JPH02312502A - Reaping and orientation controller in combine - Google Patents

Abstract

PURPOSE:To make a reaper to travel with reaping along end part of grain stem row by automatically switching to lateral reaping control with lateral reaping sensor in a case of shorter grain stem row in longitudinal direction than reaping width in turning to longitudinal reaping from lateral reaping. CONSTITUTION:In turning to longitudinal reaping from lateral reaping at nearly finish of reaping operation, a length of grain stem row in the longitudinal direction is detected as shorter than reaping width and longitudinal reaping control by a longitudinal reaping sensor 4 is automatically switched to lateral reaping control by lateral reaping sensor 6 even in longitudinal reaping, then normal orientation control is performed.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a reaping steering control device for a combine harvester.

Conventional technology When mowing along grain culm rows, the steering of the vehicle body is controlled in accordance with the detection of the left and right grain culms by the row sensor installed on the dividing rod on one side of the reaping device. The machine moves along this row of grain culms and performs the reaping work. Furthermore, when reaping from the side of the grain culm row, the steering of the vehicle body is not controlled by the row sensor installed on the dividing rod on the opposite side of the row sensor, so the vehicle body is not steered at the end of the grain culm row. Reaping work is carried out along these lines.

In a combine harvester equipped with a row sensor and a row sensor as described above, in a reaping mode in which the field is harvested sequentially inward from the periphery, row control is performed to reap along the grain culm rows. After this, at this reaping end, when the vehicle body is automatically turned to the reaping stroke in the lateral direction to the grain culm row, the row control is switched to row control using the row sensor and the reaping is carried out along the edge of the grain culm group. be exposed.

In this way, the reaping work is continuously performed by automatically turning the vehicle body and automatically switching between row control and row control.

Problem to be Solved by the Invention However, when the vehicle body is automatically turned from the horizontal direction to the row direction reaping process, if the grain culm row in the row direction becomes less than the cutting width of the reaping device, the row control is changed from the row control to the row direction. When switched to row control, since the row sensor controls the steering of the vehicle body by contacting the left and right grain culms, the steering control will not be performed normally depending on the detection by the row sensor.

Therefore, the reaping operation is performed by switching to manual steering.

Therefore, when the vehicle body is automatically turned from horizontal mowing to the row direction, if the grain culm row in this row direction is less than the reaping width, the grain culm is reaped by performing row control, thereby improving work efficiency. The purpose is to improve the

Means for Solving the Problems This invention provides steering control for the car body (3) by contacting the grass cutting rod (2) on one side of the reaping device (1) with the grain culm when the row travels along the grain culm row. A row sensor (4) and a horizontal cutting rod (5) on the opposite side are used to control the steering of the vehicle body (3) by contact with the grain culm when traveling from lateral to the grain culm row. A combine harvester equipped with a sensor (6) detects that the row of grain culms in the row direction is less than the reaping width when the vehicle body (3) automatically turns from the horizontal direction to the reaping stroke in the row direction. The reaping steering control device is characterized in that the reaping steering control device automatically switches to steering control using the horizontal reaping sensor (6).

Effect of the Invention During the reaping movement in the row direction along the grain culm row, the reaping device (1,
Row sensor (4) installed on the dividing rod (2) on one side of 1
The vehicle body (3) is steered and controlled by contact with the right and left grain culms in the traveling direction, and the reaping device (1) performs reaping work while traveling along the row direction.

At this cutting end in the row direction, the vehicle body (3) is automatically turned to the horizontal cutting stroke, and a horizontal cutting sensor ( The steering of the vehicle body (3) is controlled by the contact of the reaping device (11) against the grain culm, and the reaping device (11) travels along the edge of the grain culm group to perform the reaping operation.

In this way, the field is harvested sequentially inward from the periphery, but near the end of the harvesting process, when the grain is turned from the horizontal direction to the row direction, the rows of grain culms in the row direction are When it is detected that the cutting width of the cutting device (1) is below the cutting width,
The row control is stopped and automatically switched to the row control using the horizontal mowing sensor (6), and the reaping operation is continued.

Effects of the Invention Near the end of the reaping operation, when the grain is turned from horizontal cutting to row cutting, if it is detected that the grain culm row in this row direction is less than the reaping width, it is The cutting device (11) is also automatically switched to row control using the horizontal cutting sensor (6).
The machine can reap along the edges of grain culm rows and continue the reaping operation automatically until the reaping is completed. Therefore, the efficiency of reaping work can be improved.

Embodiment In the illustrated example, the weeding rod on one side of the reaping device (1)
A row sensor (4) is provided at the tip of the blade 2), and a horizontal mowing sensor (6) is provided at the grass dividing rod (5) on the opposite side.

The row sensor (4) includes a direction sensor (A) that turns on when it comes into contact with a grain culm on the left side with respect to the running direction, and a direction sensor (B) that turns on when it comes into contact with a grain culm on the right side. and are provided with actuators protruding from the left and right sides of the dividing rod (2), respectively.

The horizontal mowing sensor (6) includes a direction sensor (D) having an actuator protruding inward from the tip of the grass cutting rod (5) on the opposite side to the row sensor (4), and a direction sensor (D) located behind this. and a direction sensor (C) with an actuator longer than the direction sensor (D) protruding inwardly. Each switch is turned on when the switch is rotated.

A lifting device (7) is provided at the tip of the reaping device (1) in a backwardly tilted position, and a grain culm sensor (8) for detecting the presence or absence of grain culms is provided at the lower rear side of the pulling device (7). (9) is a cutting blade device, and the rear threshing device removes the grain culms cut by this cutting blade device (9).

A grain culm sensor (19) for detecting the presence or absence of supplied grain culms is provided in the supply section that transfers and supplies the grains to the grain culms.

The transmission case (17J) houses the transmission mechanism that transmits the left and right traveling devices (Ill) from the prime mover side. has been established.

Figure 1 is a control block diagram, in which a control device (1ω) having a CPU, memory, and an input/output circuit is connected to a row sensor (1ω).
4), row sensor (6), grain culm sensor (81 (Ill,
When each detection information of the distance sensor (13) and the distance sensor (13) are given,
Based on each of these detection information, the control device (from 1■ to right direction solenoid f141, left direction solenoid O5),
Each control signal is output to a forward solenoid (1 m) and a reverse solenoid (1 m).

When a steering control signal is output from the control device (1), the right direction solenoid (141) or the left direction solenoid (one is energized, the transmission to the right or left traveling device (11) is cut off, and the vehicle body (3) is The vehicle is configured to steer and control the direction of travel of the vehicle from left to right.

When a turning control signal is output from the control device (lO), the left direction solenoid (one is energized and the left travel device (11)
After cutting off the transmission to the left running device (11), the vehicle body (3) turns left for a predetermined time and stops, and the reverse solenoid (1η) is energized and the vehicle body (3) moves a predetermined distance. At the end of the reverse movement, the right direction solenoid is set to 0.
4 is energized and the transmission to the right traveling device (11) is cut off, the right traveling device (11) is braked to turn the vehicle body (3) to the right for a predetermined period of time, and the forward solenoid (16) is energized. The vehicle is configured to perform turning control according to a predetermined turning pattern so that the vehicle moves forward.

When grain culm detection information is input to the grain culm sensor (8) during reaping, the distance sensor (1) measures the length of the uncut culm in the row direction and the lateral direction, and this length is set to a certain length. When the grain length is longer than that, the grain culm sensor (8) in the reaping section turns from ON to OFF, and when it is detected that the grain culm sensor (Ill) in the feeding section is in the ON state, a turning control signal is sent from the control device (Iffl). The vehicle body (3) is configured to be output and controlled to turn in a predetermined turning pattern.

Further, when the length of the uncut culm in the row direction and the lateral direction detected by the distance sensor (13) is shorter than a certain length, it is detected that the grain culm sensor (8) in the reaping section has changed from ON to OFF. When this happens, the grain culm sensor in the feeding section (11 ON, OF
Regardless of F, a turning control signal is output from the control device (1ω), and the vehicle body (3) is controlled in a predetermined turning pattern.

The steering control by the row sensor (4) is performed by the direction sensor (A).
When the solenoid comes into contact with the grain stalk on the left side of the traveling direction and turns ON, a steering control signal is output from the control device (101) to the right direction solenoid Q41, and the direction sensor (B) comes into contact with the grain stalk on the right side of the traveling direction and turns ON. In this case, a steering control signal is output to the left direction solenoid (151), and the vehicle body (3) is controlled to steer in the direction away from the grain culm that the direction sensors (A) and (B) have contacted. When both direction sensors (A) and (B) do not come into contact with the grain culm, it is in the neutral region.Also, when one direction sensor is ON, even if the other direction sensor is ON, the steering output due to this ON will not change. The control structure is configured to prevent this from occurring.

Steering control by the row sensor (6) is performed by the direction sensor (C)
When (D) both come into contact with the grain culm and turn ON, a steering control signal is output from the control device (1ω) to the right direction solenoid (14), and these direction sensors (C) and (D) both come into contact with the grain culm. If not, a steering control signal is output to the left direction solenoid (19), and the vehicle body (3) is steered.
The control structure is such that when only the direction sensor (C) comes into contact with the grain culm and is turned on, it is in the neutral region and no steering control signal is output.

When harvesting in the row direction along the grain culm row, the row sensor (4)
While detecting the left and right grain culms, row control is performed so that the grain culms travel along this row direction, and the grain culms are harvested. The length of the uncut culm in the row direction is detected by a distance sensor (1), and when this length is longer than a certain length, the grain culm sensor (8) detects when the grain culm is gone at the cutting end in the row direction. It is detected that there is a grain culm in the feeding section, and the grain culm sensor OE) is turned on.
In this state, a turning control signal is output from the control device (1), and the vehicle body (3) is automatically turned to a reaping process in the lateral direction with respect to the grain culm rows according to a predetermined turning pattern.

When the vehicle body (3) moves forward in this horizontal reaping process, the reaping device (1) moves horizontally so as to reap along the edge of the grain culm group in response to the grain culm detection by the row sensor (6). Mowing control is performed. When it is detected that the length of the uncut culm in the row direction is shorter than a certain length, a grain culm sensor (8) is activated at the cutting end.
When it detects that there is no grain culm and turns from ON to OFF, a turning control signal is output from the control device (1ω) regardless of the presence or absence of grain culm detection by the grain culm sensor (1B) in the supply section, and the vehicle body (3) is automatically controlled to a cutting process in the row direction along the grain culm rows according to a predetermined turning pattern (Fig. 3).

If it is detected that the grain culm row in the row direction is less than the cutting width of the reaping device (1), the row sensor (
The reaping operation is automatically switched to row control according to step 6).

Therefore, when a row of grain culms smaller than the reaping width in the row direction remains near the end of the reaping operation, the vehicle body (3) is automatically controlled to turn from the lateral direction to the row direction, and Since the reaping operation is automatically switched to row control even when the reaping operation is complete, the reaping operation can be carried out automatically until the end, improving work efficiency.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a control block diagram, FIG. 2 is a schematic plan view of a combine harvester, and FIG. 3 is an explanatory diagram of turning control of a vehicle body. In the figure, the symbol fil is the reaping device, (2) is the weeding rod, (3)
is the vehicle body, (4) is the row sensor, (5) is the dividing rod, (6)
is a row sensor, (IK5 is a control device.

Claims (1)

[Claims] A row sensor (4) that controls the steering of the vehicle body (3) by contacting the grain culm when the row travels along the grain culm row is attached to the grass dividing rod (2) on one side of the reaping device (1), and a row sensor (4) on the opposite side. A lateral row sensor (6) is installed on the weeding rod (5) to control the steering of the vehicle body (3) by contact with the grain culm when the lateral row is traveling from a direction lateral to the grain culm row.
), the vehicle body (3) automatically turns from the horizontal direction to the row direction reaping stroke, and detects that the row of grain culms in the row direction is less than the reaping width. A reaping steering control device characterized by automatically switching to steering control using a row sensor (6).