JPH0147963B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention includes a sensor that detects the displacement amount of the machine body in the left and right direction with respect to the planted grain culms, and a machine body that follows the planted grain culms based on the detection result of this sensor. The present invention relates to an automatic steering control device for a reaper, which includes a mechanism that automatically controls the steering of the machine body to the left and right so that the machine is traveling.

When considering the automatic steering control state of this type of reaper, it is found that when the group of planted stems meanders significantly, the continuous steering control time in the same direction by the steering control mechanism becomes longer. , the return angle of the aircraft relative to the planted stem group becomes steeper, which has the disadvantage of increasing hunting control due to overrun.

The present invention has an object to improve the above-mentioned control drawbacks.

The characteristic configuration of the automatic steering control device of the present invention, which has been made to achieve such an object, is to measure the continuous steering control time in the same direction by the steering control mechanism, and to determine whether the measured value is greater than a set value. In this case, a mechanism is provided for operating the steering control mechanism in a direction opposite to the continuous steering control direction when the sensor returns to the neutral steering region.

In other words, when the group of planted stems and culms is meandering significantly, the continuous steering control time in the same direction by the steering control mechanism becomes longer than the set time, and the aircraft returns to the group of planted stems. Even when the angle becomes steep, the steering control mechanism is operated in the opposite direction to the continuous steering control direction as soon as the sensor returns to the neutral steering range, so that the next steering operation in the opposite direction can be controlled. It has become possible to shorten the steering control time as much as possible, and it has become possible to stabilize the steering control by shortening the hunting control time due to overrun as much as possible. Also, when the sensor that was outside the neutral steering area returns to the neutral steering area, if the deviation of the aircraft from the neutral steering area is particularly large (continuous steering control time in the same direction is set) Since the aircraft is steered in the opposite direction only when the time is longer than the specified time, the number of times the aircraft is steered is reduced overall, making it possible to further suppress hunting.

If the steering is largely controlled in the opposite direction when the aircraft returns to the neutral steering area at a steep angle, it is possible to prevent the aircraft from immediately overrunning to the opposite side of the neutral steering area.

Hereinafter, embodiments of the present invention will be described based on the drawings. A pair of left and right crawler type traveling devices 1, 1 and a steering clutch 2, 2 interposed in the transmission system for both of these traveling devices 1, 1 are installed internally. In front of this machine, which is equipped with a steering case 3, hydraulic cylinders 4, 4 for turning on and off the steering clutches 2, 2, a divider 5, which guides the planted stem culm to a plurality of introduction paths a, each path a. …
In a combine equipped with a pre-reaping treatment section having a pulling device 6 that acts on the stem culm introduced into the combine harvester, the automatic steering control device installed therein is constructed as follows.

That is, among the stem culm introduction paths a..., on the lateral outer side of the path a located closest to the cut field side, the support rod 7 of the divider 5 is attached as it comes into contact with the introduced planted stem culm. By swinging backwards, the amount of displacement of the aircraft in the left and right direction relative to the planted stem culm, that is, the stem culm increases the path width by 3
Among the divided areas, a sensor 8 for horizontal mowing is provided to detect whether the center straight running area _A1 has shifted to left turning area _A2 or right turning area _A3 . Based on the results, the control valve 9 for the hydraulic cylinders 4, 4 is adjusted so that the stem culm belongs to the straight-ahead travel area _a1 , in other words, so that the machine follows the planted stem culm group. A mechanism 10 automatically controls the aircraft to the left or right by controlling the excitation parts 9a, 9a intermittently, and measures the continuous steering control time in the same direction by the steering control mechanism 10, and calculates the measured value. is larger than a set value, a mechanism 11 for operating the steering control mechanism 10 in a direction opposite to the continuous steering control direction at the time when the sensor 8 returns to the straight-ahead driving area _a1 ; has been established.

If the planted stem culm is slightly meandering in the left-right direction, the continuous steering control time to the left or right by the steering control mechanism 10 is shorter than the set value, so the mechanism 11 does not operate. , when the sensor 8 returns to the straight traveling range, the steering control mechanism 1
Steering control by 0 is stopped.

When the planted stem culm is meandering significantly in the left-right direction, the continuous steering control time in the left or right direction by the steering control mechanism 10 becomes longer than the set value, so the mechanism 11 is activated and the sensor When the vehicle 8 returns to the straight traveling region, the steering control mechanism 10 is operated to perform steering control slightly in the opposite direction to the right or left. This results in
This makes it possible to stabilize the steering control by reducing the hunting control time due to overrun as much as possible.

In addition, on both sides of the stem culm introduction path a located on the most uncut field side, the support rods 7, 7 of the dividers 5, 5 are also provided with a rearward movement caused by contact with the introduced planted stem culms. Sensors 12, 12 for use in row mowing are provided to detect the amount of displacement of the machine body in the left-right direction with respect to the planted stem culm by swinging. The sensors 12, 12 are connected to the steering control mechanism 10, and the steering control state based on the detection result of the sensor 8 and the both sensors 12, 1 are connected to the steering control mechanism 10.
The steering control state is configured to be selectively switchable between two steering control states based on the second detection result.

The amount of steering control in the opposite direction by the mechanism 11 is, for example, when the steering control mechanism 10 controls the left turn by one pulse when the right turn control is continued for three or more pulses. The steering control may be configured to perform steering control in the opposite direction by a fixed value as desired, and the larger the time length, the greater the time length, depending on the length of time for continuous steering control in the same direction immediately before the sensor returns. It may be configured to automatically change as shown in FIG.

[Brief explanation of drawings]

The drawing is a steering control system diagram showing an embodiment of an automatic steering control device for a reaper according to the present invention. 8...Sensor, 10...Steering control mechanism, 11
……mechanism.

Claims (1)

[Scope of Claims] 1. A sensor 8 that detects the amount of displacement of the machine body in the left-right direction with respect to the planted grain culm, and based on the detection result of this sensor 8, the machine body follows the planted grain culm group. As described above, in an automatic steering control device for a reaper including a mechanism 10 for automatically controlling the steering of the machine body left and right, measuring the continuous steering control time in the same direction by the steering control mechanism 10, When the measured value is larger than the set value, a mechanism 11 that operates the steering control mechanism 10 in a direction opposite to the continuous steering control direction when the sensor 8 returns to the steering neutral region An automatic steering control device for a reaper, characterized in that it is provided with: 2. The automatic steering control device for a reaper according to claim 1, wherein the amount of steering control in the opposite direction by the mechanism 11 is a fixed value. 3. The amount of steering control in the opposite direction by the mechanism 11 is automatically changed in accordance with the length of time for continuous steering control in the same direction immediately before the sensor returns, so that the larger the time length is, the larger the amount is. An automatic steering control device for a reaper as set forth in claim 1.