JPH02241850A - Turn reporting device for working vehicle - Google Patents

Abstract

PURPOSE:To allow an unskilled driver to perform a correct turn by reporting the starting time of the primary and secondary turns and the starting time of straight running when the primary and secondary turns are completed respectively during the teaching running of a working vehicle. CONSTITUTION:The completion of the work process is detected by a sensor S0 during the teaching running of a working vehicle, the running distance is detected by a sensor S1, and the turning angle is detected by a means 100. The straight running distance after the work process is completed, the primary turning angle, the straight running distance after the primary turn, and the secondary turning angle are stored in a memory 3 respectively based on the above detected information. On the other hand, the starting time of the primary turn, the starting time of the straight running after the primary turn is completed, the starting time of the secondary turn, and the starting time of straight running after the secondary turn is completed are reported by a reporting mean 101 respectively based on the stored information of the memory and the above detected information. E.g., a buzzer 4 is operated by a control device 5.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention provides, after the completion of one work process, traveling straight to the primary direction point, performing the primary direction 1, and after the primary direction, traveling straight to the secondary direction point. This invention relates to a turn notification device for a work vehicle that travels straight until then, makes a secondary turn, and after that secondary turn, travels straight and moves on to the next work stroke.

[Prior Art] For example, in a work vehicle such as a combine harvester, after completing one work stroke, the vehicle travels straight to a primary turning point, makes the primary turn, and after that primary turning, travels straight to a secondary turning point. The machine is operated so that it makes a secondary turn, moves straight ahead after the second turn, and moves on to the next work process, and performs the mowing work in a predetermined range while moving the mowing width.)
(See Figures 4 and 5).

[Problems to be Solved by the Invention] However, when turning by manual maneuvering, if the straight travel distance or the turning point is incorrect, it will not be possible to proceed to the start of the next work stroke properly (this will result in It had the disadvantage of requiring skill.

By the way, information on the straight travel distance, primary direction angle, straight travel distance after the primary direction, and secondary direction angle after the completion of the work process is set and stored in advance, and the next step is automatically performed based on the stored information. Although it has been considered to shift to a work process of

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to detect the starting point of the primary direction, the starting point of straight running following the end of the primary direction, the starting point of the secondary direction, and the starting point of the secondary direction. To enable even an unskilled driver to accurately turn around by making it possible to notify the starting point of straight traveling at the end of a turn.

[Means to solve the problem]

The turning notification device for a work vehicle according to the present invention is such that after completing one work stroke, the vehicle travels straight to the primary turning point, makes the primary turn, and after the primary turning, travels straight to the secondary turning point, and then makes the secondary turn. After the secondary direction, the system travels straight ahead to move on to the next working process, and its characteristic configuration includes a process end detection means for detecting the end of the working process, and a process end detecting means for detecting the end of the working process, and a distance traveled. Based on the detection information of the traveling distance detecting means to detect, the turning angle detecting means to detect the turning angle, the straight traveling distance after the end of the work process, the primary turning angle, the straight traveling distance after the primary turning, and Storage means for storing each of the secondary direction angles is provided, and the storage information of the storage means as well as the stroke end detection means,
Based on the detection information of the traveling distance detecting means and the turning angle detecting means, the starting point of the primary direction, the starting point of straight running following the end of the primary turning, the starting point of the secondary turning, and The present invention is characterized in that a notification means is provided for notifying each point in time when straight-ahead travel is started upon completion of the secondary direction.

[For production]

Along with the teaching run, the straight travel distance after the end of the work process, the primary direction angle, the straight travel distance after the primary direction, and the secondary direction angle are stored, and the stored information,
and a stroke end detection means, a travel distance detection means, and
Based on the detection information of each of the turning angle detection means, the starting point of the primary turning, the starting point of straight traveling at the end of the primary turning,
Since the start time of the secondary turn and the start time of straight running following the end of the secondary turn are notified, even an inexperienced operator can accurately turn around by manual operation.

〔Effect of the invention〕

As a result, each point in time when an operation for turning is performed is notified, making it easier for even an inexperienced operator to operate the vehicle, and making it possible to accurately shift to the next operation after completing one operation.

〔Example〕

EMBODIMENT OF THE INVENTION Hereinafter, an embodiment in which the present invention is applied to a combine harvester as a working vehicle will be described based on the drawings.

As shown in Figure 6, a pair of left and right crawler traveling devices (1
) A reaping section (2) as a working device is installed in the front part of the fuselage (V) so that it can be driven up and down, and the reaping section (
2) A stock sensor (So) is provided in the transportation path of the harvested grain culm to detect whether or not the harvesting operation is in progress by contacting the stock base of the harvested grain culm. In other words, this stock sensor (So) corresponds to a process end detection means that detects the end of a work process.

To explain the traveling mode of the machine (V), as shown in Fig. 4, a plurality of work strokes are set to be lined up parallel to each other, and each time the work stroke is completed, the direction is changed by 180 degrees. There is a so-called reciprocating mowing mode in which the mowing width is transferred to the next working stroke, and as shown in Figure 5, as shown in Fig. 5, as each working stroke is completed, the mowing machine repeats forward and backward movement and changes direction approximately 90 degrees while cutting the uncut mowing. There is a so-called circular cutting mode in which the cutting tool runs around the area.

In the reciprocating mowing mode, after the completion of one work stroke, the primary direction travels straight ahead in the first set distance (Ll) to the primary direction point, and then changes direction approximately 90 degrees toward the next adjacent work stroke. Then, after that primary direction, it travels straight ahead for the second set distance (1, 2) to the secondary direction point, and then makes a secondary direction to change the direction of the starting end side C of the next work stroke by 90 degrees, and after that secondary direction, The machine moves straight ahead and moves on to the next work process.

In the circular mowing mode, after completing one work stroke, the machine travels straight ahead for the first set distance (L,) to the primary turning point, and then changes direction by a set angle smaller than 90 degrees toward the next work stroke. After the primary direction, turn around to reach the secondary direction point by a second set distance (the next direction located in the direction that intersects 90 degrees with respect to the work stroke completed by driving straight in reverse on L). To the starting end of the work stroke, change the direction by an angle obtained by subtracting the primary direction angle from 90 degrees, make a secondary direction, and after the secondary direction, travel straight ahead in a forward state and move on to the next work process. become.

In Fig. 4, (St) and (SR) detect whether the uncut grain culm is on the left or right side with respect to the machine (V) by coming into contact with the planted grain culm in the field. A pair of contact-type left and right mowing direction detection sensors that automatically detect whether the mowing direction should be turned in order to move to the next work process based on the detection information. This makes it possible to judge whether it is good or not.

When traveling in either the reciprocating mowing mode or the circular mowing mode, the straight traveling distance after the end of the working stroke, the primary direction angle, the straight traveling distance after the primary direction, and , the secondary turning angles are stored, and based on the stored information and various detection information described later, the U2 is used to notify the straight steering start point and turning point so that accurate turning can be performed. be.

However, it is also possible to automatically divert based on the teaching information.

As shown in FIG. 1, the distance traveled is detected based on the stock sensor (S0) as a stroke end detection means and the rotation speed of the drive shaft (not shown) of the crawler traveling device (1). Mileage detection sensor (S1) as distance detection means
, turning angle detection means (100
) A memory (3) as a storage means for storing each of the straight traveling distance, the primary direction angle, the straight traveling distance after the primary direction, and the secondary direction angle after the completion of the work process based on the respective detection information. The information stored in the memory (3), the stock sensor (S0), the mileage detection sensor (S1), and the turning angle detection means (1) are also provided.
00) Based on the respective detection information, the start point of the primary direction, the start point of the straight-ahead travel with the end of the next cycle, the start time of the secondary direction, and the start of the straight-ahead travel with the end of the secondary direction. A control device (5) using a microcomputer is provided, which constitutes a notification means (101) for notifying each start time by activating a buzzer (4) at each time.

In the figure, (S-) indicates which operating mode to operate in, OFF (control stop), teeing, regeneration (manual), or regeneration (automatic), according to the control device (5) G. Instructing mode selector switch, (6L), (6R)
(7) is a hydraulic actuator for a Zyde clutch for steering or turning by separately operating the transmission of driving force to the left and right pair of steering λ-ra traveling devices (1);
) is the control valve for these actuators (6L) and (6R), (8) is the steering lever for manual steering, (52
), (Sol) are steering switches that detect whether the steering lever 8) is being operated to the left or right, and (9) is a speed change actuator.

That is, the control device (5) maintains the control in a stopped state when the mode changeover switch (SW) is OFF, and when the teaching mode is selected, detects information of the various sensors. A teaching process is executed to write turn information based on 41:α, and when a playback mode is selected, the buzzer (4) is activated in manual mode based on the information stored in the memory (3). Processing to notify each of the start point of the primary direction, the start point of the straight-ahead travel with the end of the primary direction, the start time of the secondary direction, and the start time of the straight-ahead travel with the end of the secondary direction. In automatic mode, as one work process is completed, the starting point of the next direction and the end of the primary direction are
”, the starting point of straight traveling, the starting point of secondary direction,
The pair of side clutch actuators (61
1) and (6R) are automatically activated to execute a process that automatically moves to the next work process.

The turning angle detection means (100) will be explained as follows.
During manual driving, the control device (5)L controls the primary direction and the secondary direction based on information from a pair of steering switches (sz) and (Sl) that detect the operation state of the steering lever (8). By measuring the elapsed time (ri) and (rz) from the start point to the end point of each direction, each turning angle is detected as the time required for that turning. However, 17. During automatic driving (,, D is the actuator for the side clutch (6L), (6R)
The operation time is detected as information corresponding to the turning angle.

Next, based on the flowchart i shown in FIG.
The operation of the control device (5) during each traveling will be explained.

However, each process described below will be explained assuming that the mowing machine is run in the reciprocating mode shown in FIG. 4.

When teaching is instructed by the operation mode changeover switch (SW), the stock sensor (So)
The machine waits until the work process, which is the end of cutting when the switch is turned off, is completed.

When the work process is completed, the mowing direction, that is, the turn direction is memorized based on the information from the left and right pair of mowing direction detection sensors (SL) and (S, I), and the information from the travel distance detection sensor (Sl) is stored. Based on this, measurement of the straight-line traveling distance (f) after the end of the work process is started.After the straight-line traveling starts, the pair of steering switches (SK) are pressed.
, (sz), it is determined whether or not the next direction is started, and as the primary direction starts, the measured traveling distance (1) is calculated as the first direction after the work process is completed. The first set distance (1, υ) up to the turning point is stored, and the measurement of the elapsed time (1) after the start of the first rotation is started.

The pair of steering switches (SK), (Sl
) When determining the end of the primary direction, the measured elapsed time (1) is stored as the primary direction time (T1) corresponding to the same angle as the primary direction.

After that, in the same way, after storing the traveling distance (1) up to the start of the secondary direction as the second set distance (1, 2), the time required for the secondary direction is measured and the secondary direction time ( T2
) is memorized and the teaching process ends.

Next, based on the flowchart shown in Figure 3, using the information stored in this teaching process,
The regeneration process when turning by manual operation will be explained.

Similar to the teaching process, the stock sensor (S
o) is 0FFf to determine the end of mowing, the travel distance (1) detected by the travel distance detection sensor (S,) reaches the first set distance (Ll) stored by the teaching. When the first set distance (Ll) is reached, the buzzer (4) is activated for a set time, for example, to notify the start time of the primary rotation.

After notifying the starting point of the primary direction, the elapsed iFA time (1) after the start of the primary direction is measured, and as the primary direction time (T,) stored in memory L7 elapses, the buzzer ( 4) is activated to notify the end of the primary direction, that is, the start point of straight traveling after the end of the primary direction.

After notifying the start point of straight-ahead travel after the primary direction, the straight-ahead travel distance (f) after the primary direction changes to the stored second set distance (L,) in the same way as the straight-ahead travel after the end of the work process. It is determined whether or not the distance has been reached, and as the second set distance (L,) is reached, the start time of the second turn is notified.

After notifying the start point of the second round, calculate the elapsed time (1)? Iu l, te, memorized second turning time (T
As 2) elapses, the end of the secondary direction, that is, the start point of straight forward travel after the end of the secondary direction is notified, and the regeneration process is ended.

However, although it will not be described in detail, if automatic is selected in the regeneration process, instead of activating the buzzer (4) at the start of each straight run or turn, the buzzer (4) will be activated based on the memorized mowing direction information. Based on the memorized turning time (T1
), (Tz), the pair of left and right side clutch actuators), knee lifts (6L) and (6R) are automatically operated, and the vehicle moves straight through the memorized set distances (Ll) and (L2). The transmission device (9) is automatically operated so as to do so.

Embodiment C] In the above-mentioned embodiment, the processing in the reciprocating mowing mode has been described, but the present invention can be implemented in the same way when turning in the circular mowing mode shown in FIG. 6.

To explain, in the reciprocating mowing mode, the turn is made only by moving forward, but in the circular mowing mode, the straight movement after the primary direction and the secondary direction are performed in reverse, and the same angle for the primary direction and the secondary direction are used. The only difference is that the total with the direction angle is approximately 90 degrees, and the steps required for the turn are the same, so it can be carried out in the same 1' process as reciprocating mowing.

In addition, in the embodiment described above, the turning angle detection stage 1 (100) is
Although we have exemplified a case in which the elapsed time (Tl) and (T2) during the turning operation in each of the primary direction and the secondary direction are stored, for example, it is possible to use geomagnetism that can detect the direction of travel. Alternatively, the actual turning angle may be detected using a direction sensor or the like.

Further, in the above embodiment, the traveling distance is detected based on the driving rotation speed of the crawler traveling device (1), but similarly to the detection of the turning angle, while traveling straight, It may be detected as the elapsed time.

Similarly, the specific configurations of each detection means and each part necessary for carrying out the present invention can be changed in various ways.

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 drawings]

The drawings show an embodiment of the turning notification device for a working vehicle according to the present invention, in which FIG. 1 is a block diagram of the control configuration, FIG. 2 is a flowchart of teaching processing, FIG. 3 is a flowchart of regeneration processing, and FIG. 4 is an explanatory diagram of the turn locus in the reciprocating mowing mode, FIG. 5 is an explanatory diagram of the turn locus in the circular mowing mode,
FIG. 6 is a front side view of the combine. (So)... Stroke end detection means, (Sl)...
. . . Travel distance detection means, (3) . . . Storage means, (100) . . . Turning angle detection means, (10
1)・・・・・・Notification means. Figure 4 Figure 5 1st j @ @ s4 carp-1≧.

Claims (1)

[Claims] After completing one work process, the machine travels straight to the primary direction point and makes the primary turn, and after that primary direction, it travels straight to the secondary direction point and makes the secondary turn, and after that secondary direction, it travels straight. This is a turn notification device for a working vehicle moving to the next work stroke, which includes a stroke end detection means (S_0) that detects the end of the work stroke and a travel distance detection means (S_1) that detects the travel distance during teaching travel. ), the turning angle detecting means (100) for detecting the turning angle. Based on the detection information of each of the turning angle detecting means (100), the straight traveling distance after the end of the work process, the primary turning angle, the straight traveling distance after the primary turning, and the secondary turning angle are determined. A storage means (3) for storing each direction angle is provided, and information stored in the storage means (3), as well as the stroke end detection means (S_0), the travel distance detection means (S_1), and the rotation Based on the detection information of each of the direction angle detection means (100), the start point of the primary direction, the start point of straight traveling upon the end of the primary direction, the start time of the secondary direction, and the time of the end of the secondary direction. A turning notification device for a work vehicle, which is provided with notification means (101) for notifying each start point of straight travel.