JPH05168304A - Apparatus for control of traveling direction of combine - Google Patents

Abstract

PURPOSE:To make control in traveling direction quick and proper by calculating an operating amount of operating means in traveling direction from relative distance and its change between a machine body and unreaped grain culms. CONSTITUTION:Relative distance between a machine body and unreaped grain culms is obtained from traveling rate of the machine body measured by a traveling rate sensor 20 and the traveling time when a grain sensor for lateral reaping is ON. An operating amount of means 21l or 21r for carrying out operation in traveling direction is calculated from the relative distance and its changing amount and either one of lateral crawlers 7l and 7r is controlled through a control mechanism 17l or 17r.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling direction control device for controlling a traveling direction of a traveling section in order to cause a combine to travel along uncut grain culms in a field.

[0002]

2. Description of the Related Art When harvesting a crop with a combine harvester, a field cutting is performed by alternately performing a row mowing in which the crop is planted in the same direction and a lateral mowing in a direction orthogonal to the planting direction. Go around and mow the crops inward from the perimeter of the field. As a traveling direction control device at the time of this mowing, conventionally, as shown in FIG. 22, a weeding rod 2l, 2r is provided at the front end of the machine body 1, and a weeding grain culm sensor F, G is provided in the weeding rod 2l. , And the weed bar 2r is provided with horizontal cutting grain culm sensors C and D, respectively, and these grain culm sensors C, D,
The detection rods C1, D1, F1, G1 of F and G are made to protrude, and at the time of horizontal cutting, the crawlers 3l, 3r are braked for a certain time according to the contact state of the uncut grain culms with the detection rods C1, D1. It is known that the machine body travels along the uncut grain culm by turning the machine body. In this device, when the grain culm sensor C is on, both crawlers 3l and 3r are not braked. When the grain culm sensor D is on, the crawler 3r is braked and turned to the right, and the grain culm sensor C is off. At this time, the crawler 3r is braked to turn left.

[0003]

However, in the traveling direction control in this conventional device, the braking time for braking both crawlers 3l, 3r is a constant value determined by calculation, and therefore, the bending of the row of uncut grain culms is caused. The appropriate control depending on the size of the condition cannot be performed, and the control may be delayed due to so-called hunting. Further, if the configuration is such that braking of both crawlers 3l, 3r is performed in small steps in order to prevent this hunting, there is a problem in that control needs to be performed many times and control responsiveness also deteriorates.

In view of the above problems, the present invention detects the relative distance between the weeding rod and the uncut grain culm and controls the traveling direction, so that the traveling direction control device can perform the control quickly and accurately. The purpose is to provide.

[0005]

In order to solve the above problems, a first invention is a traveling speed detecting means for detecting a traveling speed of a combine, a traveling direction operating means for changing a traveling direction of the combine, and a combine. Relative distance calculation for calculating the relative distance between the machine of the combine and the uncut grain culm based on the output of the grain culm sensor having a detection rod that should come into contact with the uncut grain culm as the vehicle travels. And a relative distance calculated by the relative distance calculation means, a relative distance calculated by the relative distance calculation means, and a relative distance calculated by the relative distance calculation means. A traveling direction control device for a combine, comprising: an operation amount determining means for determining an operation amount of the traveling direction operating means based on a combination with the calculated change amount.

A second aspect of the invention is a traveling speed detecting means for detecting the traveling speed of the combine, a traveling direction operation means for changing the traveling direction of the combine, and a front and a rear of the combine body, which are arranged side by side. Based on the outputs of at least one of the two grain culm sensors extending each detection rod in the same direction and the two grain culm sensors, the relative distance between the fuselage of the combine and the uncut grain culm is calculated. Relative distance calculating means to calculate, based on the output of both grain culm sensors, change amount calculating means for calculating the amount of change in the relative distance between the machine of the combine and the uncut grain culm, and the relative distance calculating means Traveling of a combine comprising operation amount determination means for determining the operation amount of the traveling direction operation means based on a combination of the calculated relative distance and the change amount calculated by the change amount calculation means. A direction control device.

A third aspect of the invention is a traveling speed detecting means for detecting the traveling speed of the combine, a traveling direction operating means for changing the traveling direction of the combine, and various detections for contacting the uncut culms as the combine travels. Two grain culm sensors that extend the rod to the left and right of the combine fuselage, and a relative distance that calculates the relative distance between the combine fuselage and the left and right uncut grain culms, based on the outputs of the grain culm sensors. Distance calculating means, a change amount calculating means for calculating a change amount of the relative distance based on the relative distance calculated by the relative distance calculating means, a relative distance calculated by the relative distance calculating means, and the change amount calculating From the combination with the change amount calculated by the means,
A traveling direction control device for a combine, comprising: an operation amount determining means for determining an operation amount of the traveling direction operating means.

[0008]

In the first aspect of the invention, when the detection rod of the grain culm sensor detects an uncut grain culm, the relative distance calculating means determines the relative distance between the machine body of the combine and the uncut grain culm based on the output of the grain culm sensor. To calculate. The change amount calculating means calculates the change amount of the relative distance based on the relative distance calculated by the relative distance calculating means. Therefore, as the information on the traveling direction, it is possible to know the relative distance between the machine body and the uncut grain culms as well as the amount of change in the relative distance.

The operation amount determining means determines the operation amount of the traveling direction operating means from the combination of the relative distance calculated by the relative distance calculating means and the change amount calculated by the change amount calculating means. The traveling direction operation means changes the traveling direction of the traveling unit based on the operation amount determined by the operation amount determination means.

As described above, since the operation amount of the traveling direction operation means is determined not only by the relative distance between the machine body and the uncut grain culms, but also by the change amount of the relative distance, the relative distance is determined. It is possible to add a correction from the change amount of the relative distance to the operation amount determined based only on the operation amount, and thus to speed up and optimize the control.

In the second aspect of the invention, two grain culm sensors arranged side by side in front of and behind the combine fuselage and extending the detection rods in the same direction on either the left or right side of the combine, detect the uncut grain culm. The relative distance calculating means calculates the relative distance between the machine body and the uncut grain culm based on the output of at least one of the two grain culm sensors. The change amount calculating means calculates the change amount of the relative distance based on the output of each grain culm sensor.

The operation amount determining means determines the operation amount of the traveling direction operating means from the combination of the relative distance and the change amount of the relative distance.

In the above-mentioned first aspect of the invention, since the change amount of the relative distance is calculated based on the relative distance calculated by the relative distance calculating means, the output for different grain culms is calculated for calculating the change amount. Although there is a certain limit to the improvement of the detection accuracy, the second invention is configured to calculate the variation amount of the relative distance based on the output of each grain culm sensor. The amount of change in the relative distance can be calculated from the two outputs from the output of each grain culm sensor for the grain culm, and thus the detection accuracy of the amount of change in the relative distance can be improved.

In the third aspect of the invention, the two grain culm sensors extending the detection rods on the left and right sides of the combine fuselage detect left and right uncut grain culms, respectively. The relative distance to the grain culm can be calculated. The change amount calculating means is based on the relative distance calculated by the relative distance calculating means,
The amount of change in the relative distance is calculated. With these relative distances,
The operation amount determination means determines the operation amount of the traveling direction operation means from the combination with the change amount of the relative distance.

As described above, according to the third aspect of the invention, since the grain culm sensor can move between the left and right uncut grain culms, the proper traveling direction of the machine body can be maintained. It is suitable for controlling the traveling direction when cutting a row with less variation in the interval.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a plan view showing an essential part of the combine of the first embodiment corresponding to the first invention. In the figure, 5 is an airframe, and 6l and 6r are weeding rods that project forward from their front ends. A grain cutting sensor A for horizontal cutting is attached to the center of the weeding rod 6r, and a detection rod A1 of the grain cutting sensor A for horizontal cutting is rotatably extended toward the inside of the machine. This grain cutting sensor A for horizontal cutting
Is turned on by the detection rod A1 turning 6 ° toward the rear of the machine body. 7l and 7r are crawlers in the traveling section,
Reference numeral 8 is an engine for driving each part such as the crawlers 7l and 7r.

The power transmission mechanism of the first embodiment will be described with reference to FIG. Reference numeral 8 in the figure denotes an engine. Pulleys 10, 11 and 12 are attached to an output shaft 9 of the engine 8, the pulley 10 being a threshing unit 13 and the pulley 11 being a cutting unit 1.
4 are connected via belts. The pulley 12 is
It is connected to the pulley 16 of the input shaft of the hydraulic transmission 15.
The output side of the hydraulic transmission 15 is connected to the left and right crawlers 7l and 7r individually by an appropriate gear mechanism via braking mechanisms 17l and 17r including a clutch and a brake. These braking mechanisms 17l, 17r and the like constitute a transmission system transmission mechanism 19.

Hydraulic cylinders 21l and 21r are mounted on the braking mechanisms 17l and 17r to operate the braking mechanisms 17l and 17r individually on the left and right sides.

As a traveling speed detecting means for detecting traveling speeds of the crawlers 7l and 7r, a traveling speed sensor 20 composed of a photocoupler or the like is provided for any intermediate shaft (not shown) forming the transmission mechanism 19 of the traveling system. Provide on the side edge and its periphery.

Next, an example of the control system of the first embodiment configured as described above will be described. In FIG. 4, the microcomputer J controls each part in a predetermined procedure as described later. To the input side of the microcomputer J, the above-mentioned lateral cutting grain sensor A, the traveling speed sensor 20 and the like are electrically connected via the input interface 23. On the output side of the microcomputer J, the left solenoid 2 for individually operating the hydraulic cylinders 21l, 21r via the output interface 24.
5l and the right solenoid 25r are electrically connected.

Next, an operation example of the embodiment of the present invention having such a configuration will be described. Now, when the engine 8 is started, its power is transmitted to the input shaft of the hydraulic transmission 15 via the output shaft 9 and the pulleys 12 and 16. Next, when the traveling clutch lever (not shown) in the driver's seat is set to the connection position, the braking mechanisms 17l and 17r are in the connection state,
The power of the engine 8 is transmitted to the crawlers 7l and 7r, and the machine body 5 starts traveling. Next, when the mowing threshing clutch lever (not shown) in the driver's seat is set to the “mowing and threshing” position, the power of the engine 8 causes the mowing unit 14 and the threshing unit 15 to operate.
And the harvesting threshing work is started.

As shown in FIGS. 1 (a) to 1 (d), when the machine body 5 travels toward the uncut grain culm E to be cut, the detection rod A1 of the horizontal cutting grain culm sensor A is not yet detected. When the traveling speed is constant, the turn-on time of the grain culm sensor A is set to the relative distances L1 and L2 between the weeding rod 6r, the uncut grain culvert E, and the turning distance when the traveling speed is constant. When the relative distance to the uncut grain culm E is short (FIGS. 1 (a) and 1 (b)), the on-time is long and the relative distance to the uncut grain culm E is long (FIG. 1 (c) and (d)), the on-time becomes short.

The microcomputer J controls the braking states of the braking mechanisms 17l and 17r, that is, the traveling direction. Hereinafter, the traveling direction control at the time of horizontal cutting will be specifically described with reference to the flowchart of FIG.

First, in step S1, it is determined whether or not the horizontal cutting grain culm sensor A is turned on. When it is turned on, in step S2, the turned-on time, that is, the on-time is measured, and the lateral cutting grain culm sensor A is turned on based on the on-time and the detection value of the traveling speed sensor 20. The distance traveled in the state, that is, the on-distance P is calculated. The value of the ON distance P corresponds to the relative distance from the weeding rod 6r to the uncut grain culm E.

Next, in step S3, the n-th ON distance Pn calculated in step S2 is compared with the previous value Pn- ₁ which is the calculated value in the uncut grain culm one plant before, and Pn>
If Pn _-1, calculates the difference between the on-distance Pn and the previous value _{Pn -1,} i.e. the amount of change ΔP in step S4. In this case, the change amount ΔP is represented by the following equation 1: Equation 1: ΔP = (Pn) − (Pn ₋₁ ). The value of the change amount ΔP corresponds to the change amount of the relative distance between the weeding rod 6r and the uncut grain culm E.

Further, the comparison result in step S3 is P
If <Pn ₋₁ , the process proceeds to step S5, and the difference between the previous value Pn ₋₁ and Pn ₋₂ which is the calculated value in the previous uncut grain culm is calculated as the amount of change ΔP.

Next, in step S6, from the calculated values of the on-distance P and the amount of change ΔP, the fuzzy control rules are used to operate the left and right solenoids 17l and 17r, that is, the braking time M of the left and right crawlers 7l and 7r, as described later.
To set. In carrying out such fuzzy control, a fuzzy control rule as shown in the matrix table of FIG. 6 (b) is adopted, and the antecedent part thereof sets the on-distance P and its variation ΔP, and Left and right crawler 7
The braking time M is 1 and 7r. In FIG. 6B, the vertical column shows the value of the ON distance P, the horizontal column shows the value of the change amount ΔP, and the table shows the value corresponding to the braking time M.

Here, the label of the on-distance P means: PB: long PS: rather long ZO: normal (traveling direction is almost proper) NS: rather short NB: shorter

The label of the change amount ΔP of the ON distance means PB: positive and large (approaching) ZO: almost zero (no change) NB: negative and large (approaching)

Further, the label of the braking time M of the left and right crawlers 7l, 7r means: PB: right long braking PS: right slightly braking ZO: no braking NS: left slightly braking NB: left long braking.

The control rule shown in FIG. 6B is expressed in the following form. For example, "if the on-distance P is PB (long) and the variation ΔP is PB (positive and large). , Set the braking time M to PB (brake the right longer).

The membership function of the ON distance P is shown in FIG. 7A, and the membership function of the variation ΔP is shown in FIG.
(B), the membership function of the braking time M is shown in FIG.
Are shown respectively.

Next, a fuzzy inference method is used in the process of obtaining the braking time M of the left and right crawlers 7l, 7r. That is, when the control rule to which the on-state distance P and the current state value of the change amount ΔP belong now is considered and selected from the rules of FIG. 6B, the following is obtained.

{R1: If the ON distance P is NS (slightly short) and the variation ΔP is ZO (nearly zero), the braking time M is NS (slight braking to the left). } {R2: If the on-distance P is NS (slightly short) and the variation ΔP is PB (positive and large), the braking time M is ZO (no braking). } {R3: If the on-distance P is ZO (normal) and the change amount Δ
If P is ZO (nearly zero), braking time M is ZO (no braking). } {R4: If the on-distance P is ZO (normal) and the change amount Δ
If P is PB (positive and large), the braking time M is PS (slight braking to the right). } The membership functions of these control rules R1 to R4 are shown in FIG.
, And the degree to which these control rules are established is evaluated graphically. Therefore, assuming that the current value of the on-distance P is P1 and the value of the change amount ΔP is ΔP1, the degree to which the on-distance P1 and the change amount ΔP1 satisfy the control rule R1 is 0.7 and 0.9. The smaller value of 0.7 is adopted as the degree of conformity in the control rule R1. Similarly, if the conformance is calculated for the control rules R2 to R4, the conformity is 0.1 for the control rule R2, 0.2 for the control rule R3, and 0.1 for the control rule R4.
Becomes Then, these four inference results are overlapped and integrated as shown in FIG. 9, the center of gravity thereof is obtained from the set of membership functions of the braking time M thus obtained, and this is set as the final braking time M1.

In this way, when the braking time M1 is calculated by the microcomputer J in step S6, the braking signal is directed to the left solenoid 25l or the right solenoid 25r for a time corresponding to the calculated numerical value of the braking time M1. Output (S7). Then, when the braking signal is output, the left solenoid 25l or the right solenoid 25r is excited only for a time corresponding to the value of the braking time M1, whereby the braking mechanism 17l or 17r is actuated and the left and right crawlers 7l, 7r. Braking either one. This allows
When the weeding rod 6r is too close to the uncut grain cullet E, the aircraft 5 turns to the right, and when the weeding rod 6r is too far from the uncut grain cullet E, the aircraft 5 turns to the left. To do.

As described above, in the first embodiment, the braking mechanism 17
The braking time M of 1 and 17r is not limited to the on-distance P that the traveling grain culm sensor A travels in the on-state, but also the on-distance P.
The change amount ΔP is also taken into consideration for the determination. Therefore, it is possible to add a correction from the change amount ΔP to the braking time set based only on the on-distance P, so that speeding up and optimizing the control can be realized.

Next, a second embodiment corresponding to the second invention will be described. In the first embodiment described above, the on distance P of the grain culm sensor A and the variation ΔP thereof are calculated based on the detection of the uncut grain culm E by the grain culm sensor A, and these on distance P are calculated.
Also, the braking time M is determined by using the variation ΔP. On the other hand, in the second embodiment described below, two grain culm sensors D and C are arranged side by side in the middle of the weeding rod 6r, and traveling is performed using these grain culm sensors D and C. The purpose is to further improve the accuracy of direction control.

That is, as shown in FIG.
A grain culm sensor D similar to the grain culm sensor A for horizontal cutting in the embodiment is attached to the middle part of the weeding rod 6r, and the grain culm sensor D is used.
The grain culm sensor C is attached to the rear position of, and the rotatable detection rods D1 and C1 of the grain culm sensors D and C are extended toward the inside of the machine body. These grain culm sensors D and C are shown in FIG.
As shown in 1, on the input side of the microcomputer J2,
It is electrically connected via the input interface 33.

The other mechanical structure of the second embodiment is similar to that of the above-mentioned first embodiment, and therefore its explanation is omitted.

Next, an operation example of the second embodiment having such a configuration will be described. Now, when the machine body 5 travels toward the uncut grain culm E, which is the target of cutting, the uncut grain culm E first contacts the detection rod D1 of the grain culm sensor D, and then the detection rod C1 of the grain culm sensor C. To contact. In this case, as in the case of the first embodiment described above, the ON time of the grain culm sensors D, C is the relative distance between the weeding rod 6r and the uncut grain culm E when the traveling speed is constant. The ON time is long when the relative distance L3 to the uncut grain culm E is short, and the ON time is short when the relative distance L3 to the uncut grain culm E is long.

The microcomputer J2 controls the braking states of the braking mechanisms 17l and 17r, that is, the traveling direction. The traveling direction control at the time of horizontal cutting will be specifically described below with reference to the flowchart of FIG.

First, in step S11, it is determined whether or not the grain culm sensor C is turned on. When it is turned on, in step S12, the turned-on time, that is, the on-time is measured, and based on the on-time and the detection value of the running speed sensor 20, the grain culm sensor C runs in the on state. The on-distance Q is calculated.

Next, in step S13, it is determined whether or not the grain culm sensor D is turned on. When it is on, in step S14, the on time, that is, the on time, is measured, and based on the on time and the detection value of the traveling speed sensor 20, the grain culm sensor D travels in the on state. The on-distance R is calculated.

Next, in step S15, step S12
ON distance Q of the grain culm sensor C calculated in step S1
The average value S of the ON distances Q and R is calculated from the ON distance R of the grain culm sensor D calculated in 4. In this case, assuming that the on-distance of the grain culm sensor C is Q1 and the on-distance of the grain culm sensor D is R1, the average value S is represented by the following Equation 2: Equation 2: S = (Q + R) / 2. This average value S corresponds to the relative distance from the weeding rod 6r to the uncut grain culm E.

Next, in step S16, step S
The difference between the contact distances Q and R is calculated as a deviation T from the ON distance Q of the grain culm sensor C calculated in 12 and the ON distance R of the grain culm sensor D calculated in step S14. This calculation is performed according to the following Expression 2. Formula 2: T = RQ This deviation T corresponds to the amount of change in the relative distance between the weeding rod 6r and the uncut grain culm E, and the arrangement direction and running direction of the grain culm sensors C and D. Is 0, that is, when the weeding rod 6r is equidistant from the uncut grain culm E, it is 0, and when the arrangement direction of the grain culm sensors C and D and the traveling direction do not match, that is, It is a negative value when the weeding rod 6r is close to the uncut grain culm E, and a positive value when it is separated.

Next, in step S17, the operating time of the left and right solenoids 17l, 17r, that is, the braking time M of the crawlers 7l, 7r is set by the fuzzy control rule from the calculated average value S and deviation T, as will be described later. To do. In carrying out such fuzzy control, FIG.
The fuzzy control rule as shown in the matrix table of (b) is adopted, and the antecedent part has the average value S and the deviation T, and the antecedent part has the braking time M of the left and right crawlers 7l, 7r. In FIG. 13B, the vertical column shows the value of the average value S, the horizontal column shows the value of the deviation T, and the table shows the value corresponding to the braking time M.

Here, the label of the average value S means PB: small (too far) PS: rather small ZO: normal (traveling direction is almost appropriate) NS: rather large NB: large (too close)

The label of the deviation T means PB: positive and large (coming away) ZO: almost zero (no change) NB: negative and large (coming closer).

Further, the label of the braking time M of the left and right crawlers 7l, 7r means: PB: right long braking PS: right slightly braking ZO: no braking NS: left slightly braking NB: left long braking.

The membership function of the average value S is shown in FIG. 14A, and the membership function of the deviation T is shown in FIG.
(B), the membership function of the braking time M is shown in FIG.
Each is shown in (c).

Next, the braking time M of the left and right solenoids 17l, 17r is obtained by using the fuzzy inference method. That is, when the control rule to which the average value S and the value of the deviation T belong now is considered and selected from the rules of FIG. 13B, the following is obtained.

{R1: If the average value S is NS (slightly small (slightly apart)) and the deviation T is ZO (almost zero (no change)), the braking time M is PS (slightly braking to the right). Is. } {R2: If the average value S is NS (somewhat large (somewhat too close)), and the deviation T is PB (positive and large (coming away))
Then, the braking time M is ZO (no braking). } {R3: If the average value S is ZO (normal (the traveling direction is almost proper)) and the deviation T is ZO (almost zero (no change)), the braking time M is ZO (no braking). } {R4: If the average value S is ZO (normal (the traveling direction is almost proper)), and the deviation T is PB (positive and large (being away))
Then, the braking time M is NS (braking the left a little). } The degree to which these control rules R1 to R4 are established is shown in FIG.
Evaluation is made in (a) and (b). As a result, assuming that the current average value S is S1 and the deviation T is T1, the conformance is 0.7 for the control rule R1, 0.1 for the control rule R2, and 0.1 for the control rule R3. Goodness of fit 0.
2, the degree of conformance is 0.1 for the control rule R4. Then, these four inference results are overlapped and integrated as shown in FIG. 15C, the center of gravity is obtained from the set of membership functions of the braking time M thus obtained, and this is determined as the final braking time M2. And

In this way, when the braking time M2 is calculated by the microcomputer J2 in step S17,
Only the time corresponding to the calculated value of the braking time M2,
The braking signal is sent to the left solenoid 25l or the right solenoid 25.
Output to r (S18). When the braking signal is output, the left solenoid 25l or the right solenoid 25l
r is excited for a time corresponding to the value of the braking time M2 to operate the hydraulic cylinder 21l or 21r, which causes the braking mechanism 17l or 17r to operate and the left and right crawlers 7 to be operated.
Either one of l and 7r is braked. Thus, when the weeding rod 6r is too close to the uncut grain culm E, the fuselage 5
Turns to the right, and when the weeding rod 6r is too far from the uncut culm E, the airframe 5 turns to the left.

Thus, in the second embodiment, the crawler 7
The braking time M2 of the braking mechanisms 17l and 17r, which is the operation amount of 1 and 7r, is not limited to the average value S corresponding to the relative distance between the weeding rod 6r and the uncut grain culm E, but also the weeding rod 6r and uncut. The deviation T corresponding to the amount of change in the relative distance from the grain culm E is also taken into consideration for the determination. Therefore, the braking time set based only on the average value S can be corrected from the deviation T, so that the control can be speeded up and optimized.

Further, in the second embodiment, two grain culm sensors C and D are used, and the average value S of the detected values is adopted as the relative distance. Compared with the configuration using the grain culm sensor, the detection accuracy regarding the relative distance between the weeding rod 6r and the uncut grain culm E can be improved. In the first embodiment described above, the difference between the previous on-distance and the current on-distance is used as a value representing the amount of change in the relative distance between the weeding rod 6r and the uncut grain culm E, so that different grain culm is used. However, in the second embodiment, the relative distance changes based on the outputs from the two sensors C and D for the same grain culm. Since the amount is calculated, there is an advantage that the detection accuracy regarding the amount of change in the relative distance can be improved.

Next, a third embodiment corresponding to the third invention will be described. The above-described first and second embodiments are intended for controlling the traveling direction during horizontal cutting. On the other hand, the third embodiment described below is mainly intended to control the traveling direction at the time of cutting.

That is, as shown in FIG. 16 (a), two grain culm sensors G and F are juxtaposed side by side in the middle of the weeding rod 6l, and the detection rod G1 of the grain culm sensor G is placed inside the machine body. The detection rod F1 of the grain culm sensor F is rotatably extended to the outside of the machine. These grain culm sensors G and F are electrically connected to the input side of the microcomputer J3 via the input interface 43 as shown in FIG.

The other mechanical structure of the third embodiment is similar to that of the above-mentioned first embodiment, and therefore its explanation is omitted.

Next, an operation example of the third embodiment having such a configuration will be described. Now, when the machine body 5 travels toward the uncut grain culms E1 and E2 to be reaped, FIG. 16 (a)
When the traveling direction of the machine body 5 is appropriate as described above, both the grain culm sensors G and F are in the off state. In addition, FIG.
When the traveling direction of the machine body 5 is deviated to the right from the proper traveling direction as in (b), the grain culm sensor G is turned on,
Further, when the traveling direction of the machine body 5 is displaced to the left from the proper traveling direction as shown in FIG. 16C, the grain culm sensor F is turned on. In this case, as in the case of the first embodiment described above, when the traveling speed is constant, the ON time of the grain culm sensors G and F is the same as the weeding rod 6l and the uncut grain culm E1 or E2. It corresponds to the relative distance, and when the relative distance to the uncut grain culm E1 or E2 is short, the on-time is long, and when the relative distance to the uncut grain culm E1 or E2 is long, the on-time is short. Become.

The microcomputer J3 controls the braking states of the braking mechanisms 17l and 17r, that is, the traveling direction. Hereinafter, the traveling direction control at the time of this line cutting will be specifically described with reference to the flowchart of FIG. 18.

First, in step S21, it is determined whether or not the grain culm sensor F is turned on. When it is turned on, in step S2, the time during which it is turned on is measured, and based on the on time and the detection value of the traveling speed sensor 20, the on distance that the grain culm sensor F travels in the on state. Calculate X. The value of this on-distance X is the weeding rod 6l and the uncut grain culm E2 (see FIG. 16C).
It corresponds to the relative distance from.

On the other hand, when a negative determination is made in step S21, it is determined in step S23 whether or not the grain culm sensor G is turned on. When it is turned on, in step S24, the on time is measured, and the on time and the traveling speed sensor 20 are measured.
On the basis of the detected value of, the on-distance Y at which the grain culm sensor G travels in the on state is calculated. The value of this ON distance Y is
This corresponds to the relative distance between the weeding rod 6l and the uncut grain culm E1 (see FIG. 16 (b)).

Next, in step S25, the calculated n-th ON distance Xn or Yn is compared with the previous value Xn _-1 or Yn _-1 , which is the calculated value in the uncut grain culm one plant before, and Xn > Xn ₋₁ or Yn> Yn ₋₁ , the previous value Xn is calculated from the ON distance X (Y) in step S26.
_The difference obtained by subtracting ₋₁ (Yn ₋₁ ) is calculated as the amount of change ΔX (ΔY). The values of these changes ΔX and ΔY are
And the amount of change in the relative distance between the uncut grain culm E and the uncut grain culm E.

If the comparison result in step S25 is Xn <Xn ₋₁ or Yn <Yn ₋₁ ,
The process proceeds to step S27, and the previous value Xn _-1 (Yn _-1 )
From Xn ₋₂ which is the calculated value in the previous uncut grain
The difference obtained by subtracting (Yn ₋₂ ) is calculated as the amount of change ΔX (ΔY).

Next, in step S28, the left and right solenoids 17l and 17r are calculated from the calculated ON distance X (Y) and the amount of change ΔX (ΔY) according to the fuzzy control rule.
Operating time, that is, the braking time M of the crawlers 7l and 7r
To set. In carrying out such fuzzy control, a fuzzy control rule as shown in the matrix table of FIG. 19 (b) is adopted, and the antecedent part of the fuzzy control rule sets the on-distances X and Y and the change amounts ΔX and ΔY. After that, the case portion has a braking time M of the left and right crawlers 7l and 7r. In FIG. 19B, the vertical columns show the values of the ON distances X and Y, and the horizontal columns show the variation Δ.
The values of X and ΔY are shown in the table, and the values corresponding to the braking time M are shown.

The labels of the on-distances X and Y are as follows: PB: Y is large (rightward) PS: Y is slightly large (slightly rightward) ZO: X and Y are almost zero (traveling direction is almost proper) NS: X is slightly large (slightly to the left) NB: X means large (to the left).

The labels of the change amounts ΔX and ΔY mean that PB: ΔY is large (moving to the right) ZO: Almost zero (no change) NB: ΔX is large (moving to the left).

Further, the label of the braking time M of the left and right crawlers 7l, 7r means PB: long braking on the right PS: braking on the right a little ZO: not braking NS: braking a little on the left NB: braking on the left for a long time

20A shows the membership function of the on-distances X and Y, FIG. 20B shows the membership function of the change amounts ΔX and ΔY, and FIG. 20C shows the membership function of the braking time M. Are shown respectively.

Next, the braking time M of the left and right solenoids 17l, 17r is obtained by using the fuzzy inference method. That is, when the control rule to which the values of the ON distances X and Y and the change amounts ΔX and ΔY belong now is considered and selected from the rules of FIG. 19B, the following is obtained.

{R1: if the on-distances X and Y are NS (X is a little large (slightly to the left)), and the changes ΔX and ΔY are ZO
If (almost zero), the braking time M is PS (slightly braking the right). } {R2: If the on-distances X and Y are NS (X is slightly large (slightly to the left)) and the changes ΔX and ΔY are PB (ΔY is large (toward the right)), the braking time M is ZO (no braking). } {R3: If the on-distances X and Y are ZO (almost zero for both X and Y (the traveling direction is almost appropriate)) and the changes ΔX and ΔY are ZO (nearly zero (almost unchanged)), braking time M
Is ZO (no braking). } {R4: If the on-distances X and Y are ZO (both X and Y are substantially zero (the traveling direction is almost proper)) and the changes ΔX and ΔY are PB (ΔY is large (shifting to the right)). The braking time M is NS (slight braking to the left). } The degree to which these control rules R1 to R4 are established is shown in FIG.
Evaluation is made in (a) and (b). As a result, assuming that the values of the current on-distances X and Y are a and the values of the changes ΔX and ΔY are b, the degree of conformance is 0.7 for the control rule R1 and 0.1 for the control rule R2. Goodness of fit 0.2 for control rule R3, goodness of fit 0.1 for control rule R4
Becomes Then, these four inference results are shown in FIG.
Then, the center of gravity is obtained from the set of membership functions of the braking time M thus obtained, and this is set as the final braking time M3.

Thus, when the braking time M3 is calculated by the microcomputer J2 in step S28,
Only the time corresponding to the calculated value of the braking time M3,
The braking signal is sent to the left solenoid 25l or the right solenoid 25.
Output to r (S29). When the braking signal is output, the left solenoid 25l or the right solenoid 25l
r is excited for a time corresponding to the value of the braking time M3, whereby the braking mechanism 17l or 17r operates and brakes either the left or right crawler 7l or 7r. As a result, when the weeding rod 6r is too close to the uncut grain culm E, the aircraft 5 turns to the right, and when the weeding rod 6r is too far from the uncut grain culm E, the aircraft 5 is left. Change direction.

As described above, in the third embodiment, the braking mechanism 17
The braking time M3 of 1 and 17r is equivalent to the weeding rod 6r and the uncut grain culm E.
Not only the ON distances X and Y that represent the distance to
The change amounts ΔX and ΔY representing the approaching state between the uncut grain culm E and the uncut grain culm E are also taken into consideration for the determination. Therefore, it is possible to add a correction from the change amounts ΔX and ΔY to the braking time set based only on the on-distances X and Y. For example, the spacing between the rows of the uncut grain culms E1 and E2 is narrow and the conventional device is used. Then, even in the case where a hunting-like output is obtained, the apparatus of the present embodiment can set the braking time to be short and realize the speedup and optimization of the control.

In the first to third embodiments described above,
Although the configuration related to horizontal cutting and the configuration related to row cutting have been individually described, it is also possible to arbitrarily combine the above-described configurations in the present invention. For example, as in the third embodiment, grains on the left weeding rod 6l are grained. In the device for mounting the culm sensors G and F and controlling the traveling direction of the above-mentioned cutting, the grain culm sensors C and D of the second embodiment are attached to the right weeding rod 6r to carry out the above-mentioned lateral cutting. It may be configured to control the direction.

[0075]

As described above in detail, in the first aspect of the invention, the operation amount of the traveling direction operation means takes into consideration not only the relative distance between the machine body and the uncut grain but also the change amount of the relative distance. Since the operation amount determined based on only the relative distance can be corrected from the change amount of the relative distance, it is possible to speed up and optimize the control. Produce an effect.

Further, in the second invention, since the change amount of the relative distance is calculated on the basis of the outputs of the two grain culm sensors extending the respective detection rods in the same direction, It becomes possible to calculate the amount of change in the relative distance based on the two outputs from the grain culm sensor, and the amount of change in the relative distance compared to the configuration using a single grain culm sensor as in the first invention. Detection accuracy can be improved.

Further, in the third aspect of the invention, since the grain culm sensor can advance between the left and right uncut grain culms, the proper traveling direction of the machine can be maintained. It is suitable for controlling the traveling direction when cutting a row with little variation.

[Brief description of drawings]

FIG. 1A to FIG. 1D are plan views showing a main part of a combine and an operation thereof according to a first embodiment.

FIG. 2 is a plan view showing a main part of the combine of the first embodiment.

FIG. 3 is a plan view schematically showing the combine power transmission mechanism of the first embodiment.

FIG. 4 is a diagram showing a configuration example of a control system of the first embodiment.

FIG. 5 is a flowchart showing an example of control in the first embodiment.

FIG. 6A is a diagram showing an antecedent part and a consequent part in the control of the first embodiment, and FIG. 6B is a matrix table showing the control rule thereof.

7A to 7C are diagrams showing membership functions of an antecedent part and a consequent part in the control of the first embodiment.

FIG. 8 is a diagram showing a process of obtaining a goodness of fit of a current value in each control rule.

FIG. 9 is a diagram showing a process of determining an operation amount by superimposing conformity in each control rule.

FIG. 10 is a plan view schematically showing a main part of the combine of the second embodiment.

FIG. 11 is a diagram showing an example of a configuration of a control system of a second embodiment.

FIG. 12 is a flowchart showing an example of control of the second embodiment.

13A is a diagram showing an antecedent part and a consequent part in the control of the second embodiment, and FIG. 13B is a matrix table showing the control rules thereof.

14A to 14C are diagrams showing membership functions of an antecedent part and a consequent part in the control of the second embodiment.

15 (a) to 15 (c) are diagrams showing steps of determining the degree of conformance of the current value for each control rule in the control of the second embodiment, and determining the manipulated variable from these degrees of conformance.

16 (a) to 16 (c) are plan views showing a combine and a main part of a use state of the combine according to the third embodiment.

FIG. 17 is a diagram showing an example of a configuration of a control system of a third embodiment.

FIG. 18 is a flowchart showing an example of control according to the third embodiment.

19A is a diagram showing an antecedent part and a consequent part in the control of the third embodiment, and FIG. 19B is a matrix table showing control rules.

20A to 20C are diagrams showing membership functions of an antecedent part and a consequent part in the control of the third embodiment.

21 (a) to (c) are diagrams showing a step of obtaining a degree of conformance of a current value with respect to each control rule in the control of the third embodiment and determining an operation amount from the degree of conformity.

FIG. 22 is a plan view schematically showing a conventional combine.

[Explanation of symbols]

 A, B, C, D, F, G Grain culm sensor A1, B1, C1, D1, F1, G1 Detection rod E, E1, E2 Uncut grain culm J1, J2, J3 Microcomputer M1, M2, M3 Braking time 5 Airframe 6l, 6r Weeding rod 8 Engine 7l, 7r Crawler 17l, 17r Braking mechanism 20 Travel speed sensor 21l, 21r Hydraulic cylinder 25l, 25r Solenoid

Claims (3)

[Claims] 1. A grain culm having a traveling speed detecting means for detecting the traveling speed of the combine, a traveling direction operating means for changing the traveling direction of the combine, and a detection rod to be brought into contact with the uncut grain culm as the combine travels. Sensor, based on the output of the grain culm sensor, based on the relative distance calculated by the relative distance calculation means for calculating the relative distance between the machine of the combine and the uncut grain culm, the relative distance calculation means, From the combination of the change amount calculation means for calculating the change amount of the relative distance, the relative distance calculated by the relative distance calculation means, and the change amount calculated by the change amount calculation means, the operation amount of the traveling direction operation means is calculated. A traveling direction control device for a combine, comprising: an operation amount determining means for determining. 2. A traveling speed detecting means for detecting a traveling speed of the combine, a traveling direction operating means for changing a traveling direction of the combine, and a front and a rear of the combine body, which are arranged side by side and which are in the same direction on either side of the combine body. Extend each detection rod to 2
One grain culm sensor, a relative distance calculating means for calculating a relative distance between the body of the combine and the uncut grain culm, based on the output of at least one of the two grain culm sensors, and the both grain culm sensors Based on the output of the change amount calculation means for calculating the amount of change in the relative distance between the machine of the combine and the uncut grain culm, the relative distance calculated by the relative distance calculation means, and the change amount calculation means A traveling direction control device for a combine, comprising: an operation amount determining means for determining an operation amount of the traveling direction operating means based on a combination with the change amount. 3. A traveling speed detecting means for detecting a traveling speed of the combine, a traveling direction operating means for changing a traveling direction of the combine, and each detection rod which should come into contact with the uncut grain culms as the combine travels. Two grain culm sensors extending to the left side and the right side of the machine body, and relative distance calculating means for calculating the relative distance between the machine body of the combine and the left and right uncut grain culms, respectively, based on the outputs of the grain culm sensors. A change amount calculation unit that calculates a change amount of the relative distance based on the relative distance calculated by the relative distance calculation unit, a relative distance calculated by the relative distance calculation unit, and a change amount calculation unit. A traveling direction control device for a combine, comprising: an operation amount determining means for determining an operation amount of the traveling direction operating means in combination with a change amount.