JP2573079B2 - Medium cutting control device in harvester - Google Patents

Description

The present invention relates to a middle cutting control device in a harvester that cuts a grain stalk while automatically controlling a traveling direction.

(B) Conventional technology Conventionally, a pair of left and right steering sensors, which serve as a steering sensor on the cut side or a non-cut side, respectively, are provided on the left and right mowing frames at the time of row cutting and side cutting. A harvester that controls the running direction of the aircraft based on the distance between the left and right cutting frames detected by the steering sensor and the planted grain culm introduced in the field between the cutting frames. Based on the detection result of one of the steering sensors, which controls the steering of the aircraft during middle cutting, or as a steering sensor on the uncut ground side during row cutting and side cutting A device that controls the steering of the airframe during middle cutting based on the detection result of the other steering sensor is already known.

(C) Problems to be Solved by the Invention The known harvester operates the body based on the detection result of one of the pair of left and right steering sensors during middle cutting. Direction was controlled,
In particular, if there is a missing part in the planted culm that follows, or if the upper row is partially meandering inward, the steering sensor detects the separation, whereby the aircraft turns unnecessarily and the cutting row And the driver's feeling due to unnecessary turning control (the direction of the body is frequently controlled) is poor.

(D) Means for Solving the Problems The present invention provides a pair of left and right cutting frames, each of which serves as a steering sensor on the cut ground side or a steering sensor on the uncut ground side during the row cutting and side cutting. In a harvester that is provided with steering sensors and controls the running direction of the aircraft based on the distance between the left and right cutting frames detected by these steering sensors and the planted grain culm introduced in the field introduced therebetween, A mode changeover switch is provided on the operation panel, and when the mode changeover switch is switched to the middle cutting mode, the detection ranges of the pair of left and right steering sensors are both divided into an approach area, a dead zone, and a separation area. Also, when one of the steering sensors, which is the steering sensor on the already-cut ground, detects the approaching area during the cutting and side-cutting, the cutting is performed irrespective of the detection result of the other non-cutting-side steering sensor.・ Towards the side of the already-mown lands at the time of horizontal cutting In the state where the turning control is performed, and the steering sensor on the one cut side detects the separation area while the steering sensor on the other uncut side detects the approaching area or the separation area, the line cutting is performed. -Unnecessary turning control is performed by controlling the turning of the aircraft toward the uncut ground side at the time of side-cutting, and further, controlling the aircraft to go straight ahead based on the detection results of both other steering sensors. To prevent uncut leaves, and to return to the original stalks to be harvested even when the machine is going to come off from the stalks to be harvested.

(E) Operation In the case of middle cutting, the cutting operation is performed by switching the mode changeover switch provided in the steering panel of the fuselage to the middle cutting mode.

Then, in this case, when one of the steering sensors serving as the steering sensors on the cut ground side during the row cutting and side cutting detects the approaching area, regardless of the detection result of the steering sensor on the other uncut ground side. Turning control is performed toward the cut ground side at the time of row cutting and side cutting, leaving uncut on that side (the cut ground side),
This prevents the crawler from stepping down on the remaining culm.

In addition, the steering sensor on the one cut ground side detects the separated area, and if there is room on that side, detection of the approach area of the steering sensor on the other uncut land side detects the distance. Mowing
The turning control is performed toward the uncut ground side at the time of the side cutting, so that it is possible to prevent the uncut portion from being left behind on the other side (the uncut ground side).

Further, when both the steering sensors detect the separation area, the turning control is performed toward the uncut land side during the line cutting and the side cutting, and the weeding body on the uncut side during the line cutting and the side cutting is performed. Even if the cutting frame enters inside beyond the stalk cutting to be cut, the grass and cutting frame are returned to the outside of the original stalk cutting.

When the two steering sensors detect detection results other than those described above, the straight running control of the aircraft is performed, and if there is a lack of stock on one side, or the culm cutting is meandering inward. Also, it is possible to prevent the stalks from being trampled or left uncut.

(F) Embodiment To explain with reference to the drawings of an embodiment of the present invention, a threshing device 1 is mounted on the left side (the uncut side at the time of row cutting or side cutting) on a machine having a pair of right and left crawlers. An operation panel 2, a driver's seat 3 provided on the engine, and a grain tank 4 are arranged in this order from the front on the right side (the side of the cut ground at the time of the row cutting or the side cutting), and a driving unit of the crawler is provided. Although not shown, a side clutch and a side brake for steering similar to those of the conventional one are attached, and a pair of right and left weeding bodies 5, 6 and a middle weeding body 7, in front of the threshing device 1, are provided. Cereal stems
A harvesting device 10 including 8, 8 and a grain stalk scraping device, etc., and a grain stalk transport device 11 that supplies the harvested grain stalk to the threshing device 1 while nipping and transporting it are provided so as to be able to move up and down.

Also, the cutting frame 12 immediately after the weeds 5 and 6 has sensor bars 13 and 14 that have penetrated into the culm passage, and a left steering sensor (a line cutting or a side cutting) composed of a potentiometer for detecting the angle thereof. (Steering sensor on uncut land side at time)
15 and a right steering sensor (steering sensor on the cut ground at the time of row cutting or side cutting) 16 are attached.
The detection ranges rotated by contact with the planted culm are shown in the order from the front to the separated areas a, b ', dead zone b, b', approach area c,
C is detected.

When the mode changeover switch provided on the operation panel 2 is tilted to one side, the mode is set to the row cutting / lateral cutting mode, and when the mode changeover switch is tilted to the other side, the mode is set to the middle cutting mode. Hereinafter, the intermediate split mode will be described with reference to the following table and the flowchart shown in FIG.

With the left steering sensor 15 detecting the separation area A,
When the right steering sensor 16 detects the separation area A ′, the transmission to the left crawler is cut off and the vehicle turns left (turns toward the uncut ground side during the row cutting and side cutting), and the dead band B ′ Is detected, the straight-ahead control is performed, and when the approaching area C is detected, the transmission to the right crawler is cut off and the vehicle turns right (turns toward the cut ground side during row cutting and side cutting), Prevents culms on the right side (the side of the cut ground at the time of row cutting and side cutting) from being left uncut or stepping down.

When the left steering sensor 15 is detecting the dead zone B and the right steering sensor 16 is detecting the separated zone A 'or the dead zone B', the straight-ahead control is performed, and the approach zone C 'is detected. Then, the right turning control (the turning control toward the cut ground side at the time of the line cutting and the side cutting) is performed as described above, and the grain culm on the right side (the cut side at the time of the line cutting and the side cutting) is controlled. To prevent them from stepping down or being left uncut.

Further, when the left steering sensor 15 detects the approach area C and the right steering sensor 16 detects the separation area A ′, there is a margin on the right side (the cut ground side during the row cutting and the side cutting). So
Turning to the left (turning toward the uncut land side during row cutting and side cutting)
In order to prevent the culm from being left uncut or stepped down on the left side (the uncut side at the time of row cutting or side cutting), this control proceeds, and when the dead zone b 'is detected, straight-ahead control is performed. , When the approach area c is detected, that is, the two steering sensors 1
In the state where both the near areas C and C 'are detected, the right turn control (turn control toward the cut ground at the time of line cutting and side cutting) is performed on the right side (line cutting and side cutting). To prevent uncut leaves and stepping on the cut ground side at the time.

As described above, when the right steering sensor 16 detects the approach area C ′, regardless of the detection result of the left steering sensor 15, the right turning control is performed (toward the cut ground side during the row cutting and the side cutting). Control) to prevent left-over and stepping-down on the right side (the side of the cut ground at the time of cutting and cross-cutting) where two culms are introduced, and the right steering sensor is separated. When the left steering sensor 15 detects the approaching area c only in the state where there is no remaining mowing on the right side only in the state where the area b 'is detected, the left turning (when the uncut area is not (Turning toward the side) to prevent left-over and stepping down on the left side (the uncut side at the time of row cutting and side cutting).

Also, the left and right steering sensors 15, 16 are both in the separated area,
As shown in FIG. 4, the state of detecting a 'is as shown in FIG. In the case, or occurs when there is a lack of stock on that side, here, when the cereal stalk row is swollen, if it is controlled to go straight in the direction of the arrow shown by the solid line,
There is a problem that the aircraft travels to the right as it is and the reaping position is shifted. However, until the right steering sensor 16 detects the dead zone b 'by the above-described control, the left turning control (turning control toward the uncut ground side during the row cutting and the side cutting) is performed in the direction indicated by the broken line. As a result, the cutting position returns to the original state. Therefore, the left turning control in this case prevents the entire cutting position from being shifted, provided that at least the right culm row can be cut. Therefore, it is possible to cut the cereal stalks in the next slashing process based on the predetermined stalks.

(G) Effect of the Invention As described above, the middle cutting control device of the present invention, when the mode changeover switch is switched to the middle cutting mode, one of the cuttings which is on the cut ground side during the row cutting and the side cutting. Ground-side steering sensor
When the 16 detects the approaching area C ′, the turning control is performed toward the already-cutted ground side at the time of the line cutting and the side-cutting regardless of the detection result of the steering sensor 15 on the other uncutted land side. There is no stepping on the culm on that side during mid-cutting, and no uncut leaves.

In addition, when the steering sensor 16 on the cut ground side detects the separation area b ', the detection of the approach area c by the steering sensor 15 on the other uncut land side detects the approach area c, and the uncut land side at the time of line cutting and side cutting. , So that it is possible to prevent uncut leaves and stepping down on the other side during middle split cutting.

When both of the steering sensors 16 and 15 detect the separated areas A ′ and A, the turning control is performed toward the uncut ground side during the line cutting and the side cutting, so that the line cutting and the side cutting are performed. Even if the herbaceous body and the cutting frame on the uncut side at the time exceed the grain culm row to be mowed tentatively, the grassy body and the mowing frame are returned to the outside of the original grain culm row to be mowed. As a result, it is possible to prevent the cutting row from being shifted, so that the subsequent cutting operation can be performed smoothly.

In addition, since the aircraft is configured to control the straight traveling based on the detection results of both other steering sensors, even if there is a lack of stock on one side or the line meanders inward,
There is no stepping on the culm or uncutting is left, and since the straight-ahead steering control is increased, the driving feeling at the time of middle splitting can be improved.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a plan view omitting the rear part of the combine, FIG. 2 is a plan view of main parts, FIG. The figure is a plan view showing the control for preventing the break. 5,6 ... shed body, 10 ... reaper, 13,14 ... sensor bar, 15 ... left steering sensor (steering sensor on the uncut ground side during row cutting and side cutting), 16 ... Right steering sensor
(Steering sensor on the side of the cut ground at the time of side cutting)

Claims (1)

(57) [Claims] 1. The left and right cutting frames (12), (12) serve as a steering sensor (16) on the cut ground side or a steering sensor (15) on the uncut ground side during the row cutting and side cutting, respectively. A harvester that is provided with a pair of left and right steering sensors and controls the running direction of the aircraft based on the interval between the left and right cutting frames detected by these steering sensors and the planted cereal culm introduced between the fields. A mode changeover switch is provided on the operation panel (2) of the body, and when the mode changeover switch is switched to the middle cutting mode, the detection ranges of the pair of left and right steering sensors are both approaching areas (c '), ( C) and dead zone (b '), (b)
And the separated areas (a ') and (a), and one of the steering sensors (16), which serves as a steering sensor on the cut ground side during row cutting and side cutting, has an approaching area (c'). Is detected, the turning control is performed toward the already-cutted land at the time of the row cutting and the side-cutting, regardless of the detection result of the steering sensor (15) on the other uncutted land side. In the state where one of the steering sensors (16) detects the separation area (a '), the other steering sensor (15) on the uncut side detects the approach area (c) or the separation area (a). Then, the harvester is characterized in that it is controlled to turn toward the uncut ground side at the time of row cutting and side cutting, and further to control the straight running of the aircraft based on the detection results of both other steering sensors. Medium cutting control device.