JP3138882B2 - Combine speed controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine speed control device for controlling a speed of a vehicle based on an increase or decrease of an engine load.

[0002]

2. Description of the Related Art In a combine for performing this kind of vehicle speed control, the vehicle speed control is stopped except during the harvesting operation.

[0003]

However, even in cases other than such a mowing operation, if the engine is overloaded due to a spin turn or a sharp turn of the body, the engine may be turned down or stopped. As a result, there was an inconvenience that the aircraft could not travel safely.

[0004]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a combine equipped with a vehicle speed control device for controlling a vehicle speed based on an increase or a decrease in an engine load, comprising a grain culm sensor for detecting a grain culm supplied to a threshing unit. Load control means for automatically increasing / decreasing the vehicle speed at the time of detecting the grain stalk by the grain stalk sensor,
By providing the vehicle speed control device with a vehicle speed control unit that only automatically decelerates the vehicle speed at the time of non-detection of grain culm, when the machine is turned around at the end of a cutting process in which the grain culm sensor does not detect grain culm, The vehicle speed is reduced without the need for a shift operation at a high turning speed, so that safe and good combine work can be performed at all times.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a vehicle speed control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view of the combine, where (1) is a track frame on which a traveling crawler (2) is mounted, and (3) is the truck. (4) is a threshing unit which has a feed chain (5) stretched to the left and has a built-in handling cylinder (6) and a processing cylinder (7), and (8) is a mowing machine. A cutting unit equipped with a blade and a grain stalk transport mechanism.
0) (11) a straw processing unit facing the end, (12) a cab provided with a driver's seat (13) and a driving operation unit (14),
(15) is an engine part in which the engine (16) is installed,
A grain tank (17) is disposed in front of the engine section (15) and stores grains from the threshing section (4) through a fryer cylinder (18). (19) is a grain tank (17). An upper discharge auger that takes out the grains inside,
It is configured to perform threshing work.

As shown in FIG. 4, the vehicle speed of the combine is changed by a variable displacement hydraulic pump (21) and a hydraulic motor (22) constituting a continuously variable transmission mechanism (20) which is an HST. The input shaft (21a) of the hydraulic pump (21) is operatively connected to the output shaft (16a) of (16) via a belt and a gear transmission mechanism (23), and the drive sprocket (24) of the traveling crawler (2) is connected. The output shaft (22a) of the hydraulic motor (22) is operatively connected to the transmission case (25) having the
The input shaft (6a) of the cylinder is connected to the belt and gear transmission mechanism (2).
6) and is linked to the output shaft (16a) of the engine (16) via the link (6).

The engine (16) has an electronic governor (27) for controlling a fuel injection amount of a fuel injection pump by an injection amount adjustment rack to maintain a rated rotation speed (N) at a constant level. A DC servomotor (2) for controlling the swash plate angle and adjusting the hydraulic discharge amount is provided to the pump (21).
8) to control the vehicle speed increase / decrease by the forward / reverse drive of the motor (28).

As shown in FIG. 1, an automatic switch (30) for automatically controlling the vehicle speed is provided to a vehicle speed control circuit (29) which is a fuzzy vehicle speed control device for driving and controlling the servo motor (28) based on fuzzy inference. And a vehicle speed sensor (31) for detecting a vehicle speed, and an HST oil pressure sensor (32), and are connected to the vertical conveying device (33) of the cutting unit (8). A grain stalk sensor (34) for detecting grain stalks fed into (4), and a work switch (3) which is a work clutch switch for detecting when a cutting work clutch lever (35a) is engaged.
5) and a shift lever (40a) for manually controlling the vehicle speed
Shift lever position sensor (4
0) is input to the control circuit (29).
A governor control circuit (3) which is an engine output characteristic changing means for driving and controlling a rack position adjusting mechanism (36) of the electronic governor (27) for adjusting the injection amount of the fuel injection pump.
7) an engine rotation sensor (38) for detecting the rotation of the engine (16) and a governor rack position sensor (39) for detecting the position of the injection amount adjusting rack on the governor (27); Connecting the control circuit (29)
(37) are connected for communication, and each of these sensors (31) is connected.
Based on the detections of (32), (34), (38), and (39), constant control of the engine speed and vehicle speed control based on fuzzy inference are performed.

The present embodiment is configured as described above, and the maximum output map data diagram of the engine shown in FIG.
This vehicle speed control will be described with reference to the maximum output horsepower diagram of the engine of FIG. 6 and the flowcharts of FIGS.

During the mowing operation, the electronic governor (2
7) When the rack position data corresponding to the engine load (fuel injection amount) is input from the above, the maximum output map data (RMAX) as shown in FIG. 5 expressing the relationship between the rack position and the engine speed by a maximum load curve. A target vehicle speed is inferred based on the target vehicle speed, and a vehicle speed deviation of how much the current vehicle speed is increased or decreased from the target vehicle speed and the rate of change of the vehicle speed is fuzzy inferred,
A drive pulse, which is a shift amount of a servo motor (28) for shift-driving the transmission mechanism (20), is determined. Specifically, the actual output data (rack position) is represented by A, Assuming that the control maximum injection amount output from the control circuit (46) as the governor controller by the constant control is B, a rack deviation value RE (= A−C) calculated from the target rack value C and the maximum target value D The maximum target deviation value RM (= CD) and the rate of change (RD) of the rack deviation value (RE) over a certain period of time are input as input values for fuzzy inference, and the target vehicle speed deviation ( The fuzzy control for outputting Ve) is performed.

That is, as shown in the main routine of FIG.
In this vehicle speed control, the control mode is selected from the vehicle speed mode, the load mode, and the manual mode, and then, the output of the maximum output map data (RMAX) is the normal output (H) in the normal mode or the horsepower up mode. When one of the load-specific outputs (L) is selected, fuzzy control of the vehicle speed is performed. As shown in the mode selection routine of FIG. 8, the automatic switch (30) and the work switch (35) are turned on. When the grain stalk detection state of the grain stalk sensor (34) is on, the load control mode is used to increase or decrease the vehicle speed, and when the switches (30) and (35) are on, the sensor (34) is off. In this case, the vehicle speed control mode in which only the deceleration control is prohibited in which the speed increase control is prohibited, and the speed increase / deceleration control is manually performed when any of the switches (30) and (35) is off. It is automatically selected in the dynamic control mode.

As shown in the map switching routine of FIG. 9, in the load control mode, when the manual priority flag (FH) for performing automatic control of only deceleration is off, the maximum output map data (RMAX) is output. Load-only output (L)
And the normal output (H) when the vehicle speed control mode other than the load control mode, the manual control mode, or the manual priority flag (FH) in the load control mode is turned on.

When mode setting and map switching are completed, control for each mode is performed.
As shown in the figure, in the load control mode, when the servo motor (28) is shift-driven to the shift amount calculated from the above-mentioned fuzzy inference, the manual priority flag (FH) which is determined that an artificial operation is added on the way is turned on. When the flag (FH) is set, the manual priority mode control, which is an automatic control of only the deceleration in which the acceleration is prohibited, is performed, and the manual priority flag (FH) is set. When FH) is off, the mode is returned to the automatic mode control which is the normal automatic acceleration / deceleration control.

Next, the operation when the manual priority flag (FH) is turned on (set) or off (reset) will be described with reference to a manual priority flag routine of FIG. The manual priority flag (FH) is turned on when the speed is not increased even though the speed is increased. When the speed increase signal is output, the speed increase output time is measured by outputting the speed increase signal. Also, when the actual shift position is moving to the deceleration side (including not moving) despite the output of the speed increasing signal, and the moving amount is larger than the set value, or the moving amount is set. If the speed-up signal is kept on for more than the set time, but within the value, it is determined that an artificial manual priority operation has been performed, and the priority flag (FH) is turned on.

On the other hand, when the speed increase signal is output, the shift position also moves to the speed increase side, and when the shift amount is equal to or more than the set value, it is determined that the speed has been increased by the manual operation. If the speed-up signal continues to be turned on for more than the set time while the flag (FH) is on (only deceleration is allowed), it is determined that the automatic speed-up instruction matches the operator's speed-up shift operation. The manual priority flag (FH) is turned off to return to the original acceleration / deceleration enabled state, and otherwise, the timing of the output time for each speed increase signal output is cleared.

In the vehicle speed control mode when the grain sensor (34) is off, as shown in FIG. 11, the data of the speed-up shift amount among the shift amounts calculated from the fuzzy inference is cleared, and the speed is reduced. Automatic control is performed only on the side, and safe running can be performed when the aircraft turns in non-cutting work.

As described above, based on the ON / OFF of the grain culm sensor (34), one of the load control mode in which the acceleration and deceleration is automatically controlled and the vehicle speed control mode in which only the deceleration is automatically controlled are set. In the load control mode, other than the manual deceleration operation in which the manual priority flag (FH) is off, the automatic load control is performed in the automatic mode by the high horsepower engine output characteristic with the map selection output selected as the load-only output (L). If the speed is not increased in spite of the speed increase instruction during the automatic load control, the manual priority flag (FH) is turned on, and the automatic control of only the deceleration in the manual priority mode is performed. When the speed increase instruction on the side matches the speed increase shift operation by the operator, the manual priority flag (F
H) is turned off to return to normal automatic load control again. During vehicle speed control other than during harvesting work, when overload occurs due to sudden turning or spin turn, control is performed only on the deceleration side. As a result, safe running can be performed with the vehicle speed reduced to an appropriate turning speed while preventing engine down and engine stall.

At the time of load control during a normal mowing operation, the engine output characteristic is changed from a normal output (H) to a load-specific output (L) which is larger than the normal output (H).
6) is driven to output the maximum horsepower (PS ₁ ) at the rated speed (N) to perform the combine work to obtain the maximum efficiency of the engine (16) without engine trouble such as engine stall. Normal horsepower (PS ₂ ) (PS ₂ <PS ₁ ) smaller than the maximum horsepower (PS ₁ ), which has a margin to the maximum horsepower at the time of turning the body other than the reaping operation or during manual priority vehicle speed control during the reaping operation As an output characteristic of the present invention, it is possible to perform a comfortable work without generating engine troubles, such as an engine stall with an increased response to a sudden change in load or an operation delay in these works.

Further, during the automatic load control, in the manual priority mode state, for example, when the operator performs a deceleration operation when cutting the lodging culm,
By controlling only the deceleration side for sudden turning of the machine body or sudden increase of threshing load, it is possible to prevent engine trouble such as down rotation of the engine (16) or engine stall. In this manual priority mode, a speed increase signal is output from the control circuit (29), and when the operator performs a speed increase shift operation, the operation is automatically returned to the automatic load control mode, and the operability and work efficiency are reduced. The efficiency can be improved.

In the above-described embodiment, the vehicle speed is controlled by driving the servo motor (28) even when the shift lever (40) is manually operated.
0) may be directly linked to the continuously variable transmission mechanism (20) separately from the servomotor (28), and a general configuration may be adopted in which vehicle speed control is performed by the servomotor (28) only during automatic operation.

[0021]

As is apparent from the above embodiments, the present invention relates to a combine having a vehicle speed control device (29) for controlling the vehicle speed based on an increase or decrease of the load of the engine (16). A load control means that includes a grain culm sensor (34) for detecting the supplied grain culm, and that automatically controls the vehicle speed when detecting the grain culm by the grain culm sensor (34); In the vehicle speed control device (29), only the deceleration control is provided in the vehicle speed control device (29). Therefore, when turning the machine at the end of a cutting process in which the grain culm sensor (34) does not detect the grain culm, The vehicle speed is automatically reduced to an appropriate turning speed without the need for a shift operation, so that a remarkable effect is achieved such that a safe and good combine work can be always performed.

[Brief description of the drawings]

FIG. 1 is a vehicle speed control circuit diagram.

FIG. 2 is an overall side view of the combine.

FIG. 3 is an overall plan view of the combine.

FIG. 4 is an explanatory diagram of an engine drive system.

FIG. 5 is an explanatory diagram showing the maximum output map data of the engine.

FIG. 6 is an engine maximum output horsepower diagram.

FIG. 7 is a main flowchart.

FIG. 8 is a flowchart of a mode setting.

FIG. 9 is a flowchart of map switching.

FIG. 10 is a flowchart of load control.

FIG. 11 is a flowchart of vehicle speed control.

FIG. 12 is a flowchart of a manual priority flag.

[Explanation of symbols]

 (16) Engine (29) Vehicle speed control circuit (vehicle speed control device) (34) Grain stalk sensor

Claims (1)

(57) [Claims] 1. A combine equipped with a vehicle speed control device for controlling a vehicle speed based on an increase or a decrease in an engine load, comprising a grain stalk sensor for detecting a grain stalk supplied to a threshing unit, and detecting the grain stalk by the grain stalk sensor. A vehicle speed control device for a combine vehicle, comprising: a load control means for automatically increasing / decreasing a vehicle speed per hour; and a vehicle speed control means for automatically decelerating / controlling a vehicle speed when no grain is detected.