JPH03224406A - Controller for middle split reaping in harvester - Google Patents

Abstract

PURPOSE:To prevent treading on grain culms, shift of reaping rows, etc., by controlling travel direction in a specific state based on a right steering sensor and left steering sensor for sensing the interval of planted stand grain culms and a machine body in a field. CONSTITUTION:A right steering sensor 16 (on the already reaped side) and a left steering sensor 15 (on the unreaped side) are provided to divide one of the sensing ranges of the sensors 16 and 15 in middle split reaping into three approaching area, direct advancing area and separating area and the other sensing range is bisected into the approaching area and the separating area. If the sensor 16 senses the approaching area or direct advancing area, turning or direct advancing control is exercised so as to return to the direct advancing area regardless of sensed results of the sensor 15. If the sensor 16 senses the separating area, turning control is performed so as to return to the direct advancing area by sensing of the approaching area with the sensor 15. If the sensors 15 and 16 sense the separating area, direct advancing control is carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial field of application The present invention relates to an intermediate cutting control device for a harvester that reaps culms while automatically controlling the running direction.6 (b) Prior art A right steering sensor (on the mowed land side) and a left steering sensor (on the uncut land side) are installed to detect the distance between the planted culm and the aircraft body, and the driving direction is determined based on the detection results of these steering sensors. There are already known harvesters that control the steering based on the detection results of the left steering sensor during mid-cutting, or those that control the steering based on the detection results of the right steering sensor. There is.

(c) Problems to be solved by the invention The known harvesting machine selects either the right steering sensor or the left steering sensor during mid-cutting, and responds when the steering sensor detects separation or approach. Since it was designed to control turning in the direction in which the plant is moving, and also to control straight movement by detecting the straight movement area, there is a possibility that there is a missing part in the planted culm to be followed, or that the upper row is partially meandering inward. In the case of a sensor that detects separation and turns right, it has the disadvantage of turning left and leaving the cutting row, and the driver's feeling is bad due to unnecessary turning control (the direction of the aircraft is often controlled). There were drawbacks.

(d) Means for Solving the Problems The present invention provides a right steering sensor (on the mowed land side) 16 and a left steering sensor (on the unmowed land side) that detect the distance between the planted culms in the field and the machine body. ) 15, and in which the running direction is controlled based on the detection results of these steering sensors, when cutting in the middle, the detection range of one of the right or left steering sensors is set to at least the approach area and the straight-ahead direction. At the same time, the detection range of the other steering sensor is divided into two, an approach area and a separation area, and when one steering sensor 16 detects an approach area or a straight-ahead area, the detection range of the other steering sensor Regardless of the detection result of the steering sensor 15, turning control or straight-travel control is performed to return to the straight-ahead region, and when a separation region is detected, turning control is performed to return to the straight-ahead region based on the detection of the approaching region by the other steering sensor 15. Furthermore, the above-mentioned problem was solved by configuring the vehicle to perform straight-line control when both steering sensors detect a separation area.

(e) Effect If one steering sensor is not detecting an approaching area and the other steering sensor is detecting a distant area or a dead zone, straight-line control will be performed, and one steering sensor will detect an approaching area. If it is, the rotation of one side will be controlled regardless of the detection range of the other steering sensor, resulting in uncut areas on the side that is already mowed, or the crawler on that side stepping on grain culms. There is no.

In addition, if both the left and right steering sensors detect a separation area, left turning control is performed, so even if the uncut field side crosses the outermost row of grain culms to be reaped, the normal It can be returned to position.

(F) Embodiment To explain an embodiment of the present invention with reference to the drawings, a threshing device l is mounted on the left side (uncut land side) of the machine base having a pair of left and right crawlers, and a threshing device l is mounted on the right side (already cut land side). ) is equipped with an operation panel 2, a driver's seat 3 mounted on the engine, and a grain handle 4 in order from the front, and the drive section of the crawler has an operation similar to the conventional one, although it is not shown in the figure. In front of the threshing device 1, there is a pair of left and right weeding bodies 5, 6. Perfect sotai 7. A reaping device 10 consisting of culm raising bodies 8, 8, a culm scraping device, etc.;
A shell culm conveying device 11 that feeds the threshing device 1 while pinching and conveying the harvested shell culms is provided so as to be movable up and down.

Further, the reaping frame 12 immediately after the cutting bodies 5 and 6 has sensor pars 13 and 14 inserted into the culm passage, and a left steering sensor 15 and a right steering sensor consisting of potentiometers for detecting the angle of the sensor pars 13 and 14. 16 is attached, and the detection range where the sensor par 13, 14 rotates in contact with the planted shell culm is sequentially separated from the front: A, A, and the dead zone opening.

It is designed to be detected as 口°, approach area, and bar.

When the mode changeover switch provided on the operation panel 2 is tilted to one side, the mode is set to row cutting/separation mode, and when the switch is tilted to the other side, the mode is set to the split cutting mode. Below, we will use this intermediate mode as the first
To explain the flowchart shown in the table and FIG.
If the right steering sensor 16 detects a separation area A or a dead zone, it will control straight forward movement, and if it detects an approach area C, the transmission to the right crawler will be cut off and the vehicle will turn to the right and move toward the grain culm on the uncut land side. Prevent the grass from being left uncut or trampled over.

In addition, if the left steering sensor 15 detects the dead zone entrance and the right steering sensor 16 detects the separation zone I° or the dead zone entrance, the straight-ahead control is performed, and if the approaching zone B is detected, , right-turn control is performed to prevent the culm from being stepped on or left uncut on the mowed ground side.

Furthermore, when the left steering sensor 15 detects the approach area C and the right steering sensor 16 detects the separation area I, there is plenty of room on the mowed field side, so turn left and cut the culm on the left side. This prevents the mowing from being left uncut or being stepped on, and when this control progresses and detects the start of the dead zone, straight-line control is performed.
When the approach area is detected, that is, both steering sensors 15.
16 detects the nearby areas C and B, right turning control is performed to prevent uncut areas and over-stepping on the mowed field side.

As described above, the right steering sensor 16 is in the proximity range.

If this is detected, the right turning control is performed regardless of the detection result of the left steering sensor 15, and it is possible to prevent uncut mowing and trampling on the mowed land side where the two culms invade. Only when the right steering sensor detects the separation area A, it is possible to make a left turn without leaving any mowing on the right side, thereby preventing uncut mowing on the left side and tripping over the vehicle.

Table 2 and FIG. 4 show other embodiments. Table 2 shows this control in accordance with the above embodiment and the left and right steering sensors 15, .
The steering control is different when both No. 16 detect separation areas A and I. In such a situation, as shown in Fig. This occurs when 5 enters the inner side of the outermost row of culms that should be harvested, or when there is a missing plant on that side, but if the row of culms is bulging, normal control will control straight forward movement. Therefore, there is a problem in that the aircraft continues to move to the right and the reaping position is shifted, but due to the above control, left turn control is performed until the right steering sensor 16 detects the dead zone entrance. The reaping position returns to the initial state, preventing the reaping position from shifting, ensuring that a constant row of culms can be reaped, at least on the right side, and ensuring a constant row of culms in the next reaping process. It can be harvested based on the standard.

(G) Effects of the Invention As described above, the present invention provides a right steering sensor (already mowed land side) 16 and a left steering sensor (unmoved land side) 15 that detect the distance between the planted culm in the field and the machine body. In a harvester that controls the running direction based on the detection results of these steering sensors, when cutting in the middle, the detection range of one of the right or left steering sensors is at least an approach area and a straight-ahead area. , and a separation area, and the detection range of the other steering sensor 16 is divided into an approach area and a separation area, and when one steering sensor 16 detects an approach area or a straight-ahead area, the other steering sensor 16 detects an approach area or a separation area. Regardless of the detection result of the sensor 15, turning control or straight-travel control is performed to return to the straight-travel range, and when a separation range is detected, turning control is performed to return to the straight-travel range by detection of the approaching range by the other steering sensor 15; Since both steering sensors are configured to perform straight-line control when they detect a separation area, if one steering sensor detects an approaching area or a straight-ahead area, the other steering sensor detects a defect or other condition. Even if a separated area is detected due to the row meandering inward, the grain will proceed straight regardless of the detection signal, and will not step on the grain culm or leave anything uncut.

In addition, when the steering sensor detects an approaching area on the other side, and only when the steering sensor on one side detects a separating area, left turning control is performed to prevent uncut mowing and falling on the other side.

Furthermore, since the amount of straight-line steering control is increased, the driving feeling can be improved.

Further, when both the left and right steering sensors 15, 16 detect a separation area, left turning control is performed, so that the cutting strip can be prevented from shifting, and subsequent cutting work can be carried out smoothly and without waste.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a plan view with the rear part of the combine harvester omitted, Fig. 2 is a plan view of the main parts, Fig. 3 is a flowchart of intermediate cutting, and Fig. 4 is a plan view of the combine harvester with the rear part omitted. The figure is a flowchart of another embodiment, and FIG. 5 is a plan view showing control for preventing strip separation. 5.6... Grass division, lO... Reaping device, 13, 14...
Sensor bar, 15...Left steering sensor 16...Right steering sensor Diagram 4 Engraving of the diagram Procedure amendment (method) % formula % 1. Indication of incident Patent application No. 2-17618 2. Name of the invention Relationship to the case of a person who makes 3° amendments to the intermediate cutting control device in a harvester Applicant 667 Iya-cho, Higashizumo-cho, Hetsuka-gun, Shimane Prefecture (1871 Mitsubishi Agricultural Machinery Co., Ltd. Representative Shinta Fuchida■ 5) Date of amendment order 6, subject of amendment April 24, 1990 (dispatch mortar) Drawings

Claims (2)

[Claims] (1) A right steering sensor (already cut field side) 16 and a left steering sensor (uncut field side) 15 are installed to detect the distance between the planted culm of the field and the machine body, and these steering sensors In a harvester that controls the running direction based on detection results, when cutting mid-cut,
The detection range of one of the right or left steering sensors is divided into at least three areas: an approach area, a straight-ahead area, and a separation area, and the detection range of the other steering sensor is divided into two areas: an approach area and a separation area.
and when one steering sensor 16 detects an approach area or a straight-ahead area, it performs turning control or straight-ahead control to return to the straight-ahead area, regardless of the detection result of the other steering sensor 15,
When a separation area is detected, the other steering sensor 15 detects an approach area to perform turning control to return to the straight-ahead area, and when both steering sensors detect a separation area, straight-line control is performed. Intermediate cutting control device for harvester. Place. (2) A right steering sensor (already cut field side) 16 and a left steering sensor (uncut field side) 15 are installed to detect the distance between the planted culm of the field and the machine body, and these steering sensors In a harvester that controls the running direction based on detection results, when cutting mid-cut,
The detection range of the left and right steering sensors is divided into at least an approach area, a straight-ahead area, and a separation area, and when the right steering sensor 16 detects the approach area or the straight-ahead area, the left steering sensor 15 It is configured to perform right turn control or straight-line control, respectively, regardless of the detection result, and when a separation area is detected, straight-line control is performed based on the detection of the straight-line area by the left steering sensor 15, and left turn control is performed when the approach area and separation area are detected. An intermediate cutting control device for a harvester, which is characterized by: