JPH0513127Y2 - - Google Patents

Description

[Detailed description of the invention] ○ Industrial application field The present invention relates to an automatic steering device for a harvesting machine such as a combine harvester. More specifically, the present invention relates to an automatic steering device configured to detect the position of grain culms in a field using a self-handling sensor and automatically control side clutch steering means via a controller.

○ Prior Art Regarding the above-mentioned automatic steering device for a harvesting machine, a device was developed in 1983 that generates a pulse signal with a variable duty ratio in a pulse generation circuit of a controller, and controls a side clutch steering means using the pulse signal. It is known from the publication No.-83944.

In addition, when controlling the speed of a tractor using automatic driving control, the technical concept of automatically changing the duty ratio of the pulse generation circuit in conjunction with vehicle speed control was developed in Japanese Patent Application Laid-Open No.
It is disclosed in Publication No. 61-34817.

○ Problems to be solved by the invention In the former known technology mentioned above, the duty ratio of the pulse signal is changed by distinguishing between the row mowing signal and the horizontal mowing signal, and is unrelated to the traveling speed. It has the disadvantage of poor followability at high speeds.

The latter known technique has a problem in that it is not possible to obtain a turning force that adapts to field conditions, the lodging state of grain culms in the field, and the like.

○ Means for Solving the Problems The present invention uses a variable transmission pulse generated by a pulse generation circuit 4 in the controller 2 as a control signal for a side clutch device in an automatic traveling device, and a part of the pulse generation circuit 4. A vehicle speed change switch is connected to the pulse generating circuit for changing the duty ratio of the transmitted pulse in conjunction with the gear shifting operation so that the duty ratio of the transmitted pulse is large at high speeds and small at low speeds. The turning force can be freely adjusted by changing the period of the emitted pulses by changing the changeover switch 5 connected to the changeover switch. By doing so, it provides a turning force that corresponds to changes in the lodging state of grain culms in the field.

○ Example Detecting the position of the aircraft relative to the grain culm in the field using the self-control sensor 1 and transmitting the self-control signal S1 to the controller 2
The controller 2 outputs a control signal S2 to the side clutch device 3, and the aircraft is automatically steered by selective operation of the side clutch device 3, which is similar to a known automatic steering device.

In implementing the present invention, the aforementioned control signal S2 is
A variable transmission pulse is generated by a pulse generation circuit 4 in the controller 2, and a changeover switch 5 connected to the pulse generation circuit is provided. Jitsugan Showa 53-
As described on page 8 of the specification of No. 85045 (Japanese Utility Model Publication No. 55-83944), the period and duty ratio of the transmitted pulse can be changed by changing the resistance value of the pulse generating circuit 4. Therefore, the changeover switch 5
By changing the resistance value in the pulse generation circuit 4, the period (frequency) of the transmitted pulse S2 can be changed,
The turning force can be adjusted freely.

Means for changing the traveling speed of the harvester, for example, a vehicle speed switch 6 is provided at a position where it comes into contact with the sub-shift lever 7 of the sub-transmission mechanism for the traveling device, and the vehicle speed switch 6 is made part of the pulse generating circuit 4. The duty ratio of the transmitted pulse S2 is made to correspond to changes in vehicle speed. For example, the duty ratio at high speed is
50%, and the duty ratio at low speed is 40%.

When operating a combine harvester, etc. (harvester), the changeover switch 5 is set to a desired position where the turning force is set to large, medium, or small, and the frequency of the emitted pulse S2 is set to 2Hz, 3Hz, or 4Hz. do.

On the other hand, depending on the position of the sub-shift lever 7, the duty ratio of the transmission pulse S2 is 50% (high speed) or 40%.
(low speed).

Thus, when driving at low speeds, the turning force is large, medium, or
Depending on the turning force, the upper, middle, and lower transmission pulses S2 in FIG.
The transmission pulses S2 in the upper, middle, and lower rows of the figure are supplied to the side clutch device 3.

○ Effects of the invention This invention increases the duty ratio of the transmitted pulse by operating a switch that works with the gear shift lever at high speeds, so it corrects the speed difference at high speeds and prevents deterioration in followability at high speeds. It has the effect of preventing

Furthermore, since the turning force can be adjusted by changing the frequency by operating the selector switch, in addition to automatically changing the duty ratio by changing the vehicle speed, it is also possible to select the frequency by manually operating the selector switch (for example, Figs. 2 and 3).
2Hz, 3Hz, 4Hz) to adjust the turning force. Therefore, field conditions,
It is possible to control the running of the tractor without giving too much or too little turning force in response to the lodging state of grain culms in the field.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing an outline of an automatic steering system embodying the present invention. 2 and 3 are waveform diagrams of the transmitted pulse S2, with FIG. 2 at low speed and FIG. 3 at high speed. 1... Self-operation sensor, 2... Controller, 3
... Side clutch device, 4 ... Pulse generation circuit, 5 ... Changeover switch, 6 ... Vehicle speed switch,
7...Sub-shift lever, S2...Sending pulse.

Claims (1)

[Scope of utility model registration request] In an automatic running device for a harvesting machine that inputs a self-control signal from a self-control sensor 1 to a controller 2 and selectively operates a side clutch device 3 using the control signal output from the controller 2 to automatically steer the machine, the control signal is input to a controller 2. A variable transmission pulse is generated by the pulse generation circuit 4, and is connected to a part of the pulse generation circuit 4, and is linked to the speed change operation so that the duty ratio of the transmission pulse is large at high speeds and small at low speeds. A vehicle speed change switch is provided for changing the duty ratio of the emitted pulses, and the turning force can be adjusted by changing the period of the emitted pulses by operating a changeover switch 5 connected to the pulse generating circuit. An automatic steering device for a harvester.