JPH0472484B2 - - Google Patents

Description

[Detailed Description of the Invention] (a) Technical Field The present invention relates to mobile agricultural machines such as Narakuta and combines, and particularly relates to mobile agricultural machines such as Narakuta and combines, and in particular, a method for automatically storing and automatically changing a predetermined direction of movement, which is a combination of a round stroke at a set angle and a straight stroke. The present invention relates to a mobile agricultural machine having an automatic direction change function that automatically changes the direction of travel.

(b) Summary of the Invention The mobile agricultural machine having an automatic direction change function according to the present invention is capable of performing a predetermined direction change operation while maintaining an appropriate reaping state. By delaying the start of vehicle speed change during the reaping operation when the vehicle speed is slower than a predetermined set vehicle speed, the predetermined traveling direction change operation is enabled and an increase in loss due to an increase in vehicle speed is prevented. This is how it was done.

(c) Prior art and its disadvantages In agricultural work using a mobile agricultural machine, especially in reaping work using a combine harvester, as shown in FIG. In some cases, a moving method is used in which the cutting width is reduced by twice the cutting width (hereinafter referred to as circular cutting). In this case, when changing the direction of movement from the direction of arrow A to the direction of arrow B, the circular strokes W2, W5 at the set angle after the end of the reaping work on one side are combined with the straight strokes W1, W3, W4, W6. A direction change operation is performed. This is to ensure efficient direction change and to prevent uncut areas.
However, such a direction change operation requires a complicated operation, and when changing the direction, another operation related to other devices such as a height control device of the reaping section is also required.

For this reason, conventional models have an automatic direction change function that stores the angle of the round trip and the distance of the straight trip in memory, and automatically controls this operation using a direction detection means and a travel distance detection means. Something was warm. The traveling distance of this traveling direction changing operation is determined by the vehicle speed and time, and the turning radius during the rounding stroke changes depending on the angular velocity. Therefore, in order to accurately change the direction of travel, it is necessary to make the vehicle speed during operation accurately match the reference value. When the shift start point S is reached, the current vehicle speed is made to match the predetermined set vehicle speed for the traveling direction changing operation.

One of the factors that indicates the efficiency of reaping work and the performance of combine harvesters is the loss rate, which is the amount of emissions relative to the amount of crops processed.This loss rate is greatly affected by the vehicle speed of the combine, and as the vehicle speed increases, the loss rate also increases. There is a tendency to increase. In conventional mobile agricultural machines with an automatic direction change function, the speed increase operation during the vehicle speed change operation before the direction change operation is performed in the same way as the deceleration operation during the reaping operation, so the vehicle speed increases during the reaping operation, resulting in loss. There was a drawback that the rate increased.

(d) Purpose of the Invention In view of the above-mentioned drawbacks of the conventional art, the purpose of the present invention is to provide an automatic direction change function that can accurately change the direction of travel, perform the reaping operation in an optimal state, and reduce the increase in loss rate. Our objective is to provide mobile agricultural machinery with the following features.

(e) Structure and Effects of the Invention The mobile agricultural machine having an automatic direction change function of the present invention is equipped with a vehicle speed changing means that changes the current vehicle speed to match the set vehicle speed during the reaping operation before changing the direction of travel. The present invention is characterized in that when the current vehicle speed is lower than the set vehicle speed and the vehicle speed changing means increases the speed, a vehicle speed changing operation timing delay means is provided that delays the start of operation of the vehicle speed changing means by a preset time or distance. do.

With the above configuration, according to the present invention, when the vehicle speed set according to the harvesting environmental conditions is slower than the vehicle speed set for the traveling direction changing operation, the start of the speed increasing operation of the vehicle speed changing means is delayed by the vehicle speed changing operation timing delay means. be able to. Therefore, the distance over which the vehicle speed is increased during the reaping operation is shortened, the increase in loss can be reduced, and appropriate reaping work can be performed. Moreover, since the vehicle speed changing means is operated after the set time or distance has elapsed, the vehicle speed can be made to substantially match the predetermined set vehicle speed when the traveling direction changing operation starts, and there is no problem in the traveling direction changing operation. .

(f) Embodiment FIG. 2 is a block diagram of the main parts of a mobile agricultural machine having an automatic direction change function, which is an embodiment of the present invention.

The driving force of the engine 10, which is a power source, is guided to the gear transmission 7 via the hydraulic transmission 4, and is transmitted to each of the axles 9a, 9b. The hydraulic transmission 4 and the gear transmission 7 are the speed change means. A speed detection sensor 8 is provided on the first shaft 7a of the gear transmission 7. This speed detection sensor 8 is composed of a photo interrupter, and a shutter attached to a rotating shaft (not shown) connected to the first shaft 7a detects a frequency at which the photo interrupter's light is blocked and outputs a vehicle speed signal. do. The hydraulic transmission 4 is composed of a variable displacement pump 5 and a constant displacement motor 6. By changing the angle of a variable swash plate 5a provided inside the variable displacement pump 5, the suction amount, discharge amount, and direction of pressure oil are changed. This change results in a change in the rotational speed and rotational direction of the output shaft in the constant displacement motor 6 and is transmitted to the gear transmission 7.

A shift lever 1 provided on the operating section has a rotating plate 2.
Fixed. This rotating plate 2 is a link mechanism 3
is connected to the variable swash plate 5a of the variable displacement pump 5. In addition, a motor 11 is mounted on the rotating shaft of the rotating plate 2.
The shaft portions of the two are connected via a friction plate (not shown).
The motor 11 can rotate in both forward and reverse directions, and the direction of the current is changed by the motor drive unit 12, so that the motor 1
Rotate 1 forward or reverse.

The CPU 21 of the control unit is connected to the ROM via an internal bus.
23 and RAM 24 are connected. ROM
23 stores programs such as circular mowing and direction changing operations. CPU21 has I/
Stock sensor 13 via O interface 22
The detection signal of the vehicle speed detection sensor 8 and the vehicle speed signal of the vehicle speed detection sensor 8 are input. Further, the CPU 21 is connected to the motor drive section 12 via the I/O interface 22, and drives the motor 11 by determining on/off and direction of the current supplied to the motor 11.

When the rotating plate 2 to which the shift lever 1 is fixed is rotated by the drive of the motor 11, the movement is transmitted to the variable swash plate 5a of the variable displacement pump 5 via the link mechanism 3. Now, when the motor 11 rotates forward from the neutral state, the shift lever 1 moves in the forward high speed direction.
The amount of pressure oil discharged from the variable displacement pump 5 increases. As a result, the rotational speed of the output shaft of the constant displacement motor 6 increases, and the rotational speed of the axles 9a and 9b increases. When the motor 11 reverses from the neutral state, the shift lever 1 moves in the backward direction, and the flow of pressure oil from the variable displacement pump 5 is reversed. As a result, the rotational direction of the output shaft of the constant displacement motor 6 is also reversed, and the axles 9a and 9b rotate in the backward direction.

FIG. 1 is a flowchart showing part of the operation of the combine harvester.

When the reaping operation in the direction of arrow A shown in FIG. 3 is started, measurement of the travel distance L _x of the combine harvester 31 is started at step n1 (hereinafter "step ni" is simply referred to as "ni"). Vehicle speed change start distance L _s where the value of travel distance L _x is preset in n2
When it becomes equal to , the process proceeds to n3, where the current vehicle speed V _x and the set vehicle speed V _s for the traveling direction changing operation are compared. n
If the current vehicle speed V _x is greater than the set vehicle speed V _s in step 3, the process proceeds to n4, where an operation is performed to decelerate the current vehicle speed V _x .

If the current vehicle speed _Vx is smaller than the set vehicle speed _Vs at n3, the timer T starts measuring a certain period of time at n5. The fixed time measured by this timer T is determined by the distance L _u between the vehicle speed change starting point S given as a constant and the end of the crop, and the current vehicle speed.
Calculated by V _x . When the timer T times up at n6, the process proceeds to n7, where an operation to increase the vehicle speed is performed. The above operations n5 and n6 correspond to the vehicle speed change operation timing delay means of the present invention.
Specifically, the speed increase operation performed in n7 is performed by CPU2.
This is done by instructing the motor drive unit 12 to supply current in the normal rotation direction from the I/O interface 22 from the I/O interface 22 . As a result, the motor 11
rotates the rotating plate 2 so that the shift lever 1 moves in the speed increasing direction. The operation of the rotating plate 2 is controlled by the variable swash plate 5 of the variable displacement pump 5 via the link mechanism 3.
a, increasing the rotation speed of the output shaft of the constant displacement motor 6.

The deceleration operation of n4 and n7 that constitute the vehicle speed changing means
When either of the speed increasing operations is completed, proceed to n8,
Wait until the stock sensor 13 is turned off. When the combine 31 reaches the end of the crop, the stock sensor 1
When 3 is turned off, the process advances to n9 and measurement of the travel distance L _x is stopped. After the stock sensor 13 is turned off at n8, the combine harvester 31 moves to W1 to W shown in FIG.
6 has started the movement direction changing operation.

Next, combine 3 from mileage L _x with n10
Twice the cutting width of 1 is subtracted and stored in the RAM 24 as the expected next cutting distance L _w . After this n1
In step 1, the vehicle speed change operation distance L _u is subtracted from the expected reaping distance L _w , and the next vehicle speed change start distance L _s is calculated.
It is stored in RAM24. When the combine harvester 31 goes around the farm and performs reaping work in the direction of arrow A next time, the vehicle speed change start distance L _s calculated in n11 is n2
is compared with travel distance L _x . When the turning operation is completed at n12, the process returns to n1, and the above-mentioned operation is similarly performed for the reaping operation in the direction of arrow B.

As described above, the travel distance L _x of the current reaping operation of the combine 31 in the direction of arrow A is measured, and based on this, the expected next reaping distance L _w is calculated. The next vehicle speed change start distance L _s is determined based on this expected reaping distance L _w , and when the current vehicle speed V _x falls below the set vehicle speed V _s for the traveling direction change operation during the next reaping operation in the direction of arrow A. In this case, the distance over which the vehicle speed change operation is started can be extended by enabling the vehicle speed change operation timing delay means n5 and n6. The above operations are similarly performed for each of the reaping operations in the directions of arrows B to D shown in FIG. 3, and the direction of movement of the combine harvester 31 during the circular mowing operation can be accurately controlled.

[Brief explanation of the drawing]

Fig. 1 is a flowchart showing part of the operation of a mobile agricultural machine having an automatic direction change function, which is an embodiment of the present invention, Fig. 2 is a block diagram of the main parts of the mobile agricultural machine, and Fig. 3 is a flowchart showing a part of the operation of a mobile agricultural machine having an automatic direction change function. FIG. 3 is a schematic plan view illustrating operations during a reaping operation including an operation for changing the direction of movement. 4...Hydraulic transmission, 11...Motor,
12...Motor drive unit.

Claims (1)

[Claims] 1. During the reaping operation before a predetermined movement direction changing operation that combines a circular stroke and a straight stroke at a set angle,
A mobile agricultural machine having an automatic direction change function including a vehicle speed change means that makes the current vehicle speed match the predetermined set vehicle speed of the traveling direction change operation when the current vehicle speed has traveled a preset distance, wherein the current vehicle speed is A vehicle having an automatic direction change function, which is slower than a set vehicle speed and is provided with a vehicle speed change operation timing delay means that delays the start of operation of the vehicle speed change means by a preset time or distance when the speed is increased by the vehicle speed change means. Agricultural machinery.