JPH0229281B2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention is equipped with a microcomputer,
This invention relates to a harvester equipped with various automatic control functions.

In recent years, harvesters have been equipped with microcomputers that have enabled many automatic controls, and during harvesting, there is an automatic steering function that allows the machine to run in a manner that follows the grain culm to be harvested, and an automatic steering function that allows the machine to move in a manner that follows the grain culm that is to be harvested. Automatic mowing function that rotates the machine at the corner of a group of uncut grain culms to start the next process after harvesting, and automatic mowing that detects uncut grain culms and corrects the direction of the machine to harvest them. This includes the remaining correction function.

As shown in Figure 5, the automatic unmown correction function is equipped with a grain culm sensor S ₁ on the right side (already cut side) of the front of the machine.
If you discover a grain culm on the cut side that should not exist during automatic steering, stop automatic steering, move the aircraft backwards, and then drive the aircraft to the right to remove the uncut grain culm. After reaping, the machine returns to straight-ahead driving mode, resumes automatic steering, and performs the reaping work. Therefore, when the uncut grain correction operation is performed, the machine moves one row closer to the already cut side and performs the cutting operation, so from the remaining cut correction position, the number of uncut grain culm rows increases by one. When reaping a grain culm row adjacent to a grain culm row that has undergone uncut correction after going around once, the part where the number of uncut grain culms has increased by one row is to be reaped. It becomes necessary to make corrections, and we will continue to make similar corrections in the future. For this reason, there was a risk that the work efficiency would be significantly reduced and the advantages of the automatic function would be lost.

The present invention has been made to eliminate such inconveniences, and when automatic uncut correction is performed in the reaping process, the grain culm line adjacent to the grain culm line targeted for reaping in the relevant process is To provide a harvesting machine capable of improving work efficiency by eliminating the need for repeating uncut uncut correction by deviating the machine body by one row of grain culm toward the harvested side.

The harvesting machine according to the present invention is an automatic machine that turns the machine and moves in a direction perpendicular to the previous direction of movement of the machine when it detects that the machine has reached a corner of a group of uncut grain culms. In a harvester equipped with a rotation function and an automatic unmown correction function that shifts the machine by one grain culm row toward the already-mown side in order to harvest unmown grain culms when it is detected, unmown correction is performed. A means for remembering that this has been executed, and if this execution is memorized in a certain reaping process, a means for memorizing that the process has led to the reaping process of the grain culm rows adjacent to the grain culm rows targeted for reaping in that process. means for detecting this, and when the means detects that the reaping process has been reached, means for automatically rotating the machine to deviate one grain culm row toward the already harvested side prior to the reaping process; It is characterized by comprising the following.

The present invention will be described in detail below based on drawings showing embodiments thereof. Figure 1 shows a weed dividing plate 1 of a reaping section 1 of the present invention machine.
1 and 1r, and a plan view schematically showing sensors installed in the vicinity thereof. The detection target of each sensor is a grain culm. The sensor used is _{a combination} of a touch _rod and _a limit switch, or an optical sensor using a photoelectric _switch. I use a type one, and others use a combination of a touch rod and a limit switch.

The sensor S ₁ is attached to the mounting rod of the right grass divider plate 1r with its detection surface facing the outside of the machine, that is, to the right (generally towards the already cut side), and detects grain culms within its detection area. That is, it detects grain culms on the cut side that should not exist, that is, uncut grain culms, and is involved in the control for harvesting uncut grain culms.

Sensors S ₂ and S ₄ are installed on the right and left side grass dividers 1, respectively.
R and 1L are attached to the mounting rods with the respective touch rods facing inward of the machine body, and depending on the rotation angle when each touch rod contacts the grain culm and rotates, the grass dividing plate is The distance between 1r and the grain culm rays adjacent to it on the left, and the distance between the grass dividing plate 1l and the grain culms adjacent to its right, in other words, the distance between the machine body and the grain culm rays to be harvested. It detects the relative positional relationship between the two, and is mainly involved in control for automatic steering.

The left and right sensors S ₄ and S ₂ act as follows during automatic steering. In other words, when mowing, the right sensor S ₂ is aligned so that it is free, and the left sensor
Steering is performed by the rotation angle of S ₄ . In other words, when the sensor S ₄ is rotating backwards beyond the rotation angle range (dead zone) when the relative positional relationship with the grain culm to be harvested is appropriate, the machine will turn left and rotate forward. In this state, the aircraft is forced to turn to the right.

If the sensor _S4 becomes free or is in the dead zone, the vehicle is caused to travel straight. On the other hand, during horizontal mowing or mid-mowing, steering is performed based on the rotation angle of the right sensor _S2 , regardless of the rotation position of the left sensor _S4 . In other words, when sensor S ₂ is rotating backwards beyond the rotation angle range (dead zone) when the relative positional relationship with the grain culm to be harvested is appropriate, the machine will turn to the right and rotate forward. In this state, the aircraft is forced to turn to the left. Also, in the dead zone, it is forced to go straight.

Such control is similar to that shown in Japanese Patent Application No. 114148/1983, for example.

The sensor S ₃ is mounted behind the right grass dividing plate 1r with its contact rod facing inward of the aircraft body, and the length of its contact rod is shorter than that of the sensor S ₂ . This sensor S ₃ performs the function of supplementing the sensor S ₂ , and moves so close to the grass dividing plate 1r that the grain culm on the left side of the grass dividing plate 1r touches the short rod of the sensor S ₃ and moving backward. When the vehicle rotates, this proximity is detected in front of the sensor S ₂ and the detection signal is used to quickly correct the traveling direction to the right.

Sensors S ₅₁ and S ₅₂ are attached to the mounting rod of the grass divider plate 1l, back to back with sensor S ₄ , with their detection surfaces facing left, and are involved in control during reciprocating mowing.

The sensor _S6 is mounted on the left auxiliary cutting rod 1s at a position to the side of the cutting blade 1c with its detection surface facing left, and is involved in control during rotation.

The sensor S ₆₀ is installed at the lower left side of the vehicle body at a position slightly behind the rear end of the auxiliary splitting rod 1s with the detection surface facing left.
Involved in control during reciprocating mowing.

FIG. 2 is a block diagram schematically showing the control system of the machine of the present invention. The microcomputer (hereinafter referred to as microcomputer) MCN, which is the core of the control system, consists of a central processing unit CPU, read-only memory ROM, random access memory RAM, input/output port I/OP, and interface PPI.

The signals emitted by each of the sensors S ₁ , S ₂ ...S ₆₀ are I/
O port I/OP, via interface PPI
The CPU performs necessary calculations based on the programs prepared in advance in the ROM and signals input from sensors, etc., and sends the actuator drive circuit ACC to the actuator drive circuit ACC, which makes the aircraft move forward and backward and steer left and right. The necessary control signals are issued via the interface PPI and I/O port I/OP to perform automatic harvesting. Note that RAM is the program in ROM,
It is used for temporary storage of data during calculation.

Various actuators ACT, which are drive-controlled by the actuator drive circuit ACC, perform predetermined operations, causing the traveling section, reaping section, and threshing section to perform operations corresponding to signals issued from the CPU. The structure of the actuator related to the automatic rotation function and the traveling section controlled by the actuator is roughly as follows.

First, looking at the traveling section, gear changes are performed by a hydraulically controlled transmission such as a power shift transmission, and an electromagnetic directional control valve is installed in the hydraulic circuit for shifting gears. It is provided as the actuator. Therefore, the microcomputer
By issuing a predetermined signal from the MCN, the electromagnetic directional control valve is driven to select among reverse gear, neutral gear, and first to third forward gears. In addition, steering can be performed by separately operating the side clutches that connect and disconnect transmission to the left and right crawlers and the brakes for control using hydraulic circuits. The actuator is provided with an electromagnetic directional control valve for switching the oil passage to cut off the brake and to operate the brake.

Next, regarding the reaping section 1, the entire reaping section is raised and lowered by a hydraulic circuit, and is provided with an electromagnetic directional control valve as the actuator to switch the oil passage for raising and lowering. In addition, the reaping clutch installed in the transmission system for the cutting blade 1c etc. consists of a belt stretched between a driving pulley on the engine side and a driven pulley on the reaping section side, and a tension pulley that tensions and loosens the belt. The actuator is a solenoid that moves the tension pulley to tension or loosen the belt.

Now, this harvester is designed so that it is possible to select a circular mowing mode or a reciprocating mowing mode regarding automatic rotation. In the reciprocating mowing mode, reciprocating mowing is performed from beginning to end, whereas in the circular mowing mode, when the horizontal mowing time becomes shorter than a set value, the mode is switched to reciprocating mowing after that. A digital switch DSW provided in the operating column 3 around the driver's seat 2 is used to set a set value, for example, in seconds, and in the embodiment is constructed of a three-digit thumbwheel switch.

Next, the automatic rotation control of the machine of the present invention will be explained using the case of reciprocating mowing as an example. FIG. 3 is a diagram schematically showing the locus of movement of the machine body during reciprocating mowing, and FIG. 4 is a flowchart showing the control sequence of the rotation operation at this time. When instructed to start harvesting, the machine automatically steers itself and performs the first row mowing process.

During this time, the contact rods of sensors S ₂ and S ₄ are in contact with the grain culm and are pressed and rotated backwards, but when this row cutting process is finished, the contact rods are no longer in contact with the grain culm, so both contact rods are in contact with the grain culm. becomes free. Microcomputer MCN
This detects the end of one row of row cutting, and the sequence begins for rounding. That is, first, the transmission is set to the first forward gear, the reaping section is raised, and the reaping section is moved straight forward at low speed for a predetermined period of time (corresponding parts in FIGS. 3 and 4 are given the same reference numerals. The same applies hereinafter).
Then, disengage the reaping clutch and turn to the left. Eventually, the sensor on the left side of the aircraft
_S51 detects the grain culm at the end of the uncut grain culm group C and operates. This stops the left turn, and the sensor S ₅₁ ,
Automatically steered by _S52 , the machine travels along the edge of uncut grain culm group C. On the other hand, if the left turn continues for more than a certain period of time, it is assumed that there are no grain culms on the left side of the aircraft, that is, all the harvesting work has been completed and there are no more unharvested grain culms, and the engine is stopped. Enter the task completion sequence.

Automatic steering using sensors S ₅₁ and S ₅₂ is performed as follows. That is, sensor S ₅₁ has a shorter grain culm detection range than sensor S ₅₂ , and sensor S ₅₁
If it detects the grain culm at the edge of the uncut grain culm group C, it is assumed that the aircraft is too close to the uncut grain culm group C, and it turns to the right, and only sensor S ₅₂ detects the grain culm. If the presence of _the grain culm is detected, it is determined that the grain culm is present, and the grain culm is detected, and the grain culm _is detected, and the grain culm is detected.

As the machine travels along the edge of the uncut grain culm group C in this way, it eventually reaches the corner of the uncut grain culm group C, and the sensor S ₆₀ located further behind the cutting blade 1c. becomes inactive and does not detect grain culms.
Immediately before that, both sensors S ₅₁ and S ₅₂ went into a state where they did not detect the presence of grain culms, so the aircraft had already started a left turn, but after sensor S ₆₀ became inactive, The steering by the sensors S ₅₁ and S ₅₂ is stopped, a left turn is made again for a predetermined period of time, and then the converting device is set to reverse gear and the vehicle is moved forward for a predetermined period of time. Immediately after this, the right brake is activated to make a left turn while moving backward. Then, the sensor _S6 eventually detects the grain culm at the corner of the uncut grain culm group C and is activated, so that the machine moves forward for a predetermined period of time thereafter. If this happens, the aircraft will gradually move away from the uncut grain culm group C and will be out of the detection area of sensor S ₆ , so wait for a certain delay time to elapse from the point at which sensor S ₆ becomes inactive, and then apply the right brake again. The aircraft then moves backward for a predetermined time while making a left turn to direct the nose in a direction approximately perpendicular to the previous automatic steering using sensors S ₅₁ and S _52.Then , the aircraft moves straight forward, lowers the reaping unit, and engages the reaping clutch. After completing the rotation sequence, the next row cutting process begins.

The rotation from the next row mowing to the next row mowing is performed in exactly the same manner as described above, and reciprocating mowing is performed while repeating this rotation operation, and the last row mowing is completed. When this happens, a sequence of work completion will begin that will lead to the engine being stopped.

Next, the automatic remaining mowing correction operation by the sensor _S1 will be explained based on FIG. As the aircraft travels, sensor S ₁ continuously monitors the presence of uncut grain culms on the harvested side, that is, the right side, and if grain culms that should not originally exist are present, the microcomputer
After issuing a detection signal to the MCN and immediately stopping the machine, the reaping section is raised slightly to move the machine backwards by a predetermined distance, and then the machine moves forward to the right to reap the remaining grain culms. After correcting the machine's running direction to a straight-ahead state, the reaping work is carried out using automatic steering. Therefore, after performing the unmown correction operation, the machine continues the reaping operation while moving one row toward the already mowed side (right side).

Now, the machine of the present invention has a feature when it performs such an automatic remaining mowing correction operation. FIG. 6 is a diagram schematically showing the movement trajectory of the aircraft 2 in this case, and FIG. 7 is a flowchart showing the control sequence. During the row mowing process in the reciprocating mowing mode, if you perform the uncut correction operation (corresponding parts in Figures 6 and 7 are given the same reference numerals; the same applies hereinafter), the microcomputer MCN memorizes this and performs the cutting operation. Set the remaining correction flag. This set function corresponds to a storage means for executing the uncut correction. And this one
When the row mowing process is completed, the microcomputer MCN advances the counter by one step because the above-mentioned uncut correction flag is set, and performs the same forward movement, left turn, Running along the edge of the unmarked grain group C 〓, and a predetermined action work 〓 ~
The harvesting process is performed in the opposite direction to the previous row cutting process. When this row cutting process is completed, the turning operation is performed again, but at this time, the flag is still set, so the counter is set to 1.
It is moved forward and becomes 2, and the machine position is automatically rotated in order to deviate one grain culm row toward the harvested side ^* 〓〓～
〓 The above-mentioned counter serves as a means for detecting whether or not the grain culm row adjacent to the grain culm row to be reaped in the step in which execution of the uncut correction was stored has reached the reaping step. In other words, when this count reaches 2, it means that the process of harvesting the adjacent grain culm has come. This automatic rotation ^* 〓〓～〓 is a straight forward movement at low speed as described above〓〓,
Left turn〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓, the transmission is in reverse gear〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓 For the reverse gear, go immediately after the predetermined time〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓〓 Apply the brakes and turn left while moving backwards until sensor _S6 is activated. Then, the aircraft is made to move forward for a predetermined period of time, but this time of forward movement is slightly shorter than the above-mentioned time for direct movement, and specifically, sensor S ₆ is inactive. Then, the time for the straight forward movement is further shortened slightly, and the subsequent left turn causes the machine position to deviate by one row toward the already-cut side. For example, in the case of a four-row harvesting machine, the number of grain culm rows to be harvested is three, so that one grain culm row is not present on the left side of the right weeding plate 1r. In other words, the microcomputer MCN that controls the steps 〓〓〓～〓 becomes the means for executing the automatic rotation that shifts the grain culm by one row. At this time, the flag and counter are reset. Then, reaping is performed using automatic steering in such a state, but in this case automatic steering is performed only based on the detection results of left sensor S ₄ , so the fact that sensor S ₂ is free does not pose any problem. There is no. Then, when reaching the left side of the uncut correction operation point, there is an uncut grain culm ray, but since this grain culm ray is located to the left (inward of the machine body) of the right grass division plate 1r, the machine To smoothly perform harvesting work without having to correct uncut leaves.

As described in detail above, when the uncut correction is carried out, the present invention allows the machine to be removed from the Since the grain culm is automatically rotated to shift one grain culm row toward the cutting side, the harvesting work can be carried out smoothly and the work efficiency can be greatly improved.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic plan view of the present invention machine showing the arrangement of sensors, FIG. 2 is a schematic block diagram of the main parts of the control system, and FIG.
The figure is a schematic diagram of the movement trajectory of the machine during reciprocating mowing, Figure 4 is a flowchart schematically showing the control sequence at that time, and Figure 5 is a schematic diagram of the movement trajectory of the machine to explain the remaining mowing correction operation. 6 is a schematic diagram of a movement locus for explaining the operation of the machine of the present invention, and FIG. 7 is a flowchart schematically illustrating the control sequence at that time. S ₁ , S ₂ , S ₃ , S ₄ , S ₆ , S ₅₁ , S ₅₂ , S ₆₀ ...sensor, MCN ... microcomputer, ACT ... actuator, 1l, 1r ... grass dividing board.

Claims (1)

[Claims] 1. When it is detected that the aircraft has reached the corner of a group of uncut grain culms, an automatic rotation function that turns the aircraft and moves in a direction perpendicular to the previous direction of movement of the aircraft, and an automatic rotation function that moves the aircraft in a direction perpendicular to the previous direction of movement of the aircraft, and In a harvesting machine equipped with an automatic unmown correction function, when a grain culm is detected, the machine body is deviated one grain culm row toward the already harvested side in order to harvest it.
A means for storing the execution of the uncut correction, and if this execution is memorized in a certain reaping process, a means for reaping the reaping process of the grain culm rows adjacent to the grain culm rows targeted for reaping in that process. a means of detecting what has been reached;
When the means detects that the reaping process has been reached, the apparatus is further provided with a means for automatically rotating the machine to deviate one grain culm row toward the harvested side prior to the reaping process. Characteristic harvesting machine.