JPH0469962B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a first steering control means for automatically driving the aircraft so as to follow the stem culms arranged in rows along the aircraft traveling direction; The present invention relates to a travel control device for a reaping harvester, which is equipped with a second steering control means that automatically travels the machine so as to follow the stem culms arranged irregularly along the traveling direction.

[Conventional technology]

In such a travel control device for a reaping harvester,
A first steering control means suitable for performing so-called row cutting, in which a rice transplanter or the like performs reaping work while moving the rice transplanter along the rows of stem culms planted in rows; When performing reaping and harvesting work while moving the machine along a direction perpendicular to the rows of stem culms that have been planted in By providing a second steering control means suitable for so-called loose sowing and reaping, even if the stem and culm planting form differs in each work process, the operation can be adjusted accordingly. By selecting the direction control means, it is possible to perform good reaping and harvesting operations.

By the way, when selecting one of the above two steering control means, in the case of individual sowing and reaping, it is only necessary to select the second steering control means once at the start of work, but when the stem culms planted in rows are When carrying out reaping and harvesting work, the steering control means may be selected according to each work process.

In other words, when performing reaping and harvesting work on stem culms planted in rows, after one work process is completed, the machine is turned around by 90 degrees and begins the next work process. A circular mowing mode is often adopted, and therefore, each time one working stroke is completed, it is necessary to select the steering control means in accordance with the next working stroke.

In order to select the two steering control means according to the next work process, manually switching them at the appropriate time would not only make the operation cumbersome but also pose a risk of erroneous operation. If you select the steering control method according to the work process,
Next, a means is provided for automatically switching to another steering control means each time the steering wheel is turned to a working stroke.

(For example, the patent application filed in 1983, which the present applicant previously proposed)
(See No. 252486) [Problems to be Solved by the Invention] According to the above-mentioned prior art, when turning is performed in the middle of the work process, when continuing the work process again,
There was a possibility that the desired steering control means was switched to a different steering control means, and there was room for improvement.

By the way, with a reaping harvester such as a combine harvester, for example, when the grain storage tank is full, the stored grains are discharged to a transport vehicle at the edge of the ridge, so the worker turns around and leaves the work process. A turning point may be performed during the journey.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable automatic and accurate selection of steering control means in accordance with the stem and culm planting form of the work process. be.

[Means for solving problems]

The characteristic configuration of the travel control device for a reaping and harvesting machine according to the present invention is that it is provided with an orientation detection means for detecting the orientation of the machine body, a storage means for storing the stem and culm planting form in relation to the orientation, and a The first steering control means and the second steering control means are automatically operated based on the detection information of the direction detection means and the storage information of the storage means so as to select the steering control means that matches the culm planting form. The function and effect of the method are as follows.

[Effect]

In other words, the stem and culm planting form is stored in advance in relation to the direction, and the direction of the work process is determined based on the detection information of the direction detection means, and the steering control is performed in accordance with the work process. The means is selected from the information set in the storage means.

〔Effect of the invention〕

Therefore, since the steering control means that matches the culm planting mode for each work process is automatically selected based on the orientation of the aircraft, even if the machine turns around in the middle of the work process. It has become possible to accurately select the steering control means that matches the stem and culm planting form in the work process.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 9, the reaping unit raises and harvests the planted stem culms of rice, wheat, etc. in the field, and while transporting the harvested stem culms, changes its posture to a sideways posture and transfers them to the feed chain 1. 2 and a threshing device 3 for threshing the stem culms that are pinched and conveyed by the feed chain 1 and sorting and collecting the grains, are mounted on a machine body V equipped with a pair of left and right crawler traveling devices 4, 4, A self-propelled combine harvester is configured as a reaping and harvesting machine.

As shown in Fig. 1, below the reaping section 2 is a contact type switch that outputs an ON/OFF signal by coming into contact with the base of the stem H introduced into the reaping section 2 from the front. A stock sensor S ₀ is provided, and constitutes a work state detection means for detecting whether or not reaping work is in progress.

The attachment frames 6, 6 of the weeding tools 5a, 5b at both left and right ends provided at the tip of the reaping section 2 are provided with attachment frames 6, 6, respectively, of the stem culms T that are biased toward the front side of the machine V and introduced into the reaping section 2. A copying sensor S consisting of a sensor bar 7 that contacts the stock base and rotates toward the rear of the machine V by an angle corresponding to the contact position, and a potentiometer R that detects the rotation angle of the sensor bar 7. ₁ ,
_S2 is provided to detect the amount of lateral deviation β of the body V with respect to the stem culm H. Incidentally, since the stem culm H planted in the field comes into contact with the sensor bar 7 intermittently, the output signal of the potentiometer R changes intermittently. Therefore, in order to detect the lateral deviation amount β, signal processing such as averaging the output signal of the potentiometer R or detecting the maximum value per unit time is performed.

As shown in Fig. 10, the absolute orientation is detected by sensing geomagnetic changes at the upper part of the aircraft V, which corresponds to the turning center position of the aircraft V, that is, the intersection of the diagonal lines connecting the front and rear ends of the left and right roller traveling devices 4, 4. An azimuth sensor 8 that integrates a geomagnetic sensor and a signal processing section that processes its detection signals into a unit.
is provided as a direction detection means for detecting the direction of the aircraft V.

As shown in FIG. 1, the output from the engine E is configured to be transmitted to a traveling transmission part 10 via a hydraulic continuously variable transmission 9, and an input shaft 10a to the transmission part 10 is connected to the transmission part 10. A distance sensor 11 is provided that detects running speed and running distance by detecting the number of revolutions.

Further, a steering clutch 1 for intermittent power transmission from the transmission section 10 to the left and right crawler devices 4, 4 is provided.
2L, 12R, this steering clutch 12L, 12R
Hydraulic cylinders 13L and 13R for turning on and off the hydraulic cylinders 13L and 13R, and an electromagnetic valve 14 for operating the hydraulic cylinders 13L and 13R are provided.

To explain the determination of the detection results of the left and right scanning sensors S ₁ and S ₂ , as shown in FIG. 11, the deviation amount β is divided into three zones for determination. In other words, shallow scanning is performed in which the body V is shifted away from the stem culm H from the state in which the sensor bar 7 returns to the front side of the body V to the state in which it is rotated backward by a predetermined angle. The zone is defined as a dead zone, and the state in which the stem is rotated further backward by a predetermined angle than this shallow tracing zone is defined as a state along the stem culm H, and the state is defined as a state in which it is rotated further backward from this dead zone. This is a shallow tracing zone where the area is too deep into the stem culm H.

Hereinafter, a control device that automatically causes the body V to travel while following the culm H will be described in detail.

First, to explain the outline of travel control, as shown in FIG _. The azimuth θ detected by the azimuth sensor 8 is repeatedly sampled from when it turns on to when it turns OFF, and the average azimuth θm
The reference directions θa, θb, θc, and θd for each side are taught on the outer periphery, and the stem culm planting form F on each side is a planting form in which the stem culms H are arranged in rows along the aircraft traveling direction. The control device 15 determines whether the planting pattern is a planting pattern in which the stem culms H are arranged irregularly along the direction of movement of the aircraft, in relation to the reference directions θa to θd of each side.
It is stored internally. In addition, planting form F
To memorize, the planting form arranged in rows is set as the reaping form of row cutting (F = 0),
Further, the irregularly arranged planting patterns are stored as horizontal cutting (F=1), which is the cutting pattern for the planting patterns. Further, this reaping work for memorization is hereinafter referred to as outer circumference teaching.

After that, when the steering control is activated, row cutting (F
= 0) (hereinafter referred to as row cutting mode) and a second steering control means (hereinafter referred to as horizontal cutting mode) for performing horizontal cutting (F = 1). ) are automatically selected in accordance with each work stroke along each side, and the vehicle is automatically driven while sequentially changing direction approximately 90 degrees each time one work stroke is completed. However, as the reaping work progresses, as shown in Figure 8B, one side of the remaining work range will be a predetermined distance L ₀ (for example, approximately
10m), in the next and subsequent strokes, the vehicle skips the side that is less than this predetermined distance _L0 and alternately runs on both sides of the remaining long side, turning around by approximately 180 degrees. be.

Next, the operation of the control device 15 will be explained in detail.

As shown in FIGS. 1 and 2, the operating state of the work mode selection switch SW ₀ , which sets whether to perform outer circumferential teaching or automatic travel, is checked, and if this switch SW ₀ is in the ON state, A routine for outer circumference teaching is executed.
When the steering control start switch SW ₁ is turned on while the work mode selection switch SW ₀ is in the OFF state, the state of the stock sensor S ₀ is checked.

Then, when the machine V is manually operated to start reaping work, the stock sensor S ₀ turns on,
Travel control is started.

That is, if the stock price sensor S ₀ is ON,
Based on the output signal from the distance sensor 11,
Counting of the cumulative travel distance L is started, and then the current detected orientation θ by the orientation sensor 8 and the stored reference orientation θm m=a, b, c, d are compared, and the detected orientation θ is A reaping format stored corresponding to a close reference direction is selected, and steering control based on the selected reaping format is started.

Stock sensor S ₀ turns OFF at the end of one work process.
Then, counting of the work stroke L is stopped. Then, when the counted traveling distance L has reached the predetermined distance _L0 or less, one of a pair of turning pattern flags A and B indicating that the side corresponding to the counted distance L has become shorter. is set to "1", and the running distance L is set to the subsequent short side reference distance.
It is reset after being stored as Lx and Ly. or,
By adding the pair of turning pattern flags A and B, it is checked whether either of the flags A or B is set to "1".
, the turning pattern is switched from the 90-degree turning pattern shown in FIG. 8A to the 180-degree turning pattern shown in FIG. The stroke on the side where B becomes "1" is skipped, and only the long sides at both ends of the remaining work range are alternately traveled.

Note that the turning control of the 90-degree turning pattern includes, for example, starting from the time when the stock sensor S ₀ turns OFF, turning toward the next stroke direction by a predetermined angle (an angle smaller than 90 degrees), and then stopping once. This can be done by executing a series of preset sequences, such as moving straight back a predetermined distance and then turning in the direction of the next stroke by the remaining angle obtained by subtracting the predetermined angle from 90 degrees. . On the other hand, said 180
As for the turning control of the degree turning pattern, from the time when the stock sensor S ₀ turns OFF as described above, the turn is made approximately 90 degrees in the direction of the next stroke, and the short side reference distances Lx and Ly stored above are adjusted. This can be done by driving the same distance as you want, and then turning approximately 90 degrees in the same direction again. By the way, in the 180 degree turning pattern, in order to travel while performing the reaping operation only on the remaining opposing long sides, the short side reference distances Lx and Ly stored above are changed every time one travel is performed. It is sequentially subtracted for each turning so that it becomes shorter by the cutting width. Further, in each of the 90-degree turning pattern and the 180-degree turning pattern, the turning angle change when the aircraft V turns is checked by the azimuth sensor 8, and the change in the detected azimuth θ is a change in a predetermined angle. , steering control is performed based on the orientation θ detected by the orientation sensor 8.

Furthermore, the control operation of each part will be specifically explained.

The outer periphery teaching will be explained based on the flowchart shown in FIG. 3 and _FIG . = 1) or horizontal cutting (MOPE = 2)
Specify either 1 or 3 or 3 (MODE=3), where only horizontal cutting is repeated. Then, while performing reaping work around the outer periphery of the work area by manual operation, the stock sensor S ₀ turns on until it turns off.
The orientation θ detected by the orientation sensor 8 is repeatedly sampled and averaged, and this average orientation θm is used as the reference orientation θa, θb,
The reference azimuth direction is stored in the memory table as θc, θd in relation to the reference azimuths θa, θb, θc, θd based on the mode set by the steering control mode selection switch SW ₂ . It is stored whether the stem and culm planting form F is row cutting (F=0) or horizontal cutting (F=1). In other words, for example, when the first steering control mode is set to row cutting (F=0) and becomes stable, the plant origin sensor S ₀ turns OFF, and the next stem culm planting mode F
is automatically set as horizontal cutting (F=1), and so on. On the other hand, when the first steering control mode is set as horizontal mowing (F=1), the next stem culm planting mode F is set as row mowing (F=0), and so on. In addition, when rose cutting is set, all stem and culm planting forms F are stored as horizontal cutting (F=1).

Next, the first steering control means when the culm planting mode F is row cutting (F=0) will be explained based on the flowchart shown in FIG.

That is, it was determined in which of the three zones, the detected deviation amount β of the right scanning sensor S ₁ on the cut side of the left and right scanning sensors S ₁ and S ₂ is located. After that, the zone of the detected deviation amount β of the uncut side scanning sensor _S2 on the opposite side is determined.

The detected deviation amount β of the mown side scanning sensor S ₁ is in the dead band zone, and the uncut side scanning sensor S 1 is in the dead band zone.
When the detected deviation amount β of S ₂ is in the dead zone zone or the deep scanning zone, the detected orientation θ by the orientation sensor 8 is the reference orientation θm (m
= a, b, c, d), the steering direction control is performed based on the detected direction θ so that it is within a predetermined tolerance.

When the detected deviation amount β by the mown side scanning sensor S ₁ is in the deep scanning zone, and when the detected deviation amount β by the cut side scanning sensor S ₁ is in the shallow scanning zone, and when the uncut side scanning sensor S 1 is in the shallow scanning zone, Detection deviation amount β of sensor S ₂
If the grain culm H is in the deep profiling zone, immediately
In order to return the aircraft to the V direction, right-turn or left-turn control is performed by turning off and operating the steering clutches 12L and 12R on the corresponding side for a predetermined period of time.

When the detected deviation amount β by the mown side scanning sensor S ₁ is in the shallow scanning zone or the dead zone zone, and the detected deviation β by the uncut side scanning sensor S ₂ is in the shallow scanning zone, the direction sensor While checking the change in the detected orientation θ by 8, constant angle turning control is performed to turn the aircraft V at a predetermined angle θn in the grain culm H direction (rightward).

To explain the constant angle turning control in detail, as shown in the flowchart of FIG.
If they do not match, the steering control amount (steering clutter 12L,
The predetermined angle θn, which is set as the turning operation time of 12R, is sequentially increased or decreased by the unit correction amount Δθ), and the actual turning angle is automatically corrected to match the target control amount.

Next, the second steering control means when the culm planting mode R is horizontal cutting (F=1) will be explained based on the flowchart shown in FIG.

First, the direction θ detected by the direction sensor 8 is the reference direction θm (m=a, b, c,
d) is within a predetermined tolerance α, and only if it is within the tolerance, the detected deviation amount β of the already-cut side scanning sensor S ₁ is checked, and the shallow scanning zone is detected. or in the deep scanning zone, constant angle turning control to the left or right is performed by means similar to the constant angle turning control described above. If the detected orientation θ is outside the tolerance α, the detected orientation θ and the reference orientation θm (m=
Turning control is performed to turn until a, b, c, d) match.

Incidentally, in the case of individual sowing and mowing, the same steering control as in the case of the horizontal mowing (F=1) mode is performed.

[Another example]

In the above embodiment, the first and second steering control means are configured to perform steering control while also using direction detection information.
The specific configuration can be changed in various ways, such as controlling the steering based only on the detection information of S ₁ and S ₂ .

In addition, in the above embodiment, the direction θm, m=a, b, c, d is stored by peripheral teaching as a storage means.
In addition, although the case where the stem and culm planting form F is stored while being set is exemplified, it may be stored while being set artificially without outer circumference teaching.

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control device for a reaping and harvesting machine according to the present invention, FIG. 1 is a block diagram showing the overall configuration of the control system, FIG. 2 is a flowchart showing the operation of the control device, and FIG. 3 is a flowchart showing the operation of the control device. A flowchart showing a reference direction determination routine, FIG. 4 is a memory table showing the correspondence between the reference direction and the stem and culm planting mode, and FIG. 5 is a flowchart showing the steering control of the row cutting mode.
Fig. 6 is a flowchart showing steering control in horizontal mowing mode, Fig. 7 is a flowchart of constant angle turning control, Fig. 8 A and B are explanatory diagrams of reaping work, and Fig. 9 is a schematic side view of the combine harvester. , FIG. 10 is a schematic plan view showing the arrangement of the orientation sensor, and FIG. 11 is an explanatory diagram of the detection deviation zone of the scanning sensor. H... Stem culm, V... Body, 8... Orientation detection means, F...
Stem culm planting form.

Claims (1)

[Claims] 1. A first steering control means that causes the aircraft V to automatically travel so as to follow the stem culms H arranged in rows along the aircraft traveling direction, and to make the aircraft V follow the stem culms H arranged irregularly along the aircraft traveling direction. This is a running control device for a reaping and harvesting machine, which is equipped with a second steering control means for automatically driving the machine body V as shown in FIG. The detection information of the direction detection means 8 and the storage information of the storage means are provided so as to select a steering control means suitable for the stem culm planting form F in each work process. A travel control device for a reaping/harvesting machine, comprising means for automatically selecting the first steering control means and the second steering control means based on the above.