JPH0472485B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Technical Field The present invention relates to a mobile agricultural machine such as a combine harvester or a tractor, and more particularly to a mobile agricultural machine having an automatic direction change function that performs a direction change operation according to a pre-stored operation.

(b) Summary of the Invention The mobile agricultural machine having an automatic direction change function according to the present invention has a means for comparing the current angular velocity with a reference angular velocity, and a means for rotating the machine according to the comparison result, in order to accurately perform the direction change operation. By providing a means for controlling the braking of the axle on the direction side, the angular velocity during the turning stroke is made approximately equal to the reference value, and changes in the radius of rotation due to changes in the angular velocity are prevented.

(c) Prior art and its disadvantages When using mobile agricultural machines such as combines and tractors on a farm, they must travel across the entire farmland using a combination of straight motion and turning motion.
Particularly in reaping work using a combine harvester, it is common to perform circular motion from the outer periphery of the farm toward the inside. When the reaping work on one side is completed, it is desirable to change the direction by combining the circular stroke with the straight stroke as shown in FIG. 5 in order to improve the work efficiency. However, in order to move the combine harvester to the state shown in Figure 5, complicated operations are required, and in addition, when changing direction during reaping work, operations such as moving the reaping section up and down are also required, making the change of direction extremely complicated. Become.

Therefore, conventionally, as disclosed in Japanese Unexamined Patent Publication No. 55-54814, the traveling direction changing operation shown in FIG. 5 is stored in the travel control means of the combine.
In the circular stroke indicated by S2 and S4 in the figure, directional control is performed based on the angle detection result by the geomagnetic sensor, and in the straight stroke indicated by S1, S3, and S5 in the figure, the direction control is performed by detecting the rotation speed of the axle, etc. The distance traveled was controlled and the direction of travel was automated.

However, in the above-mentioned conventional mobile agricultural machinery having an automatic direction change function, the driving of the axle on the direction of turning is stopped during the turning stroke, and this continues until the geomagnetic sensor detects that the direction change for the set angle has been completed. was. The deactivated axle is affected by the rotational movement of the driven axle due to the difference in resistance between the ground plane and the side surface. That is, when the side resistance acting on the axle is small, the axle on the rotation direction side rotates together, and the angular velocity of the agricultural machine becomes small. As a result, the radius of rotation becomes significantly larger, and the time and distance required to complete the rotation stroke at the set angle become longer. For this reason, there are cases where the agricultural machine does not face the crops when the movement direction changing operation is completed. As described above, changes in the side resistance of the axle, which are affected by the wet and dry conditions of the farmland, cause differences in the angular velocity and rotation radius of the agricultural machine, and the end position of the turning stroke changes, making it difficult to accurately change the direction of travel. There was a drawback that I couldn't do it.

(d) Purpose of the Invention In view of the above-mentioned drawbacks of the conventional art, an object of the present invention is to reduce the changes in the angular velocity and radius of rotation of an agricultural machine during the rounding stroke caused by changes in the side resistance of the axle, and to improve the speed at which the rounding stroke ends. It is an object of the present invention to provide a mobile agricultural machine having an automatic direction change function that can accurately change the direction of travel by reducing positional errors.

(e) Structure and Effects of the Invention The mobile agricultural machine having an automatic direction change function of the present invention detects the displacement of the detection angle of the geomagnetism detection means at a specified minute time interval during the round trip and the preset reference angular velocity. an angular velocity comparison means for comparing the angular velocity, and a driving means to brake the axle on the traveling direction side when the current angular velocity is smaller than the reference angular velocity in the angular velocity comparison means, and whether or not the current angular velocity becomes larger than the reference angular velocity after that or is set. The present invention is characterized in that it is provided with a rotation speed control means for releasing the brake when the rotation stroke of the angle is completed.

With the above configuration, according to the present invention, the amount of change in the detection angle of the geomagnetism detecting means that keeps changing during the rounding stroke in a minute time is taken as the current angular velocity of the agricultural machine, and the current angular velocity and the predetermined traveling direction changing operation are Compare with the preset reference angular velocity,
The operation of the axle on the traveling direction side can be controlled according to the difference in the current angular velocity with respect to the reference angular velocity, so that the angular velocity during traveling can be made to substantially match the reference angular velocity. This makes it possible to compensate for errors in angular velocity caused by changes in the side resistance of the axle, which is affected by the wet and dry conditions of the farmland, making it possible to perform a predetermined direction change operation exactly as set. Can do agricultural work.

(f) Embodiment FIG. 2 is a schematic plan view of a combine harvester, which is a mobile agricultural machine having an automatic direction change function, which is an embodiment of the present invention.

A reaping section 2 is attached to the front end of the combine 1. The reaping section 2 must be raised when climbing over a ridge or traveling on a road, and the height must be changed downward during reaping work depending on the harvesting environmental conditions. The combine harvester 1 travels by rotation of a pair of left and right crawlers 3a and 3b. The crawlers 3a and 3b have axles 4a and 4, respectively.
b. Drive gears 5a, 5b are fixed to the ends of the axles 4a, 4b. The drive gears 5a, 5b mesh with outer gears formed on the movable bodies 6a, 6b. Mobile bodies 6a, 6b
The outer gear also meshes with the internal gear of the transmission gear 7. The driving force of the engine via a transmission (not shown) is transmitted to the transmission gear 7 by a connecting gear 8. The movable bodies 6a and 6b are movable in the direction of arrow A or B in the figure, and the movable body 6a on the right side in the direction of movement indicated by arrow F in the figure is disengaged from the internal gear of the transmission gear 6a. Therefore, the driving force of the connecting gear 8 is not transmitted to the drive gear 5a.
When the right moving body 6a further moves in the direction of arrow B, the brake 9a is activated and the rotation of the moving body 6 is restricted. At this time, since the drive gear 5a and the internal gear of the moving body 6a remain engaged, the axle 4a
And the crawler 3a is braked.

The left moving body 6b operates in the same manner, and when it moves in the direction of arrow A from the state shown in the figure, it first disengages from the internal gear of the transmission gear 7, and then moves in the direction of arrow A.
When moving in the direction, the brake 9b is activated. In the above-described operation of the movable bodies 6a and 6b, the state in which the moving bodies 6a and 6b are engaged with the internal gear of the transmission gear 7 is the drive state, and the state in which the transmission gear 7 is disengaged from the internal gear is the drive release state, that is, the clutch-on state. , the position where the brakes 9a and 9b are activated is the brake-on state.

Piston rods of hydraulic cylinders 10a, 10b are connected to each of the movable bodies 6a, 6b via a link mechanism (not shown). hydraulic cylinder 10
a, 10b are hydraulic pumps 12 via switching valves 11.
is connected to. Pressure oil from the hydraulic pump 12 passes through the switching valve 11 to the hydraulic cylinders 10a and 10b.
flows into the piston rod and operates the piston rod. The movement of this piston rod is controlled by the link mechanism of the moving body 6.
a, 6b as movement in the direction of arrow A or B. With the above configuration, the moving bodies 6a, 6b can be moved in the direction of arrow A or B by driving the switching valve 11, and the crawlers 3a, 3b can be placed in any of the driving, clutch-on, and brake-on states. Further, the combine 1 is equipped with a known geomagnetic sensor 13, which is geomagnetism detection means of the present invention.

FIG. 3 is a block diagram of the control section of the combine harvester.

Connected to the CPU 31 is a memory section composed of a ROM 33 that stores programs for automatic control operations and a RAM 34 that stores input and output data. The geomagnetic sensor 13 is in the CPU 31.
A detection signal is inputted via the I/O 35, and the angle of the direction of movement of the combine 1 with respect to the absolute azimuth is known. Further, a control signal for the switching valve 11 is outputted from the CPU 31 to the valve driving section 32 via the I/O 36. The CPU 31 outputs a control signal for driving the switching valve 11 to the valve driving section 32 based on the detection signal from the geomagnetic sensor 13 and the program stored in the ROM 33. The valve drive section 32 drives the switching valve 11 based on this control signal.

FIGS. 1A to 1F are flowcharts showing the operation of changing the traveling direction of the combine harvester. Moreover, FIG. 4 is a schematic plan view showing the movement direction changing operation of the combine harvester.

When the combine 1 finishes moving straight in the direction of arrow C for a predetermined distance and reaches the end of the crop 41, step n1
(hereinafter "step ni" will be simply referred to as "ni"), the reaping section 2 shown in FIG. 2 is raised. This is to avoid contact with obstacles during the movement direction change operation. The combine harvester 1 continues to move straight in the direction of arrow C, and measurement of the traveling distance L _x is started at n2. The travel distance L _x is measured by counting the output signal of a rotation speed detection sensor attached to the output shaft of a transmission (not shown).

In n3, the traveling distance L _x is the preset distance L ₁
It is determined whether or not it matches. If the two do not match at n3, the process proceeds to n4, and the straight vehicle speed V _x of the combine 1 in the direction of arrow C is determined to be a predetermined speed.
It is determined whether or not it matches V ₁ . If the two do not match at n4, the process proceeds to n5, where the current vehicle speed V _x and the set speed V ₁ are compared, and at n6 or n7 the speed is decelerated and the process returns to n3. If the current vehicle speed V _x is equal to the set speed V ₁ at n4, directly n
Return to 3. In n3, mileage L _x is the set distance
If it matches L ₁ , proceed to n8. n1 or more
The operation of ~n7 is the operation of the straight forward step W1 shown in FIG.

When the straight travel W1 is completed by the operations n1 to n7, the clutch of the left axle in the direction of arrow C is turned on. This is done by driving the switching valve 11 via the valve drive unit 32 and moving the movable body 6b in the direction of arrow A. As a result, the combine 1 performs a rotation operation to the left. The geomagnetic sensor 13 detects the angle of the combine harvester's traveling direction with respect to the absolute azimuth, and the current angular velocity Δθ, which is the displacement of the detected angle of the geomagnetic sensor 13 at minute time intervals, is
It is calculated by the CPU 31. At n9, this current angular velocity Δθ and a preset reference angular velocity α are compared. If the current angular velocity Δθ is smaller than the reference angular velocity α at n9, n10
Go to and turn on the left brake 9b. This operation is performed by driving the switching valve 11 via the valve drive unit 32 and moving the movable body 6b further in the direction of arrow A.

Next, at n12, it is determined whether the turning angle θ has reached 60°. This turning angle θ is measured with respect to the straight direction of arrow C. If the two do not match at n12, the process returns to n9 and the angular velocities are compared. If the current angular velocity Δθ becomes larger than the reference angular velocity α at n9, n11
Proceed to step n12, turn off the left brake 9b. By performing the above operations from n9 to n11 until the rotation angle θ matches 60 degrees at n12, the angular velocity of the combine 1 during the rotation stroke can be made to substantially match the reference angular velocity α. That is, the actual movement trajectory can be made to match the predetermined movement trajectory in the rotation stroke W2. When the turning angle reaches 60 degrees at n12, the process proceeds to n13, where the left moving body 6b is operated in the direction of arrow B and the brake and clutch are turned off. The above operations n8 to n13 correspond to the rotation stroke W2.

After setting the left axle 4b to the driving state at n13,
Proceed to step 14 and start measuring the travel distance L _x . Next, at n15, a transmission (not shown) is operated to reduce the straight-line speed of the combine harvester 1. In this deceleration operation, when the current vehicle speed V _x becomes 0 and the combine harvester 1 stops at n16, the traveling distance L _x changes to the set distance L ₃
is made to match. Thereafter, at n18, the process is stopped for 2 seconds for the safety of the operator and to prevent sudden stress from being applied to the parts constituting the combine harvester 1, and the process proceeds to n19. The above operations n14 to n18 correspond to the straight-line travel W3.

After 2 seconds have elapsed at n18, proceed to n19 and start moving backwards. At this time, measurement of the traveling distance L _x is started at n20, and the backward speed is increased at n21. Next, at n22, it is determined whether the travel distance L _x matches the set distance L ₄ or not. If the two do not match in n22, proceed to n23 and set the current vehicle speed V _x as the set speed.
It is determined whether it is equal to V ₄ or not. If the two do not match, the process proceeds to n21, the vehicle speed is increased, and the process proceeds to n22 again. If the two match at n23, the process proceeds to n24, where it is determined whether the travel distance _Lx has become equal to the set distance _L4 . Above n21~
By the operation n24, the backward movement is performed at the set speed _V4 up to the set distance _L4 . The above operations n19 to n24 correspond to the straight-line travel W4.

Mileage L _x is the set distance in n22 or n24
If it matches L ₄ , proceed to n25. At step n25, the right moving body 6a is moved in the direction of arrow B to bring the right axle 4a into the clutch-on state. Then n
At step 26, the current angular velocity Δθ and the reference angular velocity α are compared. In n26, if the current angular velocity Δθ is smaller than the reference angular velocity α, the right moving body 6a
is further moved in the direction of arrow B to put the brake on the right axle 4a. Next, in n29, it is determined whether the rotation angle θ has reached 90°. This rotation angle θ is an angle detected by the geomagnetic sensor 13 with respect to the straight direction of arrow C. If the two do not match at n29, the process returns to n26 and the angular velocities are compared again. If the current angular velocity Δθ is larger than the reference angular velocity α in n26, n28
Then, the right moving body 6a is moved in the direction of arrow A to turn off the brake 9a and the right axle is left in the clutch-on state. By the above operations n26 to n28, the angular velocity of the combine harvester 1 during the rotation stroke can be made to substantially match the reference angular velocity α. That is, the actual movement trajectory can be made to match the predetermined movement trajectory in the rotation stroke W5. When the rotation angle θ becomes equal to 90° at n29, n3
0, the moving body 6a is operated in the direction of arrow A, the brake and clutch are turned off, and the right axle 4a is put into a driving state. The above operations n25 to n30 correspond to the rotation process W5.

After setting the right axle 4a to the driving state at n30, n
The process proceeds to step 31, where a transmission (not shown) is operated to reduce the speed. Current vehicle speed V _x in n32
After becomes 0 and the combine 1 stops, the process proceeds to n33, where the reaping section 2 is lowered and the direction of movement changing operation is completed. The above operations n31 to n33 are the straight-line process W
Corresponds to 6.

In the above operation, n9 and n26 correspond to the angular velocity comparison means of the present invention, and n10 to n13 and n27 to n30 similarly correspond to the rotation speed control means.

As mentioned above, the rotation stroke W2 with a rotation angle of 60 degrees, the rotation stroke W5 with a rotation angle of 30 degrees, the straight stroke W1,
By combining W3, W4, and W6, the direction of movement of the combine harvester 1 can be changed by 90 degrees.
Since the current vehicle speed V _x is controlled along with the traveling distance L _x in the straight-line strokes W1 and W4, it is possible to cope with an increase in running resistance as in the case of wet rice fields and to prevent an excessive extension of the working time. In addition, in the rotation strokes W2 and W5, the angular velocity Δθ during the rotation operation can be made to approximately match the set reference angular velocity α, so that errors in the time of the rotation stroke and the radius of rotation with respect to the reference values can be reduced. . This prevents the combine 1 from being oriented in an inappropriate direction with respect to the crop at the end of the direction change operation.

[Brief explanation of drawings]

FIGS. 1A to 1F are flowcharts showing the movement direction changing operation of a mobile agricultural machine having an automatic direction change function, which is an embodiment of the present invention, and FIG. 2 is a schematic plan view showing the configuration of the main parts of the mobile agricultural machine. , FIG. 3 is a block diagram of the control section of the mobile agricultural machine, FIG. 4 is a schematic plan view showing the movement direction changing operation of the mobile agricultural machine, and FIG. 5 is a schematic plan view illustrating the operation of the conventional mobile agricultural machine. be. 6a, 6b... moving body (driving means), 9a, 9b
...Brake, 13...Geomagnetic sensor.

Claims (1)

[Claims] 1. Drive independently for each of the left and right axles,
It is equipped with a drive means that can release and brake the drive, and a geomagnetic detection means that detects the absolute direction, and has an automatic direction change function that performs a predetermined direction change operation that combines a round stroke at a set angle and a straight stroke. A mobile agricultural machine having: an angular velocity comparison means for comparing the detected angle displacement of the geomagnetism detection means at a specified minute time interval during the rotation stroke with a preset reference angular velocity; The drive means brakes the axle in the turning direction when the angular velocity of A mobile agricultural machine having an automatic direction change function, which is provided with a rotation speed control means for canceling the rotation speed.