JP3046691B2 - Steering control of reaper - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an introduction position detecting means for detecting an introduction position of a stem and a stalk introduced into a cutting processing section in a machine lateral width direction, and based on information detected by the introduction position detection means. The present invention relates to a steering control device for a reaper equipped with a steering control means for performing steering control so as to maintain an introduction position at a proper setting position.

[0002]

2. Description of the Related Art In a steering control device of a reaper, for example, when a stalk culm planted in a field is harvested by a combine as a reaper and harvester, the stalk and culm due to a deviation of a steering position from an appropriate state. Conventionally, in order to prevent the occurrence of troubles such as uncut leaves and stepping down, the introduction positions of the stems (rows) arranged in a plurality of rows in the machine width direction are arranged side by side, for example, along the machine width direction of the cutting processing unit. A state is detected by a sensor that detects a lateral interval between the stem and the stem and an end of the route in one of the plurality of introduced routes for the stem and culm, and the lateral interval becomes a set value (for example, the route described above). (The state where the stem / culm is located at the center of the inside of the aircraft in the width direction) and the steering is controlled as the appropriate setting position.

[0003]

By the way, when the seedlings are planted in the field with a rice planting machine, the spacing between adjacent stem and culm rows (that is, the spacing between the rows in the lateral width direction of the machine) is normal due to steering deviation or the like. However, according to the above-described conventional means, when the sensor happens to detect a stem / culm at a location where the streak interval is not normal, the sensor may be shifted laterally from the path end. Even if the interval is controlled so as to be the set value, the stem / culm will be located off the center position in the above-mentioned route and located closer to one of the route ends. As a result, there is a risk of causing a problem such as uncut or stepped down of the stem and culm, and even if the uncut and stepped down does not occur, the cut mark is disturbed, or the tip of the stem and culm conveyed after cutting is conveyed. The irregularities in the positions may adversely affect the transport operation in the reaping unit and the threshing performance of the threshing unit.

[0004] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a method for controlling the entire stem row of stems even if there is an irregular spacing between the rows of stem rows in the machine width direction. An object of the present invention is to perform steering control so that an appropriate stem and stalk introduction position is provided on average in order to solve the above-mentioned conventional disadvantages.

[0005]

According to the present invention, there is provided a mowing / harvesting machine according to the present invention, wherein the introduction position detecting means detects a plurality of introduction positions of the stem at different positions in the machine width direction. A sensor, wherein the steering control means is configured to calculate an average value of the detection values of the plurality of sensors and execute the steering control using the average value as the introduction position. .

[0006]

According to the characteristic configuration of the present invention, the introduction positions of the stems and stems introduced at different positions in the width direction of the machine of the cutting processing unit are detected by the plurality of sensors, respectively, and the average value of the detection values of the plurality of sensors is detected. Is required. Then, the obtained average value is set as an introduction position in the machine lateral width direction of the stem and culm to be introduced into the mowing processing unit, and the steering control is performed so that the introduction position is maintained at a proper setting position.

[0007]

Therefore, according to the characteristic structure of the present invention, the average value of the detected values of the stem and stem introduction positions at different positions in the lateral direction of the body, that is, the average stem and stem introduction position for the entire stem and stem row is set. Since the steering control is performed so as to be at an appropriate position (for example, the center position in the above-described stem introduction route), for example, a conventional technique in which the steering control is performed based only on information of a sensor at one location in the lateral direction of the body. In the case, when the streak spacing of the stems and stems that are detected by chance is not normal, the stem and stem introduction position does not largely deviate from the above-mentioned proper position, and the steering is maintained while maintaining the average stem and stem introduction position on average. Control is performed. As a result, there is no danger that the stem and culm will be left uncut or stepped down, and the cutting traces will be aligned, and the positions of the ears of the conveyed stalk culm will also be aligned, so that the transport operation and threshing performance will not be adversely affected. At the same time, the steering control is performed based on the information obtained by averaging the information of the plurality of sensors. Therefore, even if the detection values of some of the sensors deviate significantly from the appropriate values, the average value falls within a range that does not greatly deviate from the set appropriate position. The probability increases, and unnecessary steering output can be avoided. Thus, a steering control device for a reaper having excellent reaping processing performance and good riding comfort has been obtained.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine as a reaper will be described below with reference to the drawings.

As shown in FIGS. 2 and 3, the combiner is provided with a cockpit 17 at the front of a fuselage V having a pair of right and left crawler traveling devices 1, and a front side of the cockpit 17 at the front of the fuselage. A mowing unit 3 is attached to the unit so as to be able to move up and down, and a threshing device 2 is mounted behind the cockpit 17.

A plurality of weeding tools 4 juxtaposed side by side at an interval in the lateral direction of the machine body are provided at the tip of the mowing unit 3.
A to 4F are supported by a frame 9, and a plurality of stem culm introduction paths L1 are provided between the weeds 4A to 4F.
To L5. Then, these routes L1 to L
5 Raising device that causes stem stems introduced into each
And a clipper-type cutting blade 6 for cutting the stem of the raised stem and stem, and a transport device 19 for locking and transporting the cut stem to the rear of the machine, and the plurality of weeding tools 4A in this order. ~ 4
It is provided in a state of being sequentially arranged behind F. Reference numeral 8 denotes a feed chain for transporting the cut stems transported by the transport device 19 to the threshing device 2. A stock sensor S0 is provided at a position on the lower side in the transport direction of the cutting blade 6 for detecting whether or not a cutting operation is being performed by contacting the stock of the cutting stem.

The reaper 3 includes the routes L1 to L
A plurality of stem and stalk position detection sensors S1 and S2 for detecting the lateral interval of the stem and stalk introduced from the end of the path are positioned one cut side of the weeding implement 4A on the uncut side. Weeding tools 4
B, which is provided at the rear side position of the weeding tool 4B and which is introduced into the left side path L1 of the weeding tool 4B. A first sensor S1 for detecting a lateral interval with an uncut side end, and a rear part of a weeding tool 4E located one uncut side from the weeding tool 4F on the most cut side, The lateral spacing of the stem and culm introduced into the path L4 on the left side of the weeding tool 4E with the cut edge of the cut path and the lateral interval of the stem and culm introduced into the path L5 with the uncut path with the uncut path are determined. And a second sensor S2 to be detected.

The plurality of stem and stem position detecting sensors S1,
S2 has substantially the same configuration. If the first sensor S1 is described as an example, as shown in FIG. 4, as shown in FIG. A pair of rotatable left and right sensor bars 10 are provided in a state of being urged to return to the left and right stems and culms arranged in a row in the longitudinal direction of the machine, respectively, and each of the sensor bars 10 is provided on the rear side of the machine by contact with the stem and culms. Potentiometer R for detecting the turning angle
1a (R1b) is provided. That is, as the body V runs, the stem of the stem and stem introduced between the weeding tools 4A to 4F contacts the sensor bar 10 and the sensor bar 10
Turns to the rear side of the fuselage at a turning angle corresponding to the stem / culm contact position. And the potentiometer R1a (R1b)
By detecting the rotation angle, and outputs a detection signal horizontal distance between the stem culm and the mounting position or path end portion of each sensor arranged in the aircraft traveling direction is large enough to be small.
In addition, the length of the sensor bar 10 is set so as to simultaneously contact two stem stalks. As described above, the stem and culm position detecting sensors S1 and S2 constitute the introduction position detecting means S1 and S2 for detecting the introduction position of the stem and culm to be introduced into the mowing unit 3 in the lateral width direction of the machine body. S1 and S2 are constituted by a plurality of sensors, that is, first and second sensors S1 and S2 that detect the introduction positions at different positions (two right and left positions in this example) of the stem and culm in the body width direction.

Next, the control structure of the combine will be described. As shown in FIG. 1, the output of the engine E is transmitted to a hydraulic continuously variable transmission 16 via a belt, and the output of the continuously variable transmission 16 is transmitted to the transmission. After passing through the case 15, the crawler traveling device 1 is driven. The transmission case 15 is provided with steering clutches 12L and 12R for operating the transmission of the driving force to the crawler traveling device 1 on the left and right sides, respectively, and turns the crawler traveling device 1 on which the driving force is switched off. It is configured to perform a turning operation around the center. In the figure, S4 is a rotation speed sensor for detecting a vehicle speed, a traveling distance, and the like based on the rotation speed input to the transmission case 15, and S5 is an engine E.
13L, an engine speed sensor for detecting the speed of the engine
13R is a steering hydraulic cylinder for turning on and off the steering clutches 12L and 12R, and 14L and 14R are electromagnetically operated steering for controlling supply of hydraulic oil to the steering hydraulic cylinders 13L and 13R. It is a control valve.
Although not shown, the output of the continuously variable transmission 16 is transmitted to the mowing unit 3 via a mowing clutch and the like, and is also transmitted to the threshing apparatus 2.

Control device 11 using microcomputer
Is provided in the control device 11.
0, the first and second sensors S1, S2, the rotation speed sensor S4, and the engine rotation speed sensor S5
Are input. Further, a manual automatic switch SW1 for switching between manual operation and automatic operation is provided, and a signal from the manual automatic switch SW1 is also input to the control device 11. The control device 11 outputs a drive signal for the steering control valves 14L and 14R.

The control device 11 outputs a drive signal for shifting the continuously variable transmission 16 via an actuator (not shown). And
When the load on the engine E increases, the engine speed decreases, and the engine speed sensor S5 functions as an engine load detecting means. Therefore, the control device 11 detects the detection information of the engine speed sensor S5 during automatic operation. , The vehicle speed is automatically controlled so that the engine load is maintained in an appropriate range. That is, when the engine speed is lower than the proper speed, the speed is reduced, while when the engine speed is higher than the proper speed, the speed is increased.

Although not shown, a manual shift lever for manually shifting the vehicle speed during the manual operation and a steering lever for manually turning on and off the steering clutches 12L, 12R during the manual operation are provided. , And is installed in the cockpit 17.

Using the control device 11, based on the detection information of the first and second sensors S1 and S2, an introduction position of the stem and culm to be introduced into the reaping unit 3 in the machine lateral width direction is set. A steering control means 100 that performs steering control so as to maintain the steering wheel at an appropriate position is configured. The steering control means 100 controls the first and second sensors S1 and S1.
An average value of the two detected values is obtained, and the steering control is executed using the average value as the introduction position.

More specifically, for example, as shown in FIG. 2, the line spacing d 'of the stem and culm which is detected by the second sensor S2 on the right side is detected by the first sensor S1 on the left side. It is narrower than the normal interval d of the stem. In this case, as shown in FIG. 5A, in the first sensor S <b> 1, if the lateral distance a between the stem and the stem in the left path and the end of the path is equal to the lateral distance b in the right path (a = B), the value detected by the first sensor S1 at the stem and stem introduction position is 0 (ab = 0). On the other hand, as shown in FIG. 5B, in the second sensor S2, the lateral distance e between the stem and the stem in the left path and the lateral end of the path becomes larger than the lateral distance f in the right path. The detected value of the stem and stem introduction position is plus (ef> 0). Therefore, the lateral direction detected by the first and second sensors S1 and S2
Average value of interval ((ab) + (ef)) / 2 = (e-
f) / 2 is positive, and it is determined that the stem culm introduction position is shifted to the right side from the setting appropriate position (the state where the average value is 0) on average. Therefore, steering control is performed to the left so that the average value becomes zero. Specifically, FIGS. 6A and 6B
As shown in the figure, the value detected by the first sensor S1 (a′−
b ') (minus) and the value detected by the second sensor S2
(E′−f ′) The absolute value of (plus) is controlled to be equal. At this time, the first and second sensors S1, S2
The average value of the horizontal intervals detected at ((a'-b ') +
(E'-f ')) / 2 becomes 0.

Next, the operation of the control device 11 will be described with reference to the flowcharts shown in FIGS. 7 and 8. If the stock sensor S0 changes from the OFF state to the ON state, the start of the harvesting operation is confirmed. Then, it is determined whether the operation is manual operation or automatic operation based on the state of the manual automatic changeover switch SW1. Then, usually, since the manual operation is selected in the initial operation, the process returns to the beginning of the flow unless the control end is instructed. In the manual operation, the driver manually performs the steering operation while watching the planting state of the stem and culm in the field, and a state where the body steering position is appropriate with respect to the stem and culm position, specifically, Steering is performed so that each of the weeds 4A to 4F is located at the center of the culm row. At the same time, manually change the speed. And
When the airframe steering position becomes appropriate with respect to the stem / culm position, the manual automatic changeover switch SW1 is switched to the automatic operation side.

When automatic operation is confirmed from the state of the changeover switch SW1, the vehicle speed control is performed and the steering control is performed. In the steering control (FIG. 8), the first
And the average ((ab) + (ef)) / 2 of the lateral intervals detected by the second sensors S1 and S2, and if the average is 0, the steering state at that time is calculated. Is maintained, and if it is minus, the body V is steered rightward (the right steering clutch 12R is turned off), and if plus, it is steered leftward (the left steering clutch 12L). Cut off).

[Alternative Embodiment] In the above embodiment, a plurality of sensors constituting the stem position introduction means S1 and S2 are replaced by a contact type sensor for detecting the rotation angle of the sensor bar 10 contacting the stem. However, a non-contact type sensor including a photoelectric sensor or the like may be used. In addition, the sensors S1 and S2 detect the horizontal distance between the stem and culm in the path for introducing the left and right stem and culm and the end of the path, and use the above sensor to determine the difference between the left and right lateral distances as the detection value of the sensor. Although the server 10 is provided as a pair on the left and right, a single sensor bar 10 for detecting the above-mentioned lateral interval only on one side of the path may be provided. In this case, the difference between the preset horizontal interval and the detected horizontal interval is used as the detection value of the sensor. Further, the number of sensors S1 and S2 in the lateral width direction of the machine is not limited to two.

In the above-described embodiment, the appropriate setting of the stem and culm introduction position is such that the average value of the detection values of the sensors S1 and S2 for detecting the stem and culm introduction position is 0.
The average value of the detection values of the above sensors may be 0
It is also possible to set a state other than the above as a setting appropriate position of the stem and stem introduction position.

Further, in the above embodiment, six weeding tools 4A to 4F are provided, and five stem culm introduction paths L1 are provided between each weeding tool.
Although L5 to L5 are shown, the specific configuration such as the number of weeding tools and paths is not limited to that of the above-described embodiment, and can be changed as appropriate.

In the above embodiment, the present invention is applied to a combine harvester. However, the present invention can be applied to other automatic or manual traveling type harvesters.

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.

[Brief description of the drawings]

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

FIG. 2 is a schematic plan view of an introduction position detection unit.

FIG. 3 is a schematic side view of the combine.

FIG. 4 is a plan view of a sensor for detecting a stem and stem introduction position.

FIG. 5 is an explanatory diagram of steering control.

FIG. 6 is an explanatory diagram of steering control.

FIG. 7 is a flowchart of a control operation.

FIG. 8 is a flowchart of a control operation.

[Explanation of symbols]

 3 Cutting unit S1, S2 Introduction position detecting means and sensor 100 Steering control means

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A01B 69/00

Claims (1)

(57) [Claims] An introduction position detecting means (S1, S2) for detecting an introduction position of a stem and culm introduced into a cutting processing section (3) in a lateral width direction of a machine, and an introduction position detecting means (S1, S2).
Steering control means (100) for performing steering so as to maintain the introduction position at a proper setting position based on the detection information of 2).
And a plurality of sensors (S1 and S2) for detecting the introduction positions of the stems and stems at different positions in the lateral width direction of the machine body. , S2), and the steering control means (100) includes the plurality of sensors (S2).
A steering control device for a reaper, wherein the steering control device is configured to obtain an average value of the detection values of (1, S2) and execute the steering control using the average value as the introduction position.