection information, make engine load maintain in the OK range control speed of a motor vehicle like that automatically.Also promptly, if being reduced to than the low speed of a motor vehicle that makes of suitable revolution, engine revolution slows down, if engine revolution increases the speed of a motor vehicle than suitable revolution increase on the other hand.When in addition, being arranged on manual operation at above-mentioned manipulation seat 17 places with the manual fast bar that speed of a motor vehicle speed change is used with the turning-bar that manually switches on and off above-mentioned steering cluth 12L, 12R.
But, as shown in Figure 2, because plant is the plantation of ground, unit gap with the strain, thereby, even fuselage does not change with respect to the position that plant is listed as, but along with walking makes above-mentioned potentiometer R
1(R
2) the spacing in the rows H cyclical swing accordingly that can be as Fig. 7 (a) shown in be listed as with plant of voltage.Gu this above-mentioned control device 11 is made every walking and is configured to potentiometer R
1(R
2) voltage, be that the shorter predetermined distance Δ h of the lateral separation detected value (arbitrary value in the above-mentioned scope 0～6) between the left and right sides plant row of above-mentioned nearside divider 4B and it just takes a sample and remembers, simultaneously at aftermentioned (with reference to Fig. 7 (b)) setting-up time t of setting like that
2At interval back warp is crossed the minimum of a value (near 0 value) of the above-mentioned detected value of sampling as above-mentioned first sensor S
1The detected value and the second sensor S
2Detected value.
Below, steering control device 100 is described, above-mentioned first sensor S
1The detected value A and the second sensor S
2The poor d=A-B of detected value B become the position d of the relative plant row of fuselage V surely.Like this, as two sensor S
1, S
2Detected value when equating (for example A=B=3), when being about to plant row central about specific nearside divider 4B is positioned at, above-mentioned positional value d just equals 0, when specific nearside divider 4B when this state is offset (being that fuselage V is diverted the right side) to the right, above-mentioned positional value d just become on the occasion of, when when an opposite lateral deviation is moved, above-mentioned positional value d is a negative value just.In addition, when the variable quantity of above-mentioned poor A-B is finished Δ (A-B) the setpoint distance of walking, when for example walking the distance twice 2H of above-mentioned spacing in the rows H, expression fuselage V enters the variable θ of angle just by formula θ=Δ (A-B)/2H definition with respect to the plant row, in θ=0 o'clock, the state that has just become fuselage V always to advance along the plant column direction.
In the superincumbent explanation, when the position of fuselage V d and entering angle number variable θ value are 0 simultaneously, are decided to be fuselage V and are in the proper states of setting, keep this and set proper states ground and turned to control with respect to the plant row.Specifically, be according to the position d that tries to achieve above and enter angle variables θ, obtain and the corresponding control output turn-off time of left and right sides steering cluth 12L, 12R U; According to this control output U, turn to control by turning to about making with control valve 14L, 14R energising action.The relation of above-mentioned control output U and corresponding with the position d of fuselage V and entering angle parameter θ respectively above-mentioned poor A-B and variation delta (A-B) thereof is made the chart (not shown) in advance and is memorized, and steering control device 100 is obtained control and exported U with reference to this chart.
Above-mentioned control output is according to Fig. 8～meta-function shown in Figure 10 and control law shown in Figure 11, calculate by fuzzy reasoning, Fig. 8 represents the meta-function of the difference A-B (corresponding with the position d of fuselage V) of above-mentioned detected value, Fig. 9 represent the difference A-B of above-mentioned detected value variation delta (A-B) (with fuselage V to enter angle variables θ corresponding) meta-function, Figure 10 is the meta-function of the controlled quentity controlled variable Z that uses of the weighting function of expression during as s operation control output U.Above-mentioned control law is to be the variation of above-mentioned poor A-B and it Δ (A-B) as two fuzzy variables of last, controlled quentity controlled variable Z as back one and record and narrate.And difference A-B and variation delta (A-B) thereof are to use value to less one side in the appropriateness of above-mentioned meta-function (Fig. 8 and Fig. 9) as appropriateness to the appropriateness (grade) of control law.According to the appropriateness of obtaining like this, (Figure 10) obtains controlled quentity controlled variable Z by above-mentioned meta-function.Be applicable under a plurality of control law occasions in difference A-B and variation delta (A-B) thereof, obtain and the corresponding controlled quentity controlled variable Z of each control law according to said sequence, the value after these controlled quentity controlled variables Z weighted mean as final controlled quentity controlled variable Z.
Then, the basic output of setting in being multiplied by above-mentioned final controlled quentity controlled variable Z at the appointed time obtains actual control output U.Here, control output U is the above-mentioned conduction time that turns to control valve 14L, 14R, control output U be on the occasion of the time, expression (is not cut left side steering cluth 12L disconnection side) towards the left side and is turned to; When control output U was negative value, expression disconnected right hand steering clutch 12R, (has cut side) towards the right side and has turned to.In addition, (Figure 11) also can distinguish from above-mentioned control law, for example, even fuselage V is positioned at than above-mentioned proper states (for example to be offset the right side significantly, d=A-B=5, suitable with the appropriateness 1 of PB) occasion under, when the angle variables θ that enters of fuselage V tilts to left side (not cutting side) (Δ (A-B)=-4 for example significantly, suitable with the appropriateness 1 of NB) time, the Z of controlled quentity controlled variable as a result of above-mentioned fuzzy reasoning becomes 0, make control output U become 0, need not operate above-mentioned turning to control valve 14L, 14R.That is to say, even fuselage V has bigger position skew from proper states, be to carry out unnecessary steering operation when dwindling offset direction, above-mentioned position in fuselage V court.
Turn to after control valve 14L, the 14R energising action from making according to above-mentioned control output U, to turn to the actual disconnection of clutch 12L, 12R and from turn to be disconnected with clutch 12L, 12R after, to in fact fuselage V going direction changing all being had time delay respectively, thereby until according to control output U to turning to the result who operates with clutch 12L, 12R as the first and second sensor S
1, S
2The variation of detected value show that also producing official hour postpones.So it is according to making the stipulated time t that turns to after clutch 12L, the 12R action that above-mentioned steering control device 100 is made
1The first and second sensor S afterwards
1And S
2Information just carry out the position d of fuselage V and the differentiation that enters angle variables θ.Promptly shown in Fig. 7 (b), after the clutch operating signal is output, up to process stipulated time t
1Till, do not carry out sampling action, at t
1Through setting-up time t later
2The interval in minimum of a value in the data of taking a sample as above-mentioned detected value A, B.And above-mentioned time t
2Set for longlyer than the time of the above-mentioned spacing in the rows H that walked at least, the distance twice 2H of every spacing in the rows H that walked carries out clutch operating.Then, differentiated the position d of fuselage V and entered angle variables θ by above-mentioned resulting detected value A, B, thereby calculate control output U, U exports next clutch operating signal according to this control output.
Below, according to the action of the above-mentioned control device 11 of flowchart text of Fig. 5～shown in Figure 6.When confirming above-mentioned root sensor S
0Become on-state from off-state, when beginning to gather in operation, by manual automatic transfer switch SW
1State judge it is manual operation or running automatically.Owing to be the selection manual operation generally, thereby begin if do not have indication control end of a period just to revert to flow process at start of run.When manual operation, operating personnel carry out the steering operation while the plantation state of seeing plant in the farm with hand, make the fuselage steering position be in relative plant and be listed as into proper state, that is, make the foveal state of above-mentioned nearside divider 4A～4D between each plant row.Carry out variable speed operation with hand simultaneously.Then the fuselage steering position with respect to suitable moment of plant row manual automatic transfer switch SW
1Convert automatic running one side to.
When confirming to be converted into automatic running, turn to control when stating speed of a motor vehicle control being implemented in.When turning to control (Fig. 6), shown in Fig. 7 (b), investigate from turn to be operated with clutch 12L, 12R after t
1Whether effluxion; At t
1Under the situation of effluxion, only at t
1Behind the effluxion and t
2Time, every walking predetermined distance Δ h was to the first and second sensor S when not having process again
1, S
2Data taken a sample and remembered, at t
1Behind the effluxion, and t
2Time also under the situation of process, is differentiated the minimum of a value in the above-mentioned sampled data, this minimum of a value as the first and second sensor S
1, S
2The A of detected value separately, B.Then, by the difference A-B and the time changes delta (A-B) thereof of aforementioned detected value of trying to achieve, obtain like that as described above fuselage V with respect to the position d of plant row and enter angle variables θ.Then, by the graph choice control output U corresponding with entering angle variables θ with these positions d that above-mentioned fuzzy reasoning is tried to achieve, operation turning to and using clutch 12L, 12R according to this control output U again.
In the above-described embodiments, under all occasions all be with the position d of fuselage V irrespectively according to the position d of fuselage V and enter angle variables θ the two, obtain control output U by fuzzy reasoning, but, at the position of fuselage V d hour, the difference A-B of for example above-mentioned detected value in-2～+ 2 scopes, above-mentioned specific nearside divider 4B do not break away from about the bigger occasion of plant row middle position under, can obtain control output U by a position d, thereby control is simplified according to fuselage V.
The foregoing description has illustrated that the pair of right and left that is arranged on the specific nearside divider 4B turns to control sensor S
1, S
2Detect simultaneously with the plant row between laterally spaced situation (i.e. two sensors 10 all collide with plant state), but for example also have owing to there not being the distance of plant or plant excessive, the sensor detection of a side is less than the situation of plant.Also can make above-mentioned steering control device 100 when the plant row break away from pair of right and left for this reason and turn to control sensor S
1, S
2In a side detection range the time, the detected value that is in the sensor of the opposing party in the detection range by the plant row is differentiated the position d of above-mentioned fuselage V, and is changed by time of the detected value of above-mentioned the opposing party's sensor and to differentiate fuselage V and enter angle variables θ.Specifically, for example, shown in Figure 12 (a), the value that plant row are in the detected value A (perhaps B) of the side's sensor in the detection range be 3 o'clock as middle position, constitute the no function corresponding with the position d of fuselage V; And for example shown in Figure 12 (b), the value that plant is listed in the variation delta A (or Δ B) of the sensor detected value of the side in the detection range be 0 o'clock as middle position, constitute with fuselage V enter the corresponding meta-function of angle variables.
The foregoing description is the tachometer generator S that is detected usefulness by travel distance
4Detect the distance twice 2H of walking spacing in the rows, turn to control sensor S with the above-mentioned pair of right and left of removing in this walking at interval apart from 2H
1, S
2The time variation amount Δ (A-B) of difference of controlling value, that differentiates the relative plant row of fuselage V enters angle variables θ.But, in addition, for example when operation is walked usually, to there is no need image position d tight like that because of the correctness that enters angle variables θ, walk the time with the speed of a motor vehicle travel that is configured to setting and ask travel distance, it is that Δ (A-B) is differentiated and entered angle variables θ that the time of removing the difference of above-mentioned detected value with this travel distance changes, thereby control structure is simplified.
The foregoing description be according to make turn to clutch 12L, 12R this to after the transfer action, through stipulated time t
1After pair of right and left turn to control usefulness sensor S
1, S
2Information differentiate the position d of fuselage V and enter angle variables θ, but after making the transfer action, within a short period of time, the result of this steering operation as the change in travel direction of actual fuselage V and the occasion that manifests just there is no need to wait for the above-mentioned stipulated time.
The foregoing description is towards cutting side (right side of direct of travel) steering sensitivity and turning to control in the same manner towards the steering sensitivity of not cutting side (direct of travel left side), but, also can make towards the steering sensitivity of cutting side (direct of travel right side) than turning to control in order to avoid fuselage V as far as possible towards not cutting the purpose that pleurapophysis is gone into towards the steering sensitivity the earth that does not cut side (direct of travel left side).Promptly, in this case, the position d that above-mentioned steering control device 100 is made fuselage V disengages to and does not cut side and the angle variables θ that enters of fuselage V tilts to this side of occasion of not cutting side and disengages to the angle variables θ that enters that cuts side and fuselage V and tiltedly make to turn to clutch 12L, 12R with bigger steering volume to the occasion of cutting side from the proper states of setting and move from setting proper state than the position d of fuselage V from setting proper state from setting proper state.Specifically, shown in for example Figure 13 (a) reaches (b); This side when the value of the difference A-B of the detected value of the sensor and variation delta thereof (A-B) is a side of bearing is than being that a positive side shows that with littler value (absolute value) rolling countries such as NB and NS constitute meta-functions.
The foregoing description is to turn to control sensor S being arranged on pair of right and left
1, S
2The central authorities of its left and right sides, specific nearside divider 4B position plant row and also its sensing (direct of travel of the fuselage) occasion parallel with the plant row as the proper states that is diverted into setting, but also can be the proper states of the state beyond this as setting.For example also can the row of the plant about it central authorities be partially by cutting the position of side a little specific nearside divider 4B, and its sensing is listed as the proper states of parallel occasion as setting with plant.
The foregoing description is the turn to transfer that with clutch 12L, 12R constitute fuselage V of expression by a pair of connection disconnection cterpillar drive 1 transferring power to the left and right.In addition, also available for example a pair of to about cterpillar drive 1 brake that carries out braking maneuver constitute.
The foregoing description is with making pair of right and left turn to control sensor S
1, S
2Collide with plant, detect the touch sensor formation of carrying out the rotational angle of rotating sensor rod in fuselage rear one side, noncontacting proximity sensors such as photoelectric sensor, ultrasonic sensor, laser sensor constitute but for example also can utilize.In addition, also can suitably be altered to position on other nearside divider as the position of the specific nearside divider 4B in installation site.
The foregoing description is the cycle is used sensor S to turning to control in accordance with regulations
1, S
2Output take a sample minimum of a value in a plurality of data that obtain as laterally spaced detected value between nearside divider 4B and the plant row.But in addition, also can be for example sensor output being handled through rolling average and as above-mentioned detected value.Perhaps can have the damping function to the sort of revolution action that make sensor rod, make its action slower, by mechanism of mechanism in addition the sensor of equalization export as controlling value.
The foregoing description is that four nearside divider 4A～4D are set, and constitutes three plants and import path L between each nearside divider
1～L
3, and being positioned at the most close path L that has cut side
3Transverse width make than other path L
1, L
2Wide.But the number of nearside divider and path and transverse width also can not be subjected to the foregoing description restriction and suitably change.
The foregoing description is the situation that expression is suitable for combine of the present invention, in addition, and the cutting type reaping machine that the present invention also walks applicable to various automatic or manuals.
Claims (12)
1. cutting type reaping machine, it has the harvesting part that is installed in the reaping machine front portion, opens the compartment of terrain along horizontal sky and is installed in a plurality of nearside dividers on the above-mentioned harvesting part; At least be arranged in above-mentioned a plurality of nearside divider one go up, sensor device that in fact metering is planted in interval between object plant and above-mentioned at least one nearside divider on the same line; Control the advance transfer of direction of above-mentioned reaping machine; Above-mentioned reaping machine of calculating according to the information that obtains with above-mentioned sensor device and first information of the resulting result of distance between the object plant, to the control device that the action of above-mentioned transfer is controlled, it is characterized in that above-mentioned control device is according to above-mentioned first information, and calculates reaping machine by the variable quantity between this first information and first information that before obtained and with respect to the result's of the angle gained of the direct of travel of the line of above-mentioned plantation object plant second information action of above-mentioned transfer is controlled.
2. reaping machine as claimed in claim 1 is characterized in that above-mentioned sensor device is mounted in a pair of touch sensor on one the both sides in above-mentioned a plurality of nearside divider.
3. reaping machine as claimed in claim 1 or 2 is characterized in that above-mentioned object plant and the distance between the reaping machine are to calculate according to the difference of the detected value of above-mentioned pair of sensors.
4. as claim 2 or 3 described reaping machines, it is characterized in that it be the detected value by measuring above-mentioned pair of sensors difference calculate angle on the direct of travel of reaping machine setting variable quantity on the travel distance.
5. as any described reaping machine in the claim 1～4, it is characterized in that above-mentioned each sensor all is to be rotatably supported in bar-shaped sensor on the nearside divider by fulcrum.
6. reaping machine as claimed in claim 5 is characterized in that above-mentioned bar-shaped sensor is detected by potentiometer continuously with respect to the pendulum angle of nearside divider.
7. as claim 4 or 5 described reaping machines, it is characterized in that above-mentioned bar-shaped sensor is laterally rearward extending at reaping machine.
8. as each described reaping machine in the claim 5～7.It is characterized in that above-mentioned bar-shaped sensor is position bending therebetween.
9. as any described reaping machine in the claim 1～8, it is characterized in that the first above-mentioned information and second information are to obtain according to the time chart of setting.
10. as any described reaping machine in the claim 1～9, it is characterized in that above-mentioned control device is to make reaping machine control above-mentioned transfer progressively setting on the track in fact, this sets track essence is along the object plant direction of planting on same line.
11. as any described reaping machine in the claim 1～10, it is characterized in that above-mentioned control device is that reaping machine disengages to a side from setting track to the operational ton of transfer, and direct of travel disengages to opposite side than reaping machine from setting track towards the occasion of this side, and direct of travel is big during towards opposite side.
12. as the described reaping machine of claim 1～11, it is characterized in that above-mentioned control device is to carry out processing based on fuzzy control by first information and second information, the decision reaping machine direction of advancing.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP106361/93 | 1993-05-07 | ||
| JP106361/1993 | 1993-05-07 | ||
| JP05106361A JP3084171B2 (en) | 1993-05-07 | 1993-05-07 | Steering control of reaper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1099924A CN1099924A (en) | 1995-03-15 |
| CN1059305C true CN1059305C (en) | 2000-12-13 |
Family
ID=14431607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN94106625A Expired - Lifetime CN1059305C (en) | 1993-05-07 | 1994-05-07 | Apparatus for controlling of steerage of cutting combine |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP3084171B2 (en) |
| KR (1) | KR970001086B1 (en) |
| CN (1) | CN1059305C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104080327B (en) * | 2012-01-30 | 2016-10-12 | 洋马株式会社 | United reaper |
| CN109017779A (en) * | 2018-09-30 | 2018-12-18 | 洛阳福格森机械装备有限公司 | A kind of cropper intelligence DAS (Driver Assistant System) and control method |
| CN109819757B (en) * | 2019-03-28 | 2020-08-04 | 华中农业大学 | Harvesting boundary positioning and tracking system and method of combined harvester |
| KR200493363Y1 (en) | 2019-04-22 | 2021-03-17 | 정광진 | Hanger structure for display stand |
| CN110588773A (en) * | 2019-09-16 | 2019-12-20 | 山东沃华农业科技股份有限公司 | Harvester steering control system and harvester thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59187705A (en) * | 1983-04-11 | 1984-10-24 | 株式会社クボタ | Earth working vehicle |
| JPS59216503A (en) * | 1983-05-25 | 1984-12-06 | 株式会社クボタ | Reaming combine with follower sensor |
| JP4088906B2 (en) * | 1998-12-16 | 2008-05-21 | 株式会社トプコン | Photo detector of surveying instrument |
-
1993
- 1993-05-07 JP JP05106361A patent/JP3084171B2/en not_active Expired - Fee Related
-
1994
- 1994-05-02 KR KR1019940009609A patent/KR970001086B1/en not_active IP Right Cessation
- 1994-05-07 CN CN94106625A patent/CN1059305C/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59187705A (en) * | 1983-04-11 | 1984-10-24 | 株式会社クボタ | Earth working vehicle |
| JPS59216503A (en) * | 1983-05-25 | 1984-12-06 | 株式会社クボタ | Reaming combine with follower sensor |
| JP4088906B2 (en) * | 1998-12-16 | 2008-05-21 | 株式会社トプコン | Photo detector of surveying instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1099924A (en) | 1995-03-15 |
| JPH06319309A (en) | 1994-11-22 |
| KR970001086B1 (en) | 1997-01-28 |
| JP3084171B2 (en) | 2000-09-04 |
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