JPH05192008A - Device for judging row or lateral reaping in combine - Google Patents

Abstract

PURPOSE:To reduce wrong judgment in decision of row or lateral reaping and to improve its judgment accuracy thereby. CONSTITUTION:After a detected value from a row reaping sensor is read (S1), a traveling speed V is calculated from a detected value of a traveling speed sensor (S2). Then, when a grain culm sensor is in 'ON' (S3), a planting interval of crops in the reaping direction is detected (S4). Degrees (decision ratio of row and lateral reaping) of row or lateral reaping are determined in numerical values in a range of '0' to '255' by fuzzy control rule (S7) and the determined numerical values are added by a counter X (S8). When the treatment is carried out five times (S9), an average value Y from the numerical values of the counter X is calculated (S10). Then row or lateral reaping is judged from the calculated average value X (S12, 13).

Description

Detailed Description of the Invention

[0001]

The present invention is applied to combine harvesters,
In particular, it relates to improvement of a strip lateral cutting determination device that determines whether the cutting operation is strip cutting or horizontal cutting.

[0002]

2. Description of the Related Art Conventionally, as a device of this type, a line cutting sensor mounted near the tip of a divider (weeding device) detects the presence or absence of a crop plant, and depending on the detection result, The planting interval is detected, and the detected value is set as a threshold value (for example, 2
5 cm), it is known that, for example, less than 25 cm is determined to be row cutting 3 times, and detection value of 25 cm or more is determined to be 3 times lateral cutting.

[0003]

However, in such conventional strip lateral cutting determination, the detected value is 20c which is close to the threshold value.
In the region of m to 30 cm, it is difficult to determine whether to trim or cut laterally, and an erroneous determination is likely to occur, resulting in poor determination accuracy.

Therefore, the present invention solves the above problems,
An object of the present invention is to reduce erroneous judgments when the detection value of the planting interval is close to the threshold value, and to improve the judgment accuracy.

[0005]

In order to achieve the above object, the present invention has the following constitution. That is, the present invention, when the combine harvesting work of the crop, the distance detection means for detecting the distance between the planting of the crop, and the degree of row cutting or side cutting that is predetermined corresponding to the detected distance. It comprises a deciding means for deciding, and a row-and-side-cutting determining means for making a plurality of decisions on the degree of the row-cutting or side-cutting and determining whether the cutting operation is the row-cutting or the side-cutting.

[0006]

In the present invention, the distance detecting means detects the distance between planting of the crop when the combine harvests the crop. The deciding means decides a predetermined degree of row cutting or horizontal cutting corresponding to the detected distance. The row-cutting determining means determines the degree of the row-cutting or the side-cutting a plurality of times, and determines from the result whether the current work is the row-cutting or the side-cutting.

As described above, according to the present invention, the distance between plantings is detected at the time of cutting a crop, the predetermined degree of row cutting or side cutting is determined according to the detected value, and the determination is made a plurality of times. It was decided to judge whether the cutting work was a line cutting or a horizontal cutting based on the result. Therefore,
According to the present invention, it is possible to eliminate the conventional erroneous determination that occurs when the detected value of the planting interval of the crop is close to the threshold value, and thus the determination accuracy is significantly improved.

[0008]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 shows the arrangement of the sensors according to the present embodiment, in which the combiner weeder 1A is equipped with a pair of row-cutting sensors 2 and 3 which are used for controlling the traveling direction at the time of row-cutting. Further, the weeding device 1B and a pair of lateral cutting sensors 4 and 5 used for controlling the traveling direction at the time of horizontal cutting are attached to the rear of the weeding device 1B. The row-cutting sensors 2 and 3 include rotatable detection pieces 2A and 3A that come into contact with an uncut grain culm (crop) and detect the presence or absence thereof when cutting the row. The horizontal cutting sensors 4 and 5 are rotatable turning detection pieces 4A that detect the presence or absence of uncut grain culms at the end of the uncut grain culm group during horizontal cutting.
Have 5A. Further, grain culm sensors 6 and 7 for detecting the presence of uncut grain culms are arranged at predetermined positions. In the figure, 8 is a raising device, 9 is a scraping device, and 10 is a cutter.

Next, the power transmission mechanism of this embodiment will be described with reference to FIG.

In FIG. 2, 11 is an engine, and the output shaft 12 of this engine 11 has pulleys 13, 14, 1
Attach 5 respectively. The pulley 13 is connected to the threshing unit 16 via a belt, and the pulley 14 is connected to the mowing unit 17 via a belt. Further, the pulley 15 is connected to the pulley 19 of the input shaft of the hydraulic transmission 18 via a belt. The output side of the hydraulic transmission 18 is connected to the left and right crawlers 21R and 21L via braking mechanisms 20R and 20L including clutches and brakes.

The braking mechanisms 20R and 20L have hydraulic cylinders 22 for individually driving the braking mechanisms 20R and 20L.
R and 22L are provided respectively. Then, the braking mechanism 20
The R, 20L, the crawlers 21R, 21L, etc. constitute a traveling unit. In order to detect the traveling speed of the crawlers 21R and 21L, a traveling speed sensor 23 including a photocoupler is provided at and around the end of the intermediate shaft of the transmission mechanism of the traveling unit.

Next, an example of the electric system of this embodiment will be described with reference to FIG.

In the figure, a microcomputer 30 is composed of a CPU, a memory, etc., and performs predetermined judgments and calculations according to an input signal as will be described later. An input interface 31 is provided on the input side of the microcomputer 30.
Via the above-mentioned row-cutting sensors 2 and 3, side-cutting sensors 4 and 5, grain stem sensors 6 and 7, and traveling speed sensor 23.
Are electrically connected to each other. Microcomputer 3
On the output side of 0, the right solenoid 33 that drives the above-mentioned hydraulic cylinder 22R via the output interface 32,
Left solenoid 34 that drives the hydraulic cylinder 22L described above
Etc. are electrically connected.

Next, an example of the operation of the embodiment of the present invention thus constructed will be described below.

When the engine 11 is started, its power is transmitted to the input shaft of the hydraulic transmission 15 via the output shaft 12 and the pulleys 15 and 19. Next, when the traveling clutch lever (not shown) in the driver's seat is set to the connection position, the braking mechanisms 20R and 20L are in the connection state, and the engine 1
The power of 1 is transmitted to the crawlers 21R and 21L to start 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 11 is transmitted to the threshing unit 16 and the mowing unit 17, and the mowing threshing work is started.

In addition, in the embodiment of the present invention, in addition to such cutting and threshing work, processing for determining whether the current cutting work is row cutting or side cutting is performed by the procedure shown in the flowchart of FIG.

First of all, as shown in FIG.
The detected value of 3 is read (S1). Next, the detection value of the traveling speed sensor 23 is read (S2), and the traveling speed V of the traveling unit (combine) is calculated from the detected value. Then, it is determined whether the detection value of the grain culm sensor 6 is "ON" (S3),
When it is "ON", the process proceeds to the next step S4.

In step S4, it is determined whether or not the strip cutting sensor 2 or the strip cutting sensor 3 detects a distance corresponding to "ON" from "OFF". This distance corresponds to the distance between plantings of crops in the mowing direction.
And this distance WHEREIN: The detection piece 2A, 3A of either one of the said sensors 2 and 3 contacts a crop, and the detected value of either the sensor 2 or the sensor 3 is "ON", "O."
It is calculated from the product of the time from “OFF” to “ON” and the calculated traveling speed V when changing from “FF” to “ON”.

If a negative determination is made in step 4, the process proceeds to step S5, and it is determined whether or not the distance corresponding to the "OFF" state of both the row-cutting sensor 2 and the row-cutting sensor 3 is a certain value or more. As a result, when the distance is equal to or more than the fixed distance, it is determined that the cutting is performed (S6), and when the distance is equal to or less than the fixed distance, the process returns to step S1 to read the detection values of the cutting sensors 2 and 3 again.

On the other hand, if an affirmative decision is made in step S4, the operation proceeds to step S7. In step S7, the degree of strip cutting or horizontal cutting (strip lateral determination rate) is determined from the detected distance by a fuzzy control rule with a numerical value in the range of “0” to “255” as described below, and the determined numerical value is determined. The counter X adds up (S8).

When these processes are performed a plurality of times, for example, five times and completed (S9), the average value Y is calculated from the count value of the counter X (S10). Next, it is compared whether or not the calculated average value Y is less than "128" (S11),
When it is less than "128", it is determined to be a row cutting (S12),
Otherwise, it is determined to be horizontal cutting (S13).

As described above, since the present embodiment is a combination of fuzzy control (S1 to S4 and S7, S8) and non-fuzzy control, fuzzy control will be described in detail below.

First, in carrying out the fuzzy control, the following fuzzy control rules R1 to R5 are adopted. R1: If the detection distance L between planting of crops is NB (short), the degree M of row cutting or side cutting is NB (row cutting)
Is. R2: If the detection distance L between planting of crops is NS (slightly short), the degree M of row cutting or side cutting is NS (slightly cutting). R3: If the detection distance L between planting of crops is ZO (normal), the degree M of row cutting or side cutting is ZO (as is). R4: If the detection distance L between plantings of the crop is PS (slightly long), the degree M of row cutting or horizontal cutting is PS (slightly horizontal cutting). R5: If the detection distance L between planting of crops is PB (long), the degree M of row cutting or side cutting is PB (side cutting)
Is.

FIG. 5 (A) shows the membership function of the detection distance L between planting of crops, and FIG. 5 (B) shows the membership function of the degree M of cutting or side cutting. Here, the label of the detection distance L between the planting of the crop and the label of the degree M of row cutting or side cutting are as follows.

The label of the detection distance L between planting of crops means NB: short NS: rather short ZO: normal PS: rather long PB: long.

The label of the degree M of row cutting or side cutting means NB: row cutting NS: a little row cutting ZO: as it is PS: a little side cutting PB: side cutting.

Next, a fuzzy inference method is used in the process of obtaining the degree M of strip cutting or horizontal cutting. That is, when the control rule to which the current state value of the detection distance L between plantings of the crop belongs now is considered and it is selected from the above rules R1 to R5, for example, it becomes as follows.

R3: The detection distance L between plantings of the crop is Z
If O (ordinary), the degree M of strip cutting or side cutting is Z
O (as is).

R4: The detection distance L between plantings of the crop is P
If S (slightly long), the degree of strip cutting or horizontal cutting M
Is PS (slightly trimmed).

The membership functions of the control rules R3 and R4 are shown in FIG. 6, and the degree to which these control rules are satisfied is evaluated in the figure. Therefore, assuming that the current value of the detection distance L is L1 as shown in FIG. 6 (A), the degree to which the control rule R3 satisfies the value L1 of the detection distance L is 0.5 and 0.5.
As a goodness of fit in the control rule R3, an inference result as shown in FIG. 6B is obtained. In addition, the degree of control rule R4 satisfying the value L1 of the detection distance L is 0.2, and an inference result as shown in FIG. 6B is obtained with 0.2 as the degree of conformity in control rule R4. Then, by combining these two inference results, the barycentric position is obtained from the set of membership functions of the degree M of the row cutting or the side cutting thus obtained, and this is set as the final degree M, and this degree M is set to "0". It is decided by the numerical value in the range of "-" 255 ".

Such arithmetic processing is performed by the microcomputer 30 as described above, and the numerical value corresponding to the obtained degree M is processed as in the above flow chart,
Finally, a judgment is made as to whether to cut the line or cut the line.

In this way, when it is determined that the line is to be cut, the left and right solenoids 33 and 34 are driven based on the detection values of the pair of line cutting sensors 2 and 3, and as a result, the braking mechanisms 20R and 20L move the left and right. Crawler 21R, 21L
Is braked and the direction of the cutting is controlled. On the other hand, when it is determined that the horizontal cutting is performed, the left and right solenoids 33 and 34 are driven based on the detection values of the pair of horizontal cutting sensors 4 and 5, and as a result, the left and right crawlers 21R and 21L are moved by the braking mechanisms 20R and 20L. The vehicle is braked and the direction of the horizontal cutting is controlled.

As described above, in the present embodiment, the detected distance L between planting of crops is used as the antecedent part of the fuzzy control rule, and the degree M of row cutting or side cutting is used as the antecedent part for fuzzy control, and the result is obtained. Was used to determine whether to cut the line or cut sideways. Therefore, in the present embodiment, it is possible to eliminate the conventional erroneous determination that occurs when the detection value of the planting interval of the crop is close to the determination value (25 cm) when determining the row cutting or the horizontal cutting, and thus the determination is made. Accuracy is dramatically improved.

[0035]

As described above, according to the present invention, the planting interval is detected at the time of mowing a crop, and a predetermined degree of row cutting or side cutting is determined according to the detected value, and the determination is made. It was carried out multiple times, and it was decided based on the result whether the cutting operation was row cutting or side cutting. Therefore, in the present invention, it is possible to eliminate the conventional erroneous determination that occurs when the detection value of the planting interval of the crop is close to the threshold value (the determination value when determining row cutting or horizontal cutting). Judgment accuracy is significantly improved.

[Brief description of drawings]

FIG. 1 is a diagram showing an arrangement configuration of sensors according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a power transmission system according to an embodiment of the present invention.

FIG. 3 is a block diagram showing an example of an electric system according to an embodiment of the present invention.

FIG. 4 is a flowchart showing an example of the operation of the embodiment of the present invention.

FIG. 5A is a diagram showing a membership function of a detection distance L between plantings of crops, and FIG. 5B is a diagram showing a membership function of a degree M of row cutting or side cutting.

FIG. 6 is an explanatory diagram illustrating an example of fuzzy inference based on control rules.

[Explanation of symbols]

 2,3 Row-cutting sensor 4,5 Side-cutting sensor 11 Engine 20R, 20L Braking mechanism 21R, 21L Crawler 22R, 22L Hydraulic cylinder 23 Running speed sensor 30 Microcomputer

Claims (1)

[Claims] 1. A distance detecting means for detecting a distance between planting of a crop when a combine harvests a crop, and a predetermined degree of row cutting or horizontal cutting corresponding to the detected distance. And the degree of strip cutting or horizontal cutting are determined multiple times,
A combined horizontal row-cutting determining device comprising: a horizontal row-cutting determining unit that determines whether the cutting operation is a row-cutting or a horizontal cutting.