JP2010075126A - Automatic direction controller for combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic direction controller for a combine harvester that enables an operator to surely recognize that mowing in a sparsely planted cultivated field and to correct the travel direction by manual steering immediately upon detecting the diversion of the mowing travel direction. <P>SOLUTION: The automatic direction controller for a combine harvester including grain culm sensors 1a, 1b that detect the position of a mower 13 by contacting an unmown grain culm, and a controller 2 that controls the travel direction according to the detection result, is provided with a means S22 of determining sparse planting with a wider plant interval relative to that of conventional planting and a means S23 of informing an operator that the mowing in a sparsely planted cultivated field as soon as recognizing sparse planting after starting the mowing. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic direction control device for a combine that harvests threshing cereals planted in a field.

In order to make the operator's operation easier, the combine is a cutting line that follows the moving direction of the fuselage by the detection signal of the culm sensor that detects the position of the culm by touching an uncut culm that is attached to the mowing unit and is to be cut. The advancing direction of the aircraft is controlled so as to follow the uncut grain rows. (See JP 2007-215490 A)
The grain culm sensor of the traveling direction control device includes a contact-type detection lever that is attached to the reaping part and detects an unmilled cereal cereal within a predetermined detection range on one side thereof, and the detection lever is connected to the tip of the reaping part. It is constructed so as to project on both the left and right sides of the weed. As the aircraft advances, when the left and right grain sensors advance between two adjacent planting ridges, the aircraft moves so that when one of them touches the grain basket, it moves away from the contact side grain. The direction is controlled.
JP 2007-215490 A

  However, since the above-mentioned traveling direction control device controls the direction so that the center of the adjacent culm row does not come into contact with the culm, the direction is not corrected unless the next strain is approached. In the sparsely planted field, the distance between the plants is longer than that of the standard planted field of 22 cm between the plants (for example, 30 cm between the plants).

  Therefore, in the present invention, it is a problem to recognize that the operator is cutting the sparsely planted field and to correct the traveling direction by manual steering as soon as the cutting traveling direction is disturbed.

The problems of the present invention are solved by the following technical means.
That is, based on the detection result of the culm sensor (1a, 1b) and the culm sensor (1a, 1b) for detecting the position of the harvesting part (13) with respect to the uncropped culm in contact And a control device (2) for automatically controlling the traveling direction, and means (23) for determining that the planting interval of the culm row to be harvested is a loose planting state wider than a predetermined planting interval. An automatic directional control of a combine provided with means (21) for notifying the operator that cutting is being performed in a sparsely planted field when it is determined that the sparsely planted state has been established after the start of cutting. The device.

  With this configuration, even when an operator who is riding on the combiner and inadvertently operating is inadvertently, the informing means 21 knows that the sparsely planted field is being harvested, and if the automatic direction control malfunctions manually, Immediately continue harvesting while correcting the direction of travel.

  According to the present invention, an operator who is randomly cutting a standard planting field or a sparsely planted field can quickly know that the sparsely planted field is being trimmed, and the automatic direction control malfunctions. Therefore, it is possible to cope with the problem by switching to manual steering, and the work efficiency can be improved.

  As shown in the figure, the automatic direction control of the combine is performed by adjusting the left and right grain sensors 1a and 1b attached to the cutting unit 13 and the left and right side clutches of the transmission to adjust the traveling direction of the airframe according to the detection signal. And a control device 2 that controls on / off by operating the left and right brakes.

  As shown in FIG. 1, the combine is provided with an operation seat 10 and a grain tank 11 on the right side of the fuselage, which is the already trimmed side of the combine, and a cutting portion that can be moved up and down to the front end position of the fuselage main body 12 on the front side of the operation seat 10. 13 is arranged, and the culm sensors 1a and 1b are arranged at the left and right outer positions of the cutting width of the cutting unit 13. Further, 14 is a threshing unit, which threshs and sorts the cereals harvested by the reaping unit 13, and the cerealed and sorted grains are sequentially sent to the Glen tank 11 along with the reaping and running until the transshipment. Stored temporarily.

  The left and right cereal sensors 1a and 1b have a contact lever type configuration in which an uncut cereal cocoon is detected by a swing lever that swings in a predetermined detection range on one side thereof. The left culm sensor 1a projects inward from the uncut side of the aircraft to detect the position of the left outermost culm 15 of the cutting width, and the right culm sensor 1b is the trimmed side of the aircraft The position of the rightmost outermost culm 16 protruding from the cutting width is detected.

  Moreover, the detection of the distance by the left and right grain sensor 1a, 1b uses an angle sensor that outputs a voltage value corresponding to the swing angle of the swing lever, and the sensor value falls within a predetermined voltage range. By turning and outputting in accordance with the degree of approach of the detection target strain to the culm, it is possible to prevent the detection sensor from being too close to the position of the detection sensor and to perform high-precision tracking.

  As shown in the block diagram of FIG. 2, the control block configuration of the automatic direction control includes, on the input side of the control device 2 by the direction control controller, a switch 3 for selecting the direction control execution, the left and right cereal sensors 1a and 1b, Direction sensors 4a, 4b, power steering left / right position sensor 5, vehicle speed detection sensor 6, etc. are connected to input signals, and the output side adjusts the driving power of the left and right drive wheels on the inside of the turn for turning the combine. A side clutch left output signal 7a and a side clutch right output signal 7b, a panel display signal 21 indicating the state of the field, a brake operation signal 22 and the like are output.

  The internal configuration of the control unit 1 includes various digital signal input processing units 8, an analog signal input processing unit 9, and a pulse signal input processing unit 17, and performs signal processing of digital information, analog information, and vehicle speed pulse information, Direction control means 18 that determines the traveling direction based on these information, left and right turning output processing units 19a and 19b that output left and right turning driving commands based on the direction control output, a brake output processing unit 24, and a field determination processing unit 23. The vehicle speed pulse counting means 20 converts the vehicle speed pulse into vehicle speed information.

  For the automatic direction control by the control device 2, when the direction control selection switch 3 is on, the direction control means 18 uses the detection signal of either the left or right kernel sensor 1a, 1b, and the uncut kernel The left and right turning directions are determined so as to follow the train, and the left and right turning output processing units 19a and 19b and the brake output processing unit 24 perform automatic direction control processing correspondingly. The panel display signal 21 outputs the determination result of the sparsely planted field that is determined by the stock interval calculated from the time of contact with the vehicle and the traveling speed.

  Specifically, as shown in the flowchart of FIG. 3, the direction control is input by the switch 3 for selecting the direction control execution in step S1, and one of the left and right grain sensors 1a and 1b is contacted in steps S2 and S3. Depending on the side selected as the reference side, for example, when the left culm sensor 1a is a reference, a determination process of the inner direction distance to the outermost culm 15 within the cutting width on that side (step S10 and step S12) When the distance is closer to the predetermined value by combining the discrimination process (step S11) based on the detection signal of the reverse side sensor 1b and the distance, when the distance is closer than the predetermined value, the turning output is made to turn the body toward the contact reference side. (Step S13), and if the distance is within a detection range from the predetermined value, the turning output is set (step S) to turn the aircraft in the direction opposite to the contact reference side. 4) a.

  The turning output (step S13 and step S14) is continued until the detected inner direction distance reaches a predetermined value, so that the cutting on the left side of the left grain sensor 1a is performed without depending on the inter-strain distance in each cutting direction. Since it is possible to follow the aircraft while maintaining the cutting position with respect to the outermost culm row 15 within the width, it is not limited to the standard planting field, and it is standard by making the amount of fertilization the same with a small amount of seedlings at intervals. It is also possible to deal with sparsely planted fields where yield and quality comparable to those of planted fields can be obtained.

  Also in the case where the right side cereal sensor 1b on the opposite side is selected as the contact reference side, the same discrimination processing (step S4 and step S6) and turning output (step S7 and step S8) as above are performed in the same manner as described above. Since the machine body can follow the aircraft while maintaining the cutting position with respect to the outermost culm row 16 within the cutting width on the right cereal sensor 1b side, the sparsely planted field is not limited to the standard planting field as described above. Can also respond.

  When the planted state of the field is sparse planting, the accuracy of the automatic direction control is deteriorated due to unevenness and hardness of the field, and the operator may need to manually correct the traveling direction. For this purpose, the sparse planting display shown in the flowchart of FIG. 4 is performed.

  That is, the mowing operation is started (S20), the automatic direction control is performed (S21), and after traveling a predetermined distance, it is determined whether the field is a sparsely planted field (S22). This judgment will be judged as a sparsely planted field if the streak interval is 22 mm or more. Then, in the case of a sparsely planted field, the operator is notified by displaying characters or illustrations on the display unit of the liquid crystal monitor or blinking a lamp that is lit by automatic direction control. When this display is made, the operator prepares to operate the steering lever and prepares for a malfunction of automatic direction control. Thereafter, the automatic direction control is continued (S24). It should be noted that when the steering lever is operated, the automatic operation control is immediately canceled and the manual operation priority control in which the manual control is utilized.

  In the above, the display of the sparsely planted field is displayed by using the automatic direction control determination function. However, the operator makes a determination by directly viewing the field and presses the display button for displaying the sparsely planted field. You may do it.

  The display unit of the liquid crystal monitor performs automatic direction control from a work monitoring screen that displays the engine load state, the amount of grains stored in the Glen tank 11 and the traveling speed each time the display switching button of the monitor is pressed. You may make it switch to the automatic direction control screen which displays a state, and the maintenance screen which displays the maintenance management information of each part of an airframe.

  Further, the display of the sparsely planted field shown on the display unit of the liquid crystal monitor may be switched between a normal work monitoring screen and every predetermined time.

It is a top view of automatic direction control explanation. It is an automatic control block diagram. It is a flowchart figure of automatic control. It is a flowchart figure of sparse planting display control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1a Left side grain sensor 1b Right side grain sensor 2 Control apparatus 13 Cutting part 21 Notification means 23 Sparse planting judgment means

Claims (1)

Based on the detection result of the culm sensor (1a, 1b) and the culm sensor (1a, 1b) which detects the position of the cutting part (13) with respect to the uncropped culm A control device (2) for automatically controlling the direction is provided, and a means (23) for determining that the planting interval of the culm row to be harvested is a sparse planting state wider than a predetermined planting interval, An automatic direction control device for a combine, comprising means (21) for notifying an operator that cutting is being performed in a sparsely planted field when it is determined that the sparsely planted state is reached after the start of cutting.

Images