JP2682931B2 - Combine speed controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, based on the information of an engine load detecting means for detecting a load of an engine, automatically adjusts a traveling transmission so that the load of the engine is maintained at a set target load. The present invention relates to a combine vehicle speed control device, which is provided with control means for gear shift operation.

[0002]

2. Description of the Related Art A vehicle speed control device of a combine of this type includes:
Since the vehicle speed and the engine load have a corresponding relationship such that the cutting rod amount increases and the threshing load increases as the vehicle speed increases, and the engine load becomes heavier, the engine load is detected and this is the target. The load condition of the engine is maintained at the target load by increasing or decreasing the vehicle speed according to the deviation from the load.

By the way, in general, a cutting method for a stem rod introduced into a stem rod introducing path of a combine harvesting section is generally used for each one row of a plurality of weeding implements 4A to 4D. There are two types of cutting method: a row cutting method that runs parallel to the stem-planting direction (see Fig. 4) and a horizontal cutting method that runs in a direction that intersects the stem-planting direction (see Fig. 5). In order to preliminarily divide the cutting work range, a row of stem rods for two rows is introduced between the weeding tool 4D on the oldest cutting side and the weeding tool 4C on the uncut side of the weeding tool. There are three types of cutting types, the split type (see FIG. 6), and the amount of stems to be cut is different in each cutting type. In other words, the amount of cutting rods in the horizontal cutting type other than the line cutting type and the cutting type such as the split type is larger than the amount of cutting rods in the cutting type.

Conventionally, in a combine vehicle speed control device, the same vehicle speed control is performed based on the above-described engine load detection information regardless of the change in the cutting mode.

[0005]

Therefore, in the above-mentioned conventional means, in the case of a cutting type other than the line cutting type,
Even if a deceleration operation is performed in response to the increased engine load detection information due to the large amount of harvested stem rods being transported to the threshing device and the threshing load increasing, the threshing device is transported to the threshing device. The large amount of the harvested stalks is not treated, and an excessive amount of the stalks stays, which further increases the threshing load. As a result, defective threshing occurs and, in the worst case, clogging of the processed material in the threshing device occurs.
There was a risk of engine trouble such as engine stall.

The present invention has been made in view of the above circumstances, and an object thereof is to discriminate a mowing type of a mowing processing section and to cope with the determined mowing type in order to solve the drawbacks of the conventional means. To perform appropriate shift control.

[0007]

The combine vehicle speed control device according to the present invention is characterized in that a cutting method for a stalk introduced into a stalk introducing path of a slicing processing section has a row in the traveling direction of the machine body. A strip cutting type arranged to form, or a cutting type discriminating means for discriminating whether the cutting type is other than the strip cutting type is provided, and the control means is based on the information of the cutting type discriminating means, When it is determined that the cutting type is a cutting type other than the strip cutting type, the traveling transmission is configured to shift to a set speed or set amount deceleration side. .

[0008]

According to the characterizing feature of the present invention, the cutting type discriminating means sets the cutting type of the cutting unit to be a line cutting type arranged to form a line in the traveling direction of the machine body or another cutting type. It is determined whether there is. If it is determined that the cutting method is other than the strip cutting method, the vehicle is decelerated so as to set the vehicle speed to the set speed, or the vehicle speed is decelerated by a certain amount from the current vehicle speed. Is done. On the other hand, when it is determined that the cutting style is used,
Normal vehicle speed control is performed to perform a gear shift operation so as to maintain the engine load at the target load.

[0009]

Therefore, according to the characteristic constitution of the present invention, while the normal vehicle speed control in the strip cutting type is favorably executed, the cutting type is changed when the cutting type other than the strip cutting type is changed. Since the deceleration operation is immediately performed in accordance with the above, it is possible to avoid the delay in control that occurs when the shift operation is performed after waiting for an increase in the engine load as in the conventional case. Therefore, it is possible to obtain a combine vehicle speed control device that is free from the risk of threshing failure, clogging of processed material, and the like, and that does not cause engine trouble such as engine stall and has excellent operational reliability.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 2 and FIG. 7, in the combine, a threshing device 2 is mounted on a machine body V provided with a pair of left and right crawler traveling devices 1, and a cutting unit 3 is mounted on the front part of the machine body V. There is.

The reaping processing section 3 comprises a plurality of weeding tools 4A, 4B, which are juxtaposed in a state of being spaced apart from each other in the lateral direction of the machine body.
4C and 4D, and a provoking device 5 that causes a stem to be introduced between the weeding tools 4A, 4B, 4C, and 4D,
A hair clipper-type cutting blade 6 that cuts off the root of the stem that has been raised and a transport device 7 that locks and transports the harvested stem rod on the rear side of the machine body are arranged in that order from the front side of the machine body to the rear side of the machine body Prepared in a state. That is, a plurality of weeding tools 4
A plurality of paths L1, L2, L3 for introducing a plurality of stem rods are formed in each of A, 4B, 4C and 4D.

In FIG. 7, 8 is a feed chain that conveys the cutting stalks conveyed by the conveying device 7 to the threshing device 2, and S0 is in contact with the stock of the cutting stalks during the cutting operation. It is a stock origin sensor for detecting whether or not there is, and is provided in the transportation path of the transportation device 7. Further, S6 is a stalk-stick detecting switch for detecting whether or not the stalks cut by the threshing device 2 are supplied, and is provided on the ceiling part of the threshing device 2.

However, the plurality of weeding tools 4A, 4B, 4
Among the C and 4D, the distance between the weeding tool 4D located on the most mown side and the weeding tool 4C located on the one uncut side of the most mown side weeding tool 4D is Weeding equipment 4C, 4D
It is formed to be larger than the distance between the other weeding tools 4A, 4B, 4C located on the other uncut side so that two rows of stem rods can be introduced between them. That is, the plurality of stem rod introduction paths L
Of the 1, L2 and L3, the lateral width of at least the tip end of the most trimmed side path L3 is formed to be larger than the other.

The weeding section 3 includes the weeding tools 4
A plurality of stalk position detection sensors S1, S2, S3 for detecting the lateral distance from the path end to the stalk introduced between A, 4B, 4C and 4D are the weeds located on the most uncut side. A first sensor S1 that is provided at a side surface position on the cut side of the tool 4A and detects a lateral distance between a stem rod introduced into the path L1 on the most uncut side and an end on the uncut side of the path; Stem and path uncut side end portion which is provided on the side of the cut side of the weeding tool 4C, which is located one uncut side from the weeding tool 4D, and which is introduced into the path L3 closest to the cut side A second sensor S2 for detecting a lateral interval between the stalk and a path rod and a stem rod that is provided in a side surface position on the uncut side of the weeding tool 4D on the most cut side and is introduced into a path L3 on the most cut side. It is configured by three sensors, that is, a third sensor S3 that detects a lateral distance from the side end portion.

The plurality of stem rod position detecting sensors S1,
Explaining the configurations of S2 and S3, they have the same configuration, and as shown in FIG. 3, the sensor bar 10 is biased to the front side of the machine body and the sensor bar 10 is rotated rearward of the machine body. And a potentiometer R for detecting a corner. By the way, since the stem rod is planted in a discontinuous state along the traveling direction of the body, if the length of the sensor bar 10 is short, the stem bar is discontinuously abutted against the stem rod. Has a disadvantage that a signal that changes intermittently is output, and a signal corresponding to the cutting position cannot be obtained continuously. Therefore, the length of the sensor bar 10 is set to a length of 30 cm according to the planting interval of the stalks so that a plurality of stalks lined up in the traveling direction of the machine can be in contact with each other at the same time.

That is, as the machine body V travels, the stock of stems introduced between the weeding tools 4A to 4D continuously contacts the sensor bar 10, and the sensor bar 1
0 rotates to the rear side of the machine body at a rotation angle corresponding to the contact position of the stem from the rotation fulcrum, and from the potentiometer R, the attachment position of each sensor to the stems arranged in the machine body traveling direction, that is, the stem The smaller the lateral distance from the end of the rod introduction path, the larger the signal output.

Next, the cutting type is automatically determined by using the information of the plurality of stalk-position detecting sensors S1, S2, S3, and the traveling speed becomes an appropriate speed according to the determined cutting type. A control configuration for controlling the vehicle speed and controlling the steering so that the machine body V automatically travels along the stems lined up in the machine body traveling direction will be described.

As shown in FIG. 1, the output of the engine E is belt-transmitted to the threshing device 2 through a threshing clutch and the like, and is also belt-transmitted to a hydraulic continuously variable transmission 11 as a traveling transmission. The output of the transmission 11 is adapted to drive the crawler traveling device 1 via the transmission case 12. Then, the steering clutch 1 for operating the transmission of the driving force to the crawler traveling device 1 into and out of the transmission case 12 on the left and right respectively.
3L and 13R are provided, and are configured to perform a steering operation with the side of the crawler traveling device 1 that cuts the driving force as the turning center. Further, the output of the transmission 11 is transmitted to the cutting processing section 3 via the cutting clutch 17 and the like. The reaping clutch 17 is provided with a reaping clutch switch S7 which is turned on when the clutch is connected.

The manual transmission lever 21 operated by the boarding operator and the transmission 11 are interlockingly connected via a link mechanism, and the transmission electric motor as an actuator for operating the transmission 11 is connected. M
However, in order to prioritize the speed change by the speed change lever 21, it is interlockingly connected to the link mechanism via a friction type transmission mechanism 22. In the figure, S4 is a rotation speed sensor for detecting the traveling distance and traveling speed based on the input rotation speed to the mission case 12, S5 is an engine rotation speed sensor for detecting the rotation speed of the engine E, 14
L and 14R are steering hydraulic cylinders for turning on and off the steering clutches 13L and 13R, and 15 is an electromagnetic steering type for controlling the supply of hydraulic oil to the steering hydraulic cylinders 14L and 14R. It is a control valve. The engine speed sensor S5 functions as an engine load detecting means for detecting the load of the engine E because the engine E speed decreases as the load on the engine E increases.

A control device 16 utilizing a microcomputer is provided, and the control device 16 introduces a stem of the cutting processing section 3 based on the information of the plurality of stem position detecting sensors S1, S2, S3. Routes L1, L2, L
A cutting type discriminating means for discriminating whether the cutting type for the stem rod introduced in 3 is a line cutting type in which a row is formed so as to form a row in the traveling direction of the machine body V or a cutting type other than the line cutting type. 101, and controls the operation of the steering control valve 15 based on the information of the plurality of stem position detecting sensors S1, S2, S3 so that the body V is arranged in the body traveling direction. The steering control means is configured to control the steering so that the vehicle automatically travels along.

Further, by utilizing the control device 16, the traveling transmission 11 is automatically operated based on the information of the engine speed sensor S5 so that the load of the engine E is maintained at the set target load. Control means 1 for manually shifting gears
00 is configured. In addition, the engine speed X when the vehicle speed becomes 0.1 m / sec when both the stem sensing switch S6 and the reaping clutch switch S7 are ON, or the vehicle speed is 0.1 m / sec or more, Stem rod detection switch S6 and the cutting clutch switch S
The engine speed X when both 7 are turned on is stored as the reference speed ST in the unloaded state of the engine E. Then, the detected rotation speed X from the reference rotation speed ST
So that the engine load ST-X defined by the down amount is maintained at a preset target load (target down amount).
By changing the ratio of the ON time to the time, the drive is intermittently driven to the speed increasing side or the speed reducing side.

Further, when it is determined that the cutting type is a cutting type other than the line cutting type, based on the information of the cutting type determining unit 101, the control means 100 shifts the traveling speed. It is configured to shift the device 11 to a set speed.

The operation of the control device 16 will be described. Basically, as shown in FIG. 8, the rotation speed is basically started from the time when the stock origin sensor S0 changes from OFF to ON and the cutting operation is started. While traveling the set distance detected based on the information of the sensor S4, the cutting mode for the stalks arranged in the machine advancing direction is determined based on the information of the plurality of stalk position detecting sensors S1, S2, S3. ,
The stock speed sensor S0 is switched from ON to OFF and vehicle speed control according to the determined mowing format is performed until the mowing operation is completed, and operation is performed to maintain the appropriate mowing position range set according to the mowing format. Direction control.

The cutting method will be described. Generally, since the stems are planted so as to form rows in the planting direction, the stems are arranged between the weeding tools 4A to 4D. A row cutting method (see FIG. 4) in which a row of stem rods is run in a direction parallel to the planting direction of the stem rods, and a direction in which the row rods cross the row of rods Between the horizontal cutting type (see FIG. 5) and, for example, the previously weeding side weeding tool 4D and the weeding tool 4C one uncut side from the weeding tool 4D in order to preliminarily divide the cutting work range. There are three types of cutting methods: a split method (see FIG. 6) for cutting with two rows of stem rods introduced. In the following description, the split type will be referred to as the +1 row cutting type.

Therefore, in the above-mentioned row-cutting method, since one row of each rod is introduced between each weeding tool, basically, the above-mentioned three rod-position detecting sensors are provided. S
Based on the information of 1, S2, S3, the cutting position detected by those three sensors S1, S2, S3, that is, the lateral distance from the end of the stem introduction route is maintained within a preset dead zone. Steering will be controlled. However, in order to prevent the uncut portion, the weeding tool 4D on the most already cut side is provided.
When the detection position of the third sensor S3 is deviated to the uncut side from the set position by using the information of the third sensor S3 attached to the rear side of the The steering direction is adjusted to correct the traveling direction.

In the horizontal cutting type, since the vehicle runs in the direction intersecting the row of stems, basically, the main cutting side weeding tool 4D is mainly used to prevent uncut areas.
The position in the lateral width direction of the machine is maintained within the set proper cutting position range with respect to the row of uncut stems on the most already cut side, which is located at the boundary between the cut and uncut portions. The steering control is performed based on the information of the three-sensor S3.

In the + 1-row cutting method, a state in which a two-row stem rod is introduced between the most-cutting-side weeding tool 4D and one uncut-side weeding tool 4C from the weeding tool 4D. Therefore, basically, based on the information of the second sensor S2 and the information of the third sensor S3, the bisecting tools 4
Steering control will be performed so as to maintain the state in which the two-bar stem is introduced between C and 4D.

Next, based on the flow chart shown in FIG. 9, the reaping type discrimination processing will be described. While traveling the set distance (for example, 1 m) from the time when the stock origin sensor S0 is turned on and the cutting operation is started, each of the detection values of the three stem rod position detection sensors S1, S2, S3 is set. Sampling is performed for each distance (for example, 5 cm), and the cutting mode is determined based on the sampled information. However, although not described in detail, since the automatic steering cannot be performed by the control device 16 until the cutting type is discriminated, the operator artificially performs the steering operation while traveling the set distance from the start of the work. Will be done.

That is, the set distance (for example, 5 cm)
Stem rod position detection sensors S1 and S sampled for each
A first sensor S1 and a second sensor S of S2 and S3
The sum AD1 + AD2 of the detected values of 2 is the preset threshold th
The number N4 of 4 or more is counted, and the number N3 of the detection value AD3 of the third sensor S3 being a threshold th3 or more set in advance is counted. Then, the number of times N4 when the sum AD1 + AD2 of the detection values of the first sensor S1 and the second sensor S2 becomes equal to or more than a preset threshold th4 while traveling a set distance (for example, 1 m) from the time when the cutting operation is started It is determined whether or not the number of times of setting is K1 or more, and when the number of times of setting is K1 or more, it is determined that the method is horizontal cutting. That is, in the horizontal cutting type, since the vehicle travels in a direction intersecting the row of planted stem rods, the first sensor S1 and the second sensor S2 are provided.
It makes use of the fact that the plant contacts the stem more frequently than the streak type.

When it is determined that the horizontal trimming method is not used, it is determined whether or not the number N3 of times when the detection value AD3 of the third sensor S3 is equal to or greater than the preset threshold value th3 is equal to or less than the number of times of setting K2. If it is less than or equal to K2, it is determined to be a strip cutting type, and if it exceeds the set number of times K2, +
It is made to be discriminated from the 1-row cutting type. That is, the distance between the oldest mowing-side weeding tool 4D to which the third sensor S3 is attached and the weeding tool 4D on one uncut side is different from the weeding tool on the other uncut side. Since the distance is wider than the distance between the cutting tools, in the row cutting type in which one shoot rod is introduced between each weeding tool, the stick rod contacts the sensor bar 10 of the third sensor S3. The frequency becomes low, and as a result, the number of times n3 when the detection value AD3 of the third sensor S3 becomes equal to or more than the preset threshold th3 becomes equal to or less than the set number of times K2. Side weeding tool 4D and one weeding tool 4D from the weeding tool 4D
In order to introduce a two-pole stem between C and
The frequency of contact of the stem with the sensor bar 10 of the sensor S3 is higher than that of the cutting method, and the number of times n3 when the detection value AD3 of the third sensor S3 is equal to or greater than the preset threshold th3 is greater than the set number of times K2. By utilizing this, the line-cutting form and the +1 line-cutting form are discriminated.

Next, the vehicle speed control according to each cutting type will be described. As shown in FIG. 10, the result of the cutting mode determination process, that is, whether the cutting mode is a line cutting type or another cutting type other than this is checked, and if it is a line cutting type, the engine speed sensor S5 causes the engine speed sensor S5 to rotate the engine. The number X is detected and it is checked whether the engine load ST-X, which is the difference from the reference speed ST, is the target load. As a result, if the load is larger than the target load, it is determined that the vehicle is in an overload state, and the speed reduction operation is performed. If the load is smaller than the target load, the speed is increased.

On the other hand, in the case of a cutting type other than the line cutting type, the rotation speed sensor S1 detects the vehicle speed, and this vehicle speed is set to a set speed (for example, 1.2 m / se).
If it is faster than c), the deceleration operation is performed until the set speed is reached.

[Other Embodiments] In the above embodiment, when it is determined that the cutting type is another cutting type other than the line cutting type, the gear shifting operation is performed so that the vehicle speed becomes the set speed. Alternatively, the vehicle speed may be shifted from the current speed value to the deceleration side by a set amount (for example, a deceleration amount of 30%).

In the above embodiment, the load of the engine E is detected based on the number of revolutions of the engine E. However, it may be detected based on the torque of the engine E, for example. Various modifications can be made to the specific configuration of the engine load detecting means S5.

Further, a plurality of stem position detecting sensors S1,
The installation positions and the numbers of S2 and S3 are not limited to the configuration of the above-described embodiment. Also, the detection method may be a non-contact detection method using a photoelectric sensor or the like instead of the sensor that contacts the cut stem rod.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[0037]

[Brief description of the drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 is a schematic side view of the combine.

FIG. 3 is a schematic plan view of a stalk-rod position detection sensor.

[Fig. 4] An explanatory view of the positional relationship between the weeding implement and the stem rod in the cutting style.

FIG. 5 is an explanatory diagram of a positional relationship between a weeding tool and a stem rod in a horizontal cutting format.

FIG. 6 is an explanatory diagram of a positional relationship between a weeding tool and a stem in the + 1-row cutting format.

FIG. 7 is a schematic plan view of a reaping processing unit.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a cutting mode determination process.

FIG. 10 is a flowchart of vehicle speed control

[Explanation of symbols]

 E Engine S5 Engine load detection means 11 Traveling transmission 100 Control means 3 Cutting unit L1, L2, L3 Path V Airframe 101 Cutting type discrimination means

Claims (1)

(57) [Claims] 1. A transmission for traveling so that the load of the engine (E) is maintained at a set target load based on information of an engine load detecting means (S5) for detecting a load of the engine (E). A vehicle speed control device for a combine, which is provided with a control means (100) for automatically shifting gears (11), which is a path (L1, L2, L) for introducing a stem rod of a mowing processing section (3).
3) A cutting method for determining whether the cutting method for the stem is a cutting method that forms a row in the traveling direction of the machine (V) or a cutting method other than the cutting method. A type discriminating means (101) is provided, and the control means (100) is provided with the cutting type discriminating means (1
If it is determined that the cutting type is another cutting type other than the strip cutting type based on the information of (01), the traveling transmission (11) is shifted to the set speed or to the set amount deceleration side. A combine vehicle speed controller configured to be operated.