JP2715520B2 - Direction control method of combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION INDUSTRIAL APPLICATIONS
The present invention relates to a turning control system of a combine provided with a turning control device for automatically turning the machine body to a cutting process in a lateral direction based on the detection of the cutting end.

2. Description of the Related Art Such a turning control is applied to perform a round cutting in a combine, and automatically turns the body every time a single-stroke cutting operation is completed. The harvesting operation is performed while repeating.

When the cutting end of the vertical cutting process is detected, the vehicle is driven for a set distance, and then turned by a set angle to stop the aircraft,
Then, the aircraft is retracted by the set distance and turned by the set angle,
The aircraft is automatically turned to advance to the lateral cutting process, and the cutting operation is started.

After the automatic turning with the stored predetermined turning pattern, when the machine body is displaced in the left-right direction with respect to the grain culm in the lateral direction, a sensor for detecting the displacement in the lateral width direction is provided. There is a technique in which the turning pattern is corrected based on the detection result by changing the retreat distance or changing the turning angle of the aircraft.

SUMMARY OF THE INVENTION However, in the prior art, since conditions such as field softness and the like are different for each corner in which the aircraft is automatically turned, the displacement of the aircraft when the traveling of the aircraft is stopped due to slippage or the like. Or, the position in the lateral width direction of the airframe after the automatic turning could not be brought close to an appropriate position due to slip or the like at the time of turning.

Therefore, when the aircraft is largely displaced to the uncut culm side with respect to the grain culm in the horizontal direction after automatic turning, it is necessary to repeat the forward and backward movement of the aircraft and move the Time, and when it is shifted to the cut culm side with respect to the grain culm in the horizontal direction, it takes a lot of time to repeatedly move forward and backward to bring the aircraft closer to the proper position, resulting in a decrease in work efficiency There was a glitch.

Therefore, an object of the present invention is to solve the above-mentioned problem and to make the position of the machine body with respect to the grain culm in the lateral direction after the automatic turning approach an appropriate position.

Means for Solving the Problems The present invention detects an absence of a grain culm in the vertical direction at the end of cutting in the vertical cutting process, and then automatically turns the vehicle body (1) to the horizontal cutting process. In the turning control device (2), the traveling distance of the vehicle body (1) from the detection of the absence of a vertical grain culm to the start of automatic turning is defined as:
Steering correction of the vehicle body (1) for the amount of lateral deviation from the lateral reaping process when the vehicle body (1) enters the lateral reaping process after the automatic turning at the previous turning. The turning direction of the combine is characterized in that the correction is performed based on the approach width.

Operation of the Invention At the end of the cutting process in the vertical cutting process, when the vehicle has traveled a predetermined distance after detecting that there is no grain culm in the vertical direction, automatic turning is started, and the vehicle body (1) automatically shifts to the horizontal cutting process. Turned around.

As described above, the automatic turning control device (2) automatically controls the turning of the vehicle body (1). When the turning of the vehicle body (1) to the lateral cutting process is performed after the turning, When it is displaced in the left-right direction with respect to the cereal stem, the forward and backward steering is repeated to correct this deviation, and the harvesting operation is performed as an appropriate position for the cereal stem in the lateral direction.

Automatic turning is started after detecting that there is no vertical grain culm based on the shift width of the body (1) corrected for the lateral deviation from the horizontal grain culm after the automatic turning, and then detecting that there is no vertical grain culm. The travel distance data of the vehicle body (1) until the
Subsequent automatic turning control is performed.

Therefore, after the automatic turning is completed, the automatic turning control device (2) is controlled based on the shift width obtained by steering-correcting the vehicle body (1) with respect to the lateral shift amount with respect to the lateral cutting process. Since the traveling distance is corrected, the lateral position with respect to the grain culm in the next harvesting stroke can be made closer to an appropriate position. In addition, the working efficiency is not reduced due to too close to the cut culm side, the accuracy of the automatic turning control can be improved, and a good cutting operation can be performed.

In the example shown in the drawings, the combine is provided with a cutting device (4) for cutting a grain stalk at the front of a chassis having a left and right traveling device (3), and the combine is cut and transported by the cutting device (4). A threshing device that inherits culms and thresh is provided at the rear.

The reaping device (4) is provided with a culm sensor (7) for detecting the presence or absence of a grain between the left and right weeding rods (6) provided at the tip, and the weeding rod (6) on the uncut culm side. Is provided with a direction sensor (8) having an actuator protruding outward and outputting an ON signal when the actuator comes into contact with the grain stalk and rotates backward. (9) is an elevating cylinder for raising and lowering the mowing device (4) with respect to the vehicle body (1), and is provided with an electromagnetic valve (17) for operating the elevating cylinder (9).

An azimuth sensor (10) for detecting the direction of travel of the vehicle body (1) by sensing a change in geomagnetism is provided above the vehicle body (1).

A transmission case (11) including a transmission mechanism for transmitting the left and right traveling device (3) is provided, and power is transmitted from the prime mover to the transmission mechanism via a hydraulic continuously variable transmission (12). A distance sensor (13) for detecting a rotation distance of each of the left and right traveling devices (3) in a transmission path inside the transmission case (11) is provided. The hydraulic continuously variable transmission (12) controls the angle of a swash plate that controls the rotation of the hydraulic pump during automatic running or automatic revolving by hydraulic pressure or the like, and changes the swash plate angle by a shift lever in manual operation. In this way, the speed change operation is performed.

In addition, a brake cylinder (15L) that operates a steering clutch brake (14L) (14R) for turning on / off the power transmission from the transmission mechanism in the transmission case (11) to the left and right traveling device (3).
(15R), this brake cylinder (15L) (15R)
An electromagnetic valve (16) is provided to activate the valve.

The automatic turning control device (2) is provided with a controller using a CPU, and information of various sensors is input to the controller. Based on a command from the controller, a vertical and horizontal cutting process is performed. The machine is configured so as to automatically control the turning of the machine to the next harvesting stroke in the direction intersecting the lever stroke.

In the automatic turning control, the traveling direction of the vehicle body (1) is detected by the direction sensor (10) in the vertical reaping process, and is stored in the controller as the reference direction.

When the grain culm sensor (7) detects that there is no grain culm at the end of the vertical cutting process, the distance sensor (13) measures the travel distance of the vehicle body (1) until the automatic turning is started, and sets the distance. When the vehicle travels the distance (L), the left traveling device (3) is braked by the operation of the left clutch brake (14L), and the vehicle body (1) is turned to the side of the reaping stroke, and is set by the direction sensor (10). When the angle is detected, the body (1)
To stop.

Thereafter, the vehicle body (1) is moved backward and the traveling distance is measured.
The right traveling device (3) is braked by the operation of R), and when the vehicle turns a set angle, the vehicle body (1) is stopped, and the vehicle body (1) moves forward to the lateral cutting process.

When the vehicle body (1) enters the lateral grain culm, when the left and right grain culm sensors (7L) (7R) are ON and the direction sensor (8) is OFF, proper automatic turning is performed. It is determined that the operation has been performed, and the mowing operation is continued.

When the left grain culm sensor (7L) is ON, check the right grain culm sensor (7R) and the direction sensor (8). When both of them are OFF, the vehicle body (1) moves to the cut culm side. Stops the vehicle body (1) by judging that it is too close, activates the left clutch brake (14L) and then activates the right clutch brake (14R) while moving backward for a certain distance to stop the vehicle body (1). Thereafter, a so-called turning operation for moving the vehicle body (1) forward is repeatedly performed.

When the left culm sensor (7L) is ON and the right culm sensor (7R) and the direction sensor (8) are both ON, the vehicle body (1) is too close to the uncut culm side. Judge and perform the switching operation.

By this switching operation, the left and right grain culm sensors (7) are
When the direction sensor (8) is turned OFF in the ON state, it is determined that the vehicle body (1) has been corrected to an appropriate position with respect to the horizontal grain interval.

Assuming that (La) is the shift width per turn of this switching,
Based on the shift width (La) and the number of times of turning back (N), the traveling distance (L) data of the vehicle body (1) from the detection of the end of mowing in the automatic turning sequence to the start of the automatic turning is converted to the data of the car body (1). If it is too close to the uncut culm, make it longer (L) + (NLa), and if it is too close to the already-cut culm, make it shorter (L)-(NLa). Then, it is stored in the automatic turning control device (2).

Therefore, since the traveling distance data is corrected in the automatic turning control, the position of the vehicle body (1) with respect to the next lateral grain culm can be made as close as possible to the appropriate position, and the accuracy of the automatic turning control is improved. Improvement can be achieved.

FIG. 4 shows a configuration in which an electromagnetic proportional pressure reducing valve (18) is provided in an electromagnetic valve (16) for operating the left and right brake cylinders (15), and an orifice (19) is provided on the output side of the pressure reducing valve (18). .

Connect the steering clutch brake (14) to the brake cylinder (1
In the case of the operation according to 5), first, the clutch is disengaged and the transmission to the traveling device (3) is disengaged, and after detecting the disengagement of the clutch, an appropriate brake operating pressure is applied until the brake is operated. It is necessary to regulate the pressure.

Since the pressure of the electromagnetic proportional pressure reducing valve (18) is controlled by feedback of the pressure from the output port side, the load pressure is reduced at the position where the brake cylinder (15) is extended and the clutch is disengaged. Since it does not work, control by pressure feedback cannot be performed.
8) is in the high pressure setting state, and the brake cylinder (1
At the end of the elongation stroke of 5), high pressure is generated and an impact is generated.

Therefore, by providing an orifice (19) on the output side of the electromagnetic proportional pressure reducing valve (18), the brake cylinder (15)
Even if is in the extended state, the pressure feedback works, and the pressure can be adjusted before the brake cylinder (15) reaches the end of the extended stroke.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a plan view showing a control configuration, FIG. 2 is an explanatory view showing the operation of turning control, and FIGS. FIG. 4 is a partial hydraulic circuit diagram showing the width shifting operation for correcting the position in the direction, FIG. 5 is a diagram illustrating the operation. In the figure, reference numeral (1) denotes a vehicle body, (2) denotes an automatic turning control device,
(3) shows a traveling device, (7) shows a grain culm sensor, (8) shows a direction sensor, and (10) shows a direction sensor.

Claims (1)

(57) [Claims] 1. An automatic turning control device (2) for automatically turning a vehicle body (1) to a horizontal cutting process after detecting that there is no grain culm in the vertical direction at the end of cutting in a vertical cutting process. )
In the above, the traveling distance of the vehicle body (1) from the detection of the absence of a vertical grain stalk until the start of automatic turning is shifted to the horizontal harvesting stroke after the automatic turning in the previous turning. A turning direction of the combine, wherein the amount of deviation in the lateral direction with respect to the lateral cutting process when the vehicle body (1) enters is corrected based on a shift width for steering correction of the vehicle body (1). control method.