JPH01240105A - Control device of direction of combine - Google Patents

Abstract

PURPOSE:To lessen errors occurring between detection of an image sensor and controlled traveling direction, by making the image sensor rotatable so as to lay the progress direction line of a combine body in far and near. CONSTITUTION:An image sensor 2 is vertically rotated, the progress direction line of a combine body is successively laid form a near distance position to a far distance position and a boundary line 20 between a reaped part (a) at the outside of a reaper 1 and an unreaped part (b) in the width of the reaper is detected. When the boundary line exists at the central part between left and right parts, output signal of direction control is not sent, a combine is maintained a straight advancing state. When the boundary line is transferred toward either left or right side, the output signal of direction control is sent, steering clutch is regulated and the traveling direction is controlled so as to place the boundary line at the central part.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a direction control device for controlling the reaping direction of a combine harvester.

Conventional technology Conventionally, an image sensor that controls the direction of reaping travel while detecting the boundary W between the unreaped part on the front side of the reaping device and the reaped part on the side thereof is fixed to the combine harvester, and the image sensor It was a direction control device that controlled direction by aiming at a single point.

Problems to be Solved by the Invention In a configuration in which an image sensor detects the boundary line between the late-harvested area and the unharvested area by the reaping device, and the traveling direction of the combine harvester is controlled along this boundary line, this fixed The image sensor detects the boundary point in the lateral direction with respect to the forward movement of the combine, and the direction control is performed using the detected boundary points detected as the combine moves forward as a boundary line. Easy to cause errors in direction control.

Means for Solving the Problems This invention provides a reaping bag gt. This is a structure of a direction control device for a combine harvester which is rotatably provided to aim far and near on the advancing direction line of the combine vehicle body (3).

Function of the invention While running the combine harvester body (3), the reaping bag 21 (
The image sensor (2) that allows the culm to be harvested in step 1) aims from a short distance position to a long distance position on the white line of the combine harvester body (3), and targets the outside of the reaping device (1). The boundary line between the late harvested area and the uncut area within the width of this reaping device (1) is detected, and this boundary line is detected by the image sensor (2).
), no directional control output signal is output when the boundary line is at the center of the left or right side, but when it deviates to either the left or right side, a directional control output signal is output to control the steering clutch, and the boundary line is at the center. The direction of travel is controlled so that the vehicle is located at the

Advantages of the Invention According to the present invention, in the direction control of the Shu combine harvester, the image sensor (2) that detects the boundary line between the unharvested area and the late harvested area in front of the reaping device (1) is connected to the combine harvester body (3). ), the boundary line is continuously detected over a wide range, and as a result, the boundary line is continuously detected over a wide range. The direction of the combine is controlled according to the boundary line, and the reaping device (1) is always placed in a certain area depending on the culm that the reaping device (1) is trying to guide into the reaping width area. By controlling the direction, errors are less likely to occur between the detection by the image sensor (2) and the running direction controlled thereby, and there is no unguided material left on the late harvesting section side of the reaping device (1). Fewer cut husks remain.

In addition, the combine harvester (4) is equipped with a combine harvester body (3) having a pair of left and right running devices (5) in the form of crawlers, a threshing rack of 2 tons (6), and a control device (7).
, the cockpit (8), the engine (9), etc., and the front side of this combine harvester body (3) is equipped with a dividing rod (10) for separating the culm to be reaped, a culm pulling device (11), and a culm pulling device (11). A blade collection device (+2), a collection device (13) that collects and collects the culm.
), a reaping device (1) consisting of a grain culm transfer device 22 (eye), which transfers the harvested husk culm and supplies it to the threshing device on the rear side and (6), and connects the rear upper end to the combine harvester body (3). Pivot support on the side (15
), and this reaping device (1) is configured to be raised and lowered by hydraulic pressure using a lifting cylinder (16) between it and the combine harvester body (3).

The dividing rod (10) is arranged between each of the shell culm pulling devices (11) and on the outside of the shell culm pulling devices (11) on the left and right sides, and separates and guides the shell culm into each cutting row. , an image sensor (2) that aims from a short distance position to a long distance position on the traveling direction line of the late harvesting part at the left and right side ends from the rear upper part with the aiming width (17), The image sensor (2) may be provided at the upper end of the reaping device (1) or above the control device (7) on the upper side of the combine harvester body (3), and the image sensor (2) may be provided at a predetermined position on the side. It has a configuration connected to a rotating device 1 (18) that rotates forward and backward at time intervals.

The image sensor (2) is configured to move up and down by forward and reverse rotation of the rotating device 21 (18) to sequentially aim from a short distance position to a long distance position in the traveling direction.

Direction control is performed by the image sensor (2) to determine the relationship between the grain culm (19) in the unharvested area (E) and the ground in the late harvest area (E), which are to be guided by the dividing rod (lO) at the lateral end. border(
20), and the traveling device (
5) left or right steering clutch (21), (22
) to change the driving direction, the image sensor (2)
The boundary line (20) is controlled to aim within a certain area, and when the boundary line (20) is within the certain area of the image sensor (2), the direction of travel is controlled. The combine harvester (4) is configured to move in a straight line, and the output signal is output.

(23) is a gain adjuster, and (24) is a HOLD value.

/ (25) is a comparator, (26) is a DA converter, (27) is a CPU, (28) is RA-%, (29)
is an output circuit, which after adjusting the gain of the video signal (c) of the image sensor (2), outputs HOLD (24) (
The unit rotation data of the image sensor (2) is recorded in the RA4'*(28) using the binary threshold voltage obtained from the tl! Please keep the corresponding C
The boundary line (20) is calculated and detected by the CPU (27), and based on this detection result, the CPU (27) starts the solenoid (30), (31) on either the left or right side, and this The steering clutches (21) and (22) are disconnected by the start-side solenoids (30) and (31),
The traveling direction of the combine harvester (4) is controlled so that the boundary line (20) is located at the center of the image sensor (2).

The arithmetic processing of the boundary line (20) involves capturing the signal captured by the image sensor (2) (Fig. 4) at a point where the voltage changes from high to low voltage as a boundary point (g) (Fig. 5). , this boundary point (g) is determined by determining the parallelogram (32) formed by extending the predetermined width (2) at the center of the near-distance side (a) to the far-distance side (b). For example, the CPU (2
Parallelograms (33), (30, (35
), (3G) (Fig. 6) are each discrimination area, and the frequency distribution of the boundary points scattered within each discrimination area is calculated by the CPU.
(27), the frequency distribution for each area is compared, and the area with the maximum frequency distribution is detected to be in the direction of the boundary line (20).

In a configuration in which the image sensor (2) is attached to the reaping device 2t (1), the image sensor (2) is moved up and down at predetermined time intervals by the rotary device m (18) during reaping work with the combine (4). Aim from a short-distance position to a long-distance position, receive a video signal, and connect the outer late-season harvesting part (to) of the dividing rod (10) of the reaping device El (1) to this dividing rod ( 1
0) A boundary line (20) with the inner uncut portion (e) is detected, and this boundary line (20) is detected by the image sensor (2).
When the solenoid (30) and (31) for directional control are located at the center of the left and right sides, the output signal for starting the solenoids (30) and (31) is not transmitted. 30), (31) A starting output signal is transmitted, and the solenoids (30) and (31) are started, and the steering clutches (21) and (22) on the starting side of the solenoids (30) and (31) are activated. ) is controlled to cut, and the boundary line (2
The moving direction is controlled so that the image sensor (2) is positioned at the center of the image sensor (2), and the mowing operation is performed.

The image sensor (2) is controlled to move up and down, aiming from a short distance position to a long distance position, and detects the boundary line (20) between the unharvested area (E) and the late harvested area (H). By controlling the direction of the combine harvester (4) using this boundary line (20), stable reaping work can be performed.

The image sensor (2) is equipped with a motor (
A rotating device t (38) having a rotary device t (37) is provided, and the rotation is controlled by the motor (37) of the rotating device (38), and the image sensor (2) is used to perform rotation at 5o-3+ and S2-3 in FIG.
3, 5a-Ss (7), and as shown in Figure 9, the exposed area of the land where the boundary line (20) exists is generally at a low level as shown in (S 2-33), and By averaging the overall level as shown in Figure 1O,
In a part such as (S a-5s) or (S〇-5+), the level will be high even if there is a partially dark area, so calculate the average level of this video signal, compare it, and find the lowest value. The configuration detects the location shown in FIG. 10 (FIG. 10) or the location of maximum change (FIG. 11) as the direction of the boundary line (20). FIG. 2 shows a block diagram for rotational movement control, (39) is an integrating circuit, (40) is an A-ID converter, and (41) is a motor circuit and a switching circuit.

The boundary line (20) during the combine harvester (4) operation
The boundary line (20), which can generally be approximated by a straight line,
In the detection, by comparing the average level of the signal depending on the rotation angle of each of the image sensors (2),
From that relative relationship, the boundary 1! The direction (20) can be found, which eliminates the need for software processing such as video processing, and requires a simple electrical configuration.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is an overall side view of the combine harvester, Fig. 2 is an overall plan view of the combine, Fig. 3 is a block diagram, and Fig. 4 is a detection signal diagram. Figure 5 is a detection boundary point diagram, Figure 6 is a boundary line discrimination area diagram, and Figures 7-
Fig. 11 is a diagram showing another example of an actual cell, Fig. 7 is an overall plan view of the combine, Fig. 8 is a block diagram, Fig. 9 is a detection signal voltage diagram, and Fig. 10 is a diagram showing different rotation angles. FIG. 11 is a detection voltage displacement diagram. In the figure, reference numeral (1) indicates a reaping device, (2) an image sensor, and (3) a comparator/in vehicle body.

Claims (1)

[Claims] Reaping device (1) An image sensor (2) that controls the direction of reaping travel while detecting the boundary between the unreaped part on the front side and the already reaped part on the side is placed on the forward and near line of the combine harvester body (3). A direction control device for combine harvesters that is rotatably installed to aim at the target.