JPH01262708A - Controller for turning of working car - Google Patents

Abstract

PURPOSE:To improve reproducibility of travel loci in turning travel, by mutually and reversely rotating a pair of left and right travel devices during turning in reversing the travel direction 180 deg. in advance through the set distance and bisected turnings. CONSTITUTION:When a working car reaches at the terminal end of a working stroke, the car is advanced through a primary set distance (L1) by left and right travel devices. The left and right travel devices are then mutually and reversely rotated to primarily turn the working car by the first set angle (theta1) (<180 deg.). After advancing through the second set distance (L2), the left and right travel devices are mutually and reversely rotated to secondarily turn the working car by the second set angle (theta2) (=180 deg.- theta1). Thereby, the working car is directed to the next working stroke.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides an azimuth detection means for detecting the orientation of an aircraft body equipped with a pair of left and right traveling devices, a travel distance detection means for detecting the travel distance of the aircraft body, and , based on the detection information of the direction detecting means and the travel distance detecting means, when one work stroke is completed, the machine moves to the next work stroke adjacent to and parallel to the work stroke. The present invention relates to a turn control device for a working vehicle, which is provided with a turn control means for turning.

[Conventional technology]

Conventionally, in the above-mentioned turn control device for a work vehicle, a steering clutch brake is provided for each of the left and right running gears, and while one running gear is stopped, only the other running gear is driven. While moving forward, it was possible to turn 180 degrees using the traveling device on the stopped side as the turning center.

[Problem to be solved by the invention]

However, if the running ground condition is poor and the vehicle is likely to slip, such as in a wetland, the position of the stop-side traveling device, which is the turning center, may shift, and the actual turning trajectory may deviate from the set proper trajectory.

If the actual turning trajectory deviates from the properly set trajectory, there is a risk that the position of the aircraft after the turn will deviate significantly from the properly set position for the next work stroke.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to improve the reproducibility of the travel trajectory during turn travel, regardless of the state of the travel ground.

[Means to solve the problem]

A turn control device for a work vehicle according to the present invention includes: a direction detection means for detecting the orientation of a machine body including a pair of left and right traveling devices; a travel distance detection means for detecting a travel distance of the machine body;
Based on the detection information of the direction detecting means and the traveling distance detecting means, when one work stroke is completed, the aircraft is caused to travel to the next work stroke adjacent to and parallel to the work stroke. A turn control means is provided, and its characteristic configuration is that a pair of left and right transmissions are provided which can freely drive each of the left and right traveling devices in forward and reverse directions, respectively, and the turn control means is configured to control the movement of one stroke. After the completion, the set distance is advanced based on the detection information of the traveling distance detection means, and then the set angle smaller than 180 degrees is firstly set toward the next work stroke based on the detection information of the direction detection means. After making a turn and then advancing a set distance based on the detection information of the travel distance detection means, the orientation of the aircraft is 180 degrees with respect to the completed work stroke based on the detection information of the orientation detection means. It is configured to make a secondary turn until the direction is reversed, and then move forward, and
In each of the primary turning and the secondary turning, the pair of left and right traveling devices are configured to rotate in opposite directions to each other.

[For production]

In other words, a turn to reverse the running direction by 180 degrees,
By moving the vehicle forward by a set distance and turning twice, and by rotating the left and right traveling devices in opposite directions, the vehicle can be moved without stopping the left and right traveling devices.
It makes a turn.

〔Effect of the invention〕

Therefore, even if the left and right running gears slip, the effect will be the same on both sides, and regardless of the running ground condition, there will be a shift in the running trajectory when moving forward in a turn, and a shift in the center of rotation when turning. can be suppressed. As a result, it is possible to improve the reproducibility of the travel trajectory during turn travel, and the machine can be moved to the next work process in an appropriate manner.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, the planted stem culms of rice, wheat, etc. in the field are raised and harvested, and while the harvested stem culms are being conveyed, the posture is changed to a sideways posture, and the threshing feed chain (1) is reaped. The passing reaping part (2) and the feed chain (1)
A threshing device (3) that threshes the stem culms that are pinched and conveyed by the culms and sorts and collects the grains is connected to a pair of left and right crawler traveling devices (4a).
), (4b) is installed on a machine (V) equipped with the above, to form a self-propelled combine harvester as a working vehicle.

In the figure, (C) is a hydraulic cylinder for raising and lowering the reaping section (2), and the reaping section (2) is not operated during non-operation such as when driving on the road or when turning after each work stroke. It is designed so that it can be driven in an elevated position.

As shown in Figs. 2 and 4, a stock sensor (So) using a contact switch that is turned on when it comes into contact with the stock base of the reaped stem culm is installed at the lower part of the reaping part (2). is established,
Based on the detection signal, it is possible to determine whether or not the end of the working process has been reached. In other words, the aircraft (V
) reaches the end of the working stroke, the stem culm introduced into the reaping section (2) is interrupted, and the plant origin sensor (So) changes from the ON state to the OFF state.

Further, a pair of left and right weeding tools (5a>, (5b)) are provided at the tip of the reaping section (2), and each of the frames (6) is equipped with a pair of weeding tools (5a>, (5b)). ) to follow the stem culms (H) lined up in the direction of movement of the aircraft, a pair of left and right tracing sensors (s+) are provided to detect positional deviation in the width direction of the aircraft with respect to the stem culms (H); (S
2) is provided.

As shown in FIG. 5, each of the copying sensors (Sl) and (S2) is biased toward the front side of the body (V) to detect the stem culm (H) introduced into the reaping section (2). A sensor bar (7) that contacts the base of the stock and rotates toward the rear of the aircraft (V) by an angle corresponding to the contact position, and the sensor bar (7)
A potentiometer (
R).

Then, the range in which the sensor bar (7) is rotated backward through the set angle from the state in which it returns to the front side of the body side is shifted to the side where the body (V) moves away from the stem culm (H). A shallow scanning zone (i) is defined as a shallow scanning zone (i), and a range in which the set angle is further rotated backwards from this shallow scanning zone <i) is determined to be in line with the proper state with respect to the stem culm (H). The dead zone zone (ii) is defined as the dead zone zone (ii).
A deep tracing zone (i
ii), and the pair of left and right scanning sensors (St)
, (S2) respectively, perform steering so as to maintain the state of detecting the dead zone (11).

As the machine moves, the stem culm standing upright in the field comes into contact with the sensor bar (7) intermittently, so the potentiometer (R) outputs a signal that changes intermittently. It will be output. Therefore, although not described in detail, signal processing such as averaging the output signal from the potentiometer (R) and detecting the maximum value per unit time is performed to determine the positional deviation in the width direction of the body relative to the stem culm. will be determined.

Moreover, as shown in FIG. 4, on the upper part of the fuselage (V),
An orientation sensor (S3) using a geomagnetic sensor is installed, and is capable of detecting the orientation of the aircraft (V) with respect to a reference orientation (α) (see Figure 1) that is preset for each work process. .

In other words, this orientation sensor (S3) corresponds to orientation detection means for detecting the orientation of the aircraft (V).

To explain the traveling of the machine (V), as shown in Fig. 1, a plurality of work strokes are set parallel to each other, and as each work stroke reaches the end, the traveling direction is changed by 180 degrees. It will be reversed and moved to the next adjacent work process.

In each work process, it follows the culm rows lined up in the front and back direction of the machine,
In addition, the detection information of the scanning sensors (s+) and (S2) and the orientation sensor (
Steering control is performed based on the detection information of S3), and as each work stroke reaches the end, the traveling direction is reversed by 180 degrees to the next work stroke parallel to and adjacent to that work stroke. You will be forced to turn in this state. When turning, the turning angle is controlled based on the information detected by the azimuth sensor (S3).

As shown in FIG. 2, a pair of left and right hydraulic continuously variable transmissions (8a) are capable of switching between forward and reverse directions and are freely variable in both forward and reverse directions.
(8b) is interlocked and connected to the engine (B), and a pair of left and right hydraulic continuously variable transmissions (8a).

(8b) is the pair of left and right crawler traveling devices (4a)
.

(4b) are interlocked and connected to each other. In other words, the pair of left and right crawler traveling devices (4a) and (4b) are configured to be able to switch forward and backward movement and change gears separately for the left and right sides.

A speed change motor (9a), (9b) that operates each of the speed change devices (8a), (8b) separately, and indirectly based on the operating state of each of the speed change devices (8a), (8b). Vehicle speed sensors (Ra) and (Rb) using potentiometers are provided to detect the forward/reverse switching state and vehicle speed. Moreover, each of the transmission devices (8a) and (8b
) is provided with a distance sensor (S4) as a distance detecting means for detecting the distance traveled based on the output rotation speed of the vehicle.

Note that the actual mileage is based on each transmission (8a).

Although it is determined based on the average value of the creation force of the distance sensor (S4) corresponding to each of (8b), the traveling distance is detected based on the shift output of either the left or right side.
The number of distance sensors (S4) may be -.

A control device (10) using a microcomputer is provided to control the traveling of the aircraft (V) based on the detection information of the various sensors and information set and stored in advance.

That is, by using the control device (10), the aircraft (
Steering control means (10) for controlling the V) to automatically travel along the stem culm (10), and turn control means (10) for moving to the next work process upon completion of one work process.
0) will be constructed.

In FIG. 2, (11) is a control valve for the hydraulic sill (C) for raising and lowering the reaping section (2).

Next, the operation of the control device (10) will be explained based on the flowchart shown in FIG.

However, before starting the work, the number of travel strokes and the value of the reference direction (α) of the work stroke must be set and stored.

As the control operation is started, based on the detection information of the pair of tracing sensors (St), (S2) and the direction sensor (S3), the body (V) is aligned in the body longitudinal direction. (H) while following the aircraft (V
) is maintained within the set dead zone with respect to the reference direction (α). However, since the aircraft (V) reverses its traveling direction by 180 degrees every -stroke, the sign of the reference orientation (α) is reversed and used for every -stroke; The reference direction may be set and stored in advance and used selectively on the outbound and return trips.

Next, based on the detection information of the stock sensor (SO),
Determine whether the end of the work process has been reached.

If the end has not been reached, continue until the end is reached.
The above steering control will be repeated.

When the vehicle reaches the end, it is determined whether or not the work has been completed based on the set and stored number of strokes, and if the work has been completed, the vehicle stops running and completes the entire process.

If the work is not completed, turn control is started in order to move to the next work process.

That is, as shown in FIG. 1, after reaching the end of the working stroke, the left and right crawler traveling devices (4a), (
4b) while maintaining a straight forward state in which it is driven forward at the same rotational speed, it is moved forward a first set distance (Ll) based on the detection information of the distance sensor (S4), and then stopped.

After moving forward the first set distance (L3), the left and right crawler traveling devices (4a) and (4b) are reversed at the same rotational speed, and the process is completed based on the detection information of the direction sensor (S3). 180 from the reference direction (α) of the work process
The first set angle (θ1) (set at 90 degrees), which is smaller than the degree, is rotated primarily to the left, which is the next work stroke side,
make it stop. In other words, the machine (V) is directed in a direction that intersects the completed work stroke.

Next, the left and right crawler traveling devices (4a), (4b
) while maintaining normal rotation at the same rotational speed.
Based on the detection information of the distance sensor (S4), it is advanced by a second set distance (L1) corresponding to the working width and then stopped.

After moving forward the second set distance (C2), both the left and right crawler traveling devices (4a) and (4b) are rotated at the same rotation speed so that the direction of the machine body (V) becomes the reference direction for the next work process. and perform a secondary turn to the left at a second set angle (θ2) corresponding to the value obtained by subtracting the first set angle (θl) from 180 degrees based on the detection information of the orientation sensor (S3). and stop it. In other words, the machine body (V), which is facing in a direction that intersects the completed work stroke, is turned 90 degrees and is oriented in a direction that is 180 degrees reversed with respect to the completed work stroke, that is, to face the next work stroke.

After turning the second set angle (θ2), the stock sensor (S
By moving the robot forward until O) is turned on, the turn is completed and the next work process is started.

After the stock position sensor (SO) is turned on, steering control is performed based on the detection information of the copying sensor (S1), (S2) and the direction sensor (S3).

To explain the steering control, the output rotation speeds of the left and right transmissions (8a) and (8b) are different so that the drive speeds of the left and right crawler traveling devices (4a) and (4b) are different. You will have to attach it and steer it.

First, based on the detection information of the tracing sensors (s+) and (S2), the position of the body (V) in the width direction with respect to the stem culm (H) is maintained within the dead zone zone (ii). Then, based on the detection information of the orientation sensor (S3), the orientation of the aircraft (V) is adjusted to the reference orientation (
α) will be maintained within the set deadband.

[Another example]

In the above embodiment, the case where the same angle of 90 degrees is turned in each of the primary turning and the secondary turning is illustrated, but different angles may be set.

For example, as shown in FIG. 6, after reaching the end of the work stroke and advancing the first set distance (Ll), the set angle is set to be smaller than 180 degrees, and the first set angle (Ll) is set to be smaller than 90 degrees. θ
1) to the next working stroke side, and then further advance the second set distance (L2) to move the working width to the next working stroke side, and then turn from 180 degrees to the first setting. Angle (θ
The second set angle (θ2) larger than 90 degrees obtained by subtracting 1) may be used for secondary turning. However, in each of the primary turning and the secondary turning, the left and right crawler traveling devices (4a) and (4b) are driven in reverse at the same speed as in the above embodiment.

Further, in the above embodiment, a case was exemplified in which it is determined whether or not the end of the work process has been reached based on the detection information of only the stock sensor (So). ), (S2) and the detection information of the distance sensor (S3) may be used together, and the specific configuration for determining whether the end of the work process has been reached can be changed in various ways.

In addition, in the above embodiment, the copying sensor (St), (S2)
Based on the detection information of both the direction sensor (S3) and the direction sensor (S3)
Although the case where the steering control is carried out has been illustrated, the steering control may be carried out based on the detection information of only one of them, and the specific configuration of the steering control means can be changed in various ways.

In addition, in the above embodiment, a case where the transmissions are provided separately for the left and right sides is illustrated, but it is possible to provide one transmission and a switching device for switching the output of the transmission between forward and reverse, and to connect the left and right crawler traveling devices. It may also be reversed. or,
Instead of the continuously variable transmission, a stepped transmission may be used, and the specific configuration of the transmission can be modified in various ways.

Furthermore, in the above embodiments, the case where the present invention is applied to a combine harvester is illustrated, but the present invention can be applied to various types of work vehicles, and the various detection means and specific configurations of each part of the work vehicle may vary. Can be changed.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the turn control device for a working vehicle according to the present invention, in which Fig. 1 is an explanatory diagram of a turn, Fig. 2 is a block diagram of the control configuration, Fig. 3 is a flowchart of control operation, and Fig. 4 is a flowchart of the control operation. 4 and 5 are schematic side views of the combine harvester, and FIG. 6 is an explanatory diagram of a turn in another embodiment. (V)... Aircraft, (4a), (4b)...
...Traveling device, (8a), (8b)...Transmission device, (S3)...Direction detection means, (S4)
... Mileage detection means, (Ll), (L2)
...Setting distance, (θ3), (θ2)...
- Setting angle, (100)...Turn control means.

Claims (1)

[Claims] Aircraft equipped with a pair of left and right traveling devices (4a) and (4b) (
A direction detecting means (S_3) for detecting the direction of the aircraft (V), a traveling distance detecting means (S_3) for detecting the traveling distance of the aircraft (V).
4), and based on the detection information of the direction detecting means (S_3) and the traveling distance detecting means (S_4), as one work process ends, move the aircraft (V) adjacent to the work process. A turn control device for a work vehicle is provided with turn control means (100) for causing the work vehicle to travel to the next work stroke parallel to the work stroke, the turn control device comprising: turning control means (100) for causing each of the pair of left and right traveling devices (4a) and (4b) to travel on the next work stroke parallel to the work stroke; A pair of left and right transmissions (8a) and (8b) each capable of forward and reverse driving is provided, and the turn control means (100) is operated based on the detection information of the travel distance detection means (S_4) after one stroke. After moving the set distance (L_1) forward, the direction detecting means (
Based on the detection information of S_3), a set angle (θ_1) smaller than 180 degrees is made to make a primary turn toward the next work stroke side, and then the set angle is set based on the detection information of the travel distance detection means (S_4). After advancing the distance (L_2), the aircraft (V
) is configured to make a secondary turn until the direction of the work stroke is reversed by 180 degrees with respect to the completed working stroke, and then move it forward, and in each of the primary turning and the secondary turning, the pair of left and right A turn control device for a working vehicle configured to rotate traveling devices (4a) and (4b) in opposite directions.