JPH01309606A - Method for steering control of cutting and harvesting machine - Google Patents

Abstract

PURPOSE:To carry out a precise and smooth steering by carrying out a steering control on basis of the bearing at the position a prescribed distance this side of the cutting terminal of a grain culm line. CONSTITUTION:The bearing detected by a bearing sensor 1 at the position a prescribed distance this side of the cutting terminal of a grain culm line on a cutting path is standardized and an admission angle to the position of cutting start of next grain culm line after the completion of steering is set on the basis of the standard bearing. A stable and normal detection of the bearing can be carried out without obstruction of a normal detection of the bearing by the bearing sensor.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a turning control system for a reaping harvester, and an automatic turning control system that performs automatic turning control according to a predetermined turning program at the end of reaping of a row of grain culms. Can be used for equipment, etc.

Prior Art and Problems to be Solved by the Invention When reaping standing grain culms with a reaping harvester, the reaping direction is automatically changed at the reaping end of a row of grain culms so that it goes in a lateral direction that intersects with the reaping stroke. There is an automatic turning control that performs automatic turning control, but this automatic turning control is still at a trial stage, and some are attempting to perform sequence control using a preset turning program.

The turning action by this sequence control is normally started when the grain culm sensor, which turns the contact 0N-OFF depending on the presence or absence of the reaped grain culm, detects the end of reaping of the grain culm row and reaches 01.'F. Control is maintained until the cutting start end of the grain culm row is detected and turned ON.

During this turning action, conventionally, as in Japanese Patent Publication No. 62-44884, the absolute direction detected by an orientation sensor at the time when the cutting end of the grain culm row is reached and the turning action starts is used as the reference direction, and based on this reference direction. The approach angle of the next row of grain culms to the cutting start edge was determined by However, in such low-harvesting areas, the ground surface is not in contact with the materials processed by the harvesting work, such as cut straw culms with a waste cutter or tied straw bundles with a straw removal knotter, and there are unevenness caused by numerous turns. The attitude of the aircraft becomes unstable, and this unstable state makes it difficult for the orientation sensor to detect a normal orientation.

Therefore, the present invention enables stable and normal detection by selecting a point where the ground surface conditions are relatively stable and having the direction sensor detect the direction during turning action by sequence control. This is what we are trying to do.

Means for Solving the Problems This invention detects the absolute orientation with the orientation sensor (1), detects the cutting end (a) of the grain culm row (A) with the grain culm sensor (2), and detects the grain. Cutting end (a) of culm row (A)
In a reaping/harvesting machine in which the direction of the grain culm row (A) is controlled by a program so that the section (
The turning control system is configured by providing an automatic turning control device (3) that performs turning control based on the azimuth at a point a certain distance before a).

Functions and Effects of the Invention A traveling device, which has rollers running on the ground surface on the left and right sides of the body of the reaping harvester, is used to move the body to reap the grain culm rows (A) during the reaping operation. At the cutting end (a) of the culm row (A), automatic turning is performed by performing sequence control according to a turning program preset in the automatic turning control device (3) so that the cutting end (a) of the culm row (A) is directed in a lateral direction that intersects with this cutting stroke. do it like this.

In the turning action by such sequence control, the absolute direction detected by the direction sensor (1) at a point a certain distance before the cutting end (,) of the grain culm row (A) in the reaping process is used as a reference, and this reference direction is Based on this, determine the approach angle of the next grain culm row (A) to the cutting start end after turning is completed,
For example, as shown in Fig. 7, the grain culm sensor (2) detects the grain culm row (
After detecting the end of reaping (a) in A), raise the reaping device installed on the aircraft, move straight forward, make a left turn, stop once after completing the left turn, and then go straight backwards from this stopping position. After that, turn to the right, stop once after completing the turn to the right, and then move straight forward again from this stopping position and lower the reaping device to the starting point of reaping of the next row of grain culms (A). Each stroke is checked by a series of turning programs such as entering and entering the reaping process, and when the turning action reaches a preset value, the order of the turning strokes is set in advance. Automatic turning control is performed according to the following.

As described above, at a point a certain distance before the reaping end (a) of the grain culm row (A) in the reaping process, the direction sensor (1)
By detecting the reference direction at the time of turning, the reference direction is detected by the direction sensor (11) at the time when the cutting end (a) of the grain culm row (A) is reached and the turning action is started. When detecting, the ground surface of the low-cut area has accumulated materials from harvesting operations, such as straw culms cut by a straw removal cutter, bundles of straw tied by a straw removal knotter, etc., or unevenness caused by multiple turns. The aircraft's attitude is unstable due to the presence of the aircraft, which prevents the orientation sensor (4) from correctly detecting the orientation, and enables accurate and smooth automatic turning control. It is.

EMBODIMENTS In the following, a case where the present invention is applied to a combine harvester for harvesting grains will be exemplified.

A pair of left and right rollers (4) that run on the ground below.
A traveling device (5) having a
A threshing device (7) for threshing the grain culms supplied by being clamped by the foot chain (6) and sorting and collecting the threshed grains is mounted on the top, and a threshing device (7) is installed on the H side of this threshing device (7). A reaping device (8) is attached to the ground surface so that it can be raised and lowered from the ground surface. Furthermore, on the negative side of the threshing device (7), there is an operating device (
9) and an operator seat +I[I for this operation are respectively arranged to constitute the combine harvester body (11).

The traveling device (5) also includes left and right traveling sprockets 0δ and a traveling shaft f1 that drive the traveling rollers (4).
An interlocking case o41 having an internal interlocking mechanism for interlocking 3 is disposed, and the traveling @(1
Left and right steering clutches that turn the drive on and off ++'9
, a steering brake (161) to be operated together with the steering clutch flsl, and a left and right mileage sensor fllll that reads the rotation of the left and right counter teeth tra in pulses and detects the mileage separately, respectively. Sensor (
A bushing cylinder (11) is provided and configured based on the information of the steering clutch (!9) and the steering brake (IB) using hydraulic pressure or the like.

In addition, a hydraulically driven H is provided on the upper side of the interlocking case 041.
An 8T device (to) is connected in series, and a swash plate arm 21) that controls a swash plate that sets the rotation direction and output rotation speed of this HST device (to) is used to detect the output rotation speed. A plate sensor Qδ is provided, and a telescopic cylinder using hydraulic pressure or the like is provided to actuate the swash plate arm +211 based on information from the swash plate sensor υδ. Also, this telescopic cylinder (
) and the solenoid valve (c) that operates this cylinder ■,
Further, the bushing cylinder (1), a solenoid valve (c) for operating this cylinder (1), and a proportional pressure reducing valve (4) for controlling the action of this solenoid valve (c) are connected to each other so as to be hydraulically controllable.

In addition, the operating device (9) is manually operated to control the aircraft (1).
Travel lever (3) that controls forward and reverse travel in 1)
and a power steering lever (to) for controlling left and right steering and raising and lowering the reaping device (8), and the travel lever (5) is connected to the swash plate arm 3υ by a wire (c). The power steering lever (to) is provided with a steering angle sensor (to) that detects the steering angle in the left and right direction, and an elevation angle sensor 0υ that detects the elevation angle of the reaping device (8). 6 In addition, a grain culm sensor (2) that detects the presence or absence of an upright grain culm and turns the contact point ON/OFF is installed at the rear position of each tiller (toe) arranged on the left and right sides of the front end of the reaping device (8). Provide each. In addition, a telescopic cylinder (to) using hydraulic pressure or the like is installed between the machine body (11) and the reaping device (8) to raise and lower the reaping device (8) from the ground surface. A solenoid valve (to) for operating this cylinder (g) is connected to enable hydraulic control.

Further, an orientation sensor (1) for detecting absolute orientation is arranged at the rear of the operator seat (In).

Moreover, each of the above-mentioned sensors (1), (2), film, +2
Arithmetic processing is performed using information such as LO1, 00, etc., and each solenoid valve G! 41. +251, I2
An automatic turning control device (3) for controlling θ, 00, etc. is provided inside the operating device (9), and this automatic turning control device +
! +31 is a C that performs central arithmetic processing for sequence control and storage of diversion programs, etc.
PU09 is mainly arranged.

Each sensor (1), (2) is connected to the input terminal of this CPU0g.
, (11 children, +2, Oυ, mouth υ, etc. are connected, and the respective electromagnetic valves 1241°4, C2e, α1, etc. are connected to the output side to enable automatic turning control.

In the combine harvester configured as described above, the travel lever (swash plate arm 21 via the wire (c) by manual operation of ?71) is rotated, and this rotation causes the HST device 2
G is driven to run the interlocking case from 0 slope @ +1'J and the rollers (4, 1
Let it run.

By this traveling, the grain culm row (A) is cut by the reaping device (+3).
is reaped, and when the grain culm row (A) reaches the reaping end (a), the machine (11) is automatically rotated in a lateral direction that intersects with the reaping process. The turning control device (3) performs the turning action of the aircraft (11) by sequence control according to the order of the turning program set in advance.

As shown in Fig. 7, the turning effect caused by this sequence control is such that during the reaping process of the grain culm row (A), the direction is detected by the direction sensor (1) at regular intervals (n) of about 50 centimeters, for example. This detected direction is stored in the automatic turning control device (3), and when the grain culm sensor (2) detects the end of reaping (a) and turns off, the traveling distance sensor (Iil) detects the direction of travel. By checking the distance integration, 1, for example, a point (S) 1 meter before this cutting end (a)
In other words, if the cutting end (il) is the final detected value, the detected value at the point (S) two positions before this detected value is selected and extracted as the reference direction, and based on this reference direction, the next grain culm after turning is Determine the approach angle of row (A) to the cutting start edge (b).

After determining this approach angle, the (C) point is detected by an integration check using the mileage sensor (I[1), and this (C)
At the point, the reaping device (8) is raised and the vehicle continues straight, and the point (d) is detected by checking the total distance traveled. (
d) Make a left turn on the first leg from the point.

The state of change in the direction detection value detected by the direction sensor (1) every minute distance M (m) is detected by the roller (
4) is converted as the difference in travel distance, and while checking this converted value with the travel distance sensor (11m), calculate and set the turning angle (
01), the aircraft turns at the radius (R1) depending on the disengagement time of the left steering clutch (19) and the strength of the steering brake + IQ, and at point (C) when the turning angle (01) is reached, the aircraft (10) Stop it once.

In addition, in the next second stroke, the swash plate arm 3 is
I) switches the I-I ST device (to) from forward to reverse, moves straight in reverse, detects point (f >) by checking the total travel distance, and then starts from point (f) in the same manner as the left turn described above. makes a right turn with radius (R2) and stops the aircraft (11) at point (g) when the turning angle (02) is reached.

In the next third stroke, the machine switches from reverse to forward at this stop position, moves straight forward, checks the cumulative travel distance, detects point (h), and at point (h), the reaping device (
8), the grain culm sensor (2) detects the reaping start end (b) of the next grain culm row (A) and turns ON, and then the reaping process is started.

As described above, in the sequence control, the approach angle of the next grain culm row (A) to the reaping start end (b) after the end of turning in one direction stroke is set to the reaping end point (b) of the grain culm row (A) in the reaping stroke.
The orientation sensor (
By calculating and setting the orientation detected by 11 as a reference, the reference orientation is detected as in the conventional method at the time when the cutting end (a) of the grain culm row (A) is reached and the turning action is started. The ground surface of the reaping area is processed material from harvesting work,
For example, straw culms cut by a straw removal cutter, bundles of straw tied by a straw removal knotter, etc. may be piled up, or there may be unevenness due to numerous turns, resulting in an unstable attitude of the aircraft (Ill). Accurate and smooth automatic turning control can be performed without interfering with normal direction detection by the sensor (1).

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
Fig. 2 is a partial plan view, Fig. 3 is a partially sectional front view, Fig. 4 is a partial front sectional view, Fig. 5 is a block diagram of a part of the operating mechanism, FIG. 6 is a block diagram of the control system, FIG. 7 is a partial working method diagram, and FIG. 8 is a block diagram of the electric circuit. In the figure, code +1) is the orientation sensor, (2) is the grain culm sensor,
(3) indicates an automatic turning control device.

Claims (1)

[Claims] While the direction sensor (1) detects the absolute direction, the grain culm sensor (2) detects the reaping end (a) of the grain culm row (A), and the reaping end (a) of the grain culm row (A) is detected. In a reaping/harvesting machine that controls the turning direction by a program so as to move in the horizontal direction, an automatic turning control system that controls the turning direction based on the direction at a point a certain distance before the cutting end (a) of the grain culm row (A). A turning control system that includes a control device (3).