JPH0253408A - Revolving control method of reaping harvester - Google Patents

Abstract

PURPOSE:To surely and smoothly control automatic revolution by storing data within a constant distance between starting end of reaping and a point of deciding traveling direction of machine body as an effective range of standard data for revolving action. CONSTITUTION:Pattern data from starting position (I) of reaping of grain straw line A in next process is detected by grain straw sensor after transferred to reaping travel to, e.g., a position (IV) proceeded with reaping in fixed distance is set and stored, then reproduced. Namely, pattern data from finishing position (II) of reaping of the grain straw line A, passing through starting position (I) of reaping of grain straw line A in next process finishing of revolving action, and further from said starting position (I) of reaping to a point (IV) proceeded with reaping in fixed distance in the next reaping process are set and stored as an effective range of the revolution program, then reproduced. By said method, at proceeding with reaping to grain straw line A in the next process after finishing of revolving action by reproduced revolving, correction of direction of machine body is not necessary after entering into the grain straw line A as the pattern is stored in the revolution program including direction correcting due to deviation, thus sure and smooth control of automatic revolution is able to be performed.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a turning control system for a reaping and harvesting machine, and an automatic turning control system for a reaping and harvesting machine that performs learning-type automatic turning control at the end of reaping of grain culm rows. Can be used for control devices, etc.

Prior Art and Problems to be Solved by the Invention Automatic turning for automatically changing the traveling direction to a lateral direction intersecting the reaping stroke at the end of reaping of a row of grain culms when reaping standing grain culms in a reaping harvester. Although there are automatic turning controls, this automatic turning control has not yet reached the stage of practical use, and the department is using artificial turning trials based on input from multiple sensors installed on the aircraft. A learning type of automatic turning control has been attempted in which the direction pattern signal is stored in the automatic turning control device as reference data, and the turning action from the primary is automatically reproduced and turned based on this stored reference data. ing.

Normally, the storage of reference data through this artificial turning trial starts when the end of reaping of a row of grain culms is detected by a grain culm sensor that detects the presence or absence of grain culms. The process is terminated by detecting the cutting start end of the culm row, and after this artificial turning trial ends, the cutting proceeds to the next stage of the grain culm row.

However, once the artificial turning trial is finished, when proceeding to the next process of mowing the grain culm row, there is a discrepancy between the direction of the grain culm row that is being cut and the approach direction of the aircraft after the artificial turning trial is finished. In such cases, it is necessary to manually correct the direction of the aircraft after entering the grain culm row, but the reference data from the turning trial does not indicate the cutting start point of the next grain culm row. Since the direction correction is not memorized, even if the turning action is automated by reproduction turning in this state, it will not be possible to enter the grain culm row in the next process after the reproduction turning is completed. At that time, manual direction correction of the aircraft will be necessary again, and the automatic turning may become meaningless.

Therefore, in this invention, by setting the reference data based on the turning trial between the detection position of the reaping start end of the grain culm row where the turning action ends and the position where the reaping has been continued for a certain distance, This is intended to eliminate the need for direction correction by artificial steering operation.

Means for Solving the Problems This invention provides a means for reaping starting ends (a) and ending ends (a) of grain culm rows (A).
The grain culm sensor (11) detects the end of reaping (b), and the turning pattern of artificially turning the machine ('2J) in the lateral direction intersecting this reaping stroke is learned as reference data. In a reaping harvester equipped with a learning type automatic turning control device M (3) that memorizes and automatically reproduces and controls the turning of the machine body (2) by learning from this standard data, the effective range of this standard data is , a configuration of a turning control system characterized in that the setting is made between the reaping end (b) position detected by the grain culm sensor (11), the reaping start end (a) position, and the position where the reaping travels a certain distance. shall be.

Functions and Effects of the Invention During the reaping operation in which the grain culm row (A) is harvested by moving forward the machine body (2) equipped with rollers, etc. that run on the ground on the left and right sides, the grain culm sensor (1) detects the grain. When the cutting end (B) position of the culm row (A) is detected, the automatic turning control device (3
) has been learned and memorized, for example, the pattern signal of an artificial turning attempt by the operator inputted from multiple sensors installed in the aircraft (2) is used as reference data, and the aircraft (2) learns from this reference data. The grain culm sensor automatically changes the running direction of the grain to the horizontal direction intersecting the reaping process. Grain culm row (
The setting is made between the cutting start point (A) position in A) and the position where the cutting distance has been traveled further.

By taking the above steps, the effective range of reference data for reproducing turning control can be adjusted to the reaping end (b) as in the past.
As in the case where the setting is made between the position and the next stage's reaping start position (A), this reaping is performed when the turning action by the reproducing direction is finished and the cutting proceeds to the next process's grain culm row (A). In cases where there is a discrepancy between the direction of the advancing grain culm row (A) and the approach direction of the aircraft (2) after completing the reproduction rotation, the grain culm row (A)
), there is no need to manually correct the direction of the aircraft (2) by steering operation, and after the turning is completed, the aircraft (2) remains in the direction of the grain culm row (A) in the next step. ), even if the machine (2) approaches in a direction that causes a deviation, the machine (2) will continue to rotate for a certain distance from the cutting start point (a) to determine the direction of movement of the machine (2), including correcting the direction of the machine (2) after the approach. By storing it as the effective range of the reference data for the reaction, it is possible to
It is possible to perform accurate and smooth automatic turning control that does not require much direction correction by manual steering operation (particularly in the same corner).

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 soil surface below.
A traveling device (5) having a
A threshing device (which threshes the grain culms which are conveyed and pinched by the foot chain (6) above and sorts and collects the threshed grains)
7) is placed on the front side of this thresher M(7), the standing grain culm is separated, raised and harvested, and while conveying this cut grain culm, the foot chain ( 6)
A reaping device (8) is attached to the soil surface so that it can be raised and lowered, and the traveling device (5) is mounted on the negative side of the threshing device (7).
, a threshing device (7), a reaping device (8), etc., and an operating device (9) for operating and controlling the same, and an operating seat (1) for this operation are respectively arranged to constitute a combine body (2).

In addition, the traveling device (5) is provided with an interlocking case (ll) containing an interlocking mechanism interlocking the left and right traveling sprockets 0υ that drive the traveling rollers (4) and the traveling shaft 0, and this interlocking case Left and right steering clutches 04J that turn on and off the drive of the traveling shafts 0 through 03, and steering brakes that act together with these steering clutches (to)
19 and left and right counter gears (left and right mileage sensors that read the old rotation with pulses and detect the mileage separately), and the steering clutch (to) is determined by the information from this mileage sensor (■). and a steering brake (1'j) with a bushing cylinder +IEI using hydraulic pressure or the like.

In addition, a hydraulically driven H3 is provided on the upper side of the interlocking case 03.
A swash plate arm (which controls the swash plate that is connected to the T device ■ and sets the rotation direction and output rotation speed of this H8T device (to)
A swash plate sensor (2) is provided to detect the output rotational speed by the action of (2), and a telescoping cylinder using hydraulic pressure or the like is provided to actuate the swash plate arm (2) based on the information of this swash plate sensor (2). In addition, this telescopic cylinder (1) and the solenoid valve (1) that operates this cylinder, and the action of the solenoid valve (1) that operates this cylinder (1 [1) and this solenoid valve (3), A proportional pressure reducing valve for adjusting and subtracting the pressure is connected to each other so as to be hydraulically controllable.

In addition, the operation bag N (9) is manually operated to
) and a power steering lever (5) for controlling the forward and backward travel of the reaping bag M(8) and for controlling the steering in the left and right directions and the elevation control of the reaping bag M(8), respectively. (to) is connected to the swash plate arm 4 by a wire (2), and the power steering lever (5) includes a steering angle sensor (to) for detecting the steering angle in the left and right direction, and the reaping device (to).
) is provided with an elevation angle sensor (to) for detecting the elevation angle of the vehicle.

In addition, each weeding body 0 arranged at the front end position of the reaping device (8)
Detect the presence or absence of the erect grain culm on the rear side of υ and turn the contact to 0N-O.
A grain culm/sensor (1) that causes FF and a direction sensor (2) that performs steering control following the grain culm row (A).

A cutting height sensor (to) that automatically controls the cutting height is disposed at a rear position of the cutting blade (to) for reaping the standing grain culms. Additionally, between the machine body (2) and the reaping bag M(0), there is a telescopic cylinder (operated by hydraulic pressure, etc.) that raises and lowers the reaping device (8) relative to the soil surface.
This telescopic cylinder (1) is connected to a solenoid valve (1) for actuating this cylinder so as to be hydraulically controllable.

Further, a direction sensor (5) for detecting an absolute direction is arranged at the rear of the market operation seat 01.

In addition, calculation processing is performed using information such as each sensor (1), (■, of), (to), (to), (to), (to), punishment, etc., and the results are used for each of the solenoid valves (to). ), G4, evil, (
an automatic turning control device (3) for controlling the above-mentioned operating device (9), and the automatic turning control device (3)
is mainly equipped with CPU0I, which performs central arithmetic processing for sequence control and storage of redirection programs, etc. in memory, and the input side of this CPU@ is connected to each sensor f.
11. +171.31), (to), 011. C(2>
, G4, (5), and connect each solenoid valve (to) to the output side.
, G4, Kaku, (To) are connected to enable automatic turn control.

In the combine harvester configured as above, the swash plate arm (to) is rotated by the detection of the swash plate sensor 1), and the HS
The T device (1'ltt) is driven to drive the roller (4) that runs from the interlocking case (13) through the traveling axis Ob and the traveling sprocket (!1) to start, stop, and move forward and backward of the aircraft (2). At the same time as switching, the vehicle runs while controlling the speed.

This movement allows the reaping device (8) to control the cutting height by the combined detection of the cutting height sensor (b) and the elevation angle sensor (to), and the control of the cutting height by the combined detection of the cutting height sensor (to) and the steering angle sensor (to). Reaping is performed by steering control that follows the grain culm row (A) by combination detection.

When the grain culm sensor (1) detects that the grain culm row (A) has reached the reaping end position (B) during this reaping run, the action of the reaping device (8) is stopped and raised, and this reaping process As shown in Fig. 7, in the first step, the left steering is performed by sequential control according to the order of the turning program in which one worker's artificial turning attempts are learned and memorized so as to go in the lateral direction that intersects with the lateral direction. Depending on the disengagement time of the clutch (to) and the strength of the steering brake (+9), the turning angle (θ1) is determined by the radius (R1).
A left turn is made by detecting every minute distance by the mileage sensor (ω) until the distance is reached, and in the second step, the swash plate arm (2
), the H5T device ff1 (FJ is switched from forward to reverse, and after going straight in reverse, turn radius (R2) in the same manner as the left turn described above)
Turn to the right until the turning angle (θ2) is reached at , and in the third stroke, switch to forward again and move straight forward to move the reaping device ( At the shortest point (c) where the reaping gear M (8) is lowered and ready for reaping, the reaping gear M (8) is lowered to shift to the reaping traveling state.

After moving to this reaping run and the grain culm sensor (1) detects the reaping start end (A) position of the grain culm row (A) for the next step,
For example, from the cutting end point (b) of the grain culm row (A) to the point (d) after about 5 meters of cutting, that is, from the cutting end point (b) of the grain culm row (A) to the cutting start point (i.e. ) position, and then start the next reaping process from this reaping start point (A) position at 5.
The area up to the point (d) where about one meter of cutting has progressed is set as the effective range of the turning program and is stored and reproduced.

In this way, by including an unstable certain distance section (approximately 5 meters) in which the direction of travel has not yet been established immediately after the end of the turning action into the range of the turning program, the turning action caused by the reproducing turning action can be prevented. When the grain culm row (A) is cut and the grain culm row (A) is cut in the next process, a deviation occurs between the direction of the grain culm row (A) and the approach direction of the machine (2) after the reproduction rotation is completed. Even in.

Since the direction correction due to this deviation is stored in the turning program, there is no need to manually correct the direction of the aircraft (2) after entering the grain culm row (A).
Accurate and smooth automatic turning control can be performed.

In addition, if the redirection program that should be reproduced during redirection in automatic redirection control as described above disappears due to an artificial redirection attempt error or some other invalid condition, redirection control becomes impossible. The system may be configured to perform sequence control to immediately stop the aircraft (2), and this stopping can prevent the danger of the aircraft (2) running out of control.

[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 grain culm sensor, (2) is the aircraft body, and (3)
indicates an automatic turning control device.

Claims (1)

[Claims] The grain culm sensor (1) detects the reaping start end (a) and the reaping end (b) of the grain culm row (A), respectively, to detect the reaping end (b), and moves the machine (2) in the lateral direction intersecting this reaping stroke. ) is learned and memorized as standard data to artificially turn the turning pattern of the aircraft (2), and automatically reproduces and controls the turning of the aircraft (2) based on this standard data.
), the effective range of this reference data is defined as the position where the grain culm sensor (1) detects the reaping end (b) position, the reaping start end (a) position, and further reaps a certain distance. This is a turning control method that is characterized by being set between.