JPH0750885Y2 - Automatic direction control device in mobile harvester - Google Patents

Description

[Detailed Description of the Invention] (a) Industrial field of application The present invention relates to an automatic direction control device in a mobile harvester such as a combine, and more specifically, to a drive device based on a detection signal of a direction sensor provided in a mowing unit. The present invention relates to an automatic direction control device configured to automatically correct the direction of a traveling machine body by appropriately operating.

(B) Conventional technology Generally, when performing a mowing operation using a mobile harvester, such as a combine harvester, the left and right side clutches are appropriately operated by manually operating the left and right side clutch levers provided on the operation console while the mowing unit is driven. The connection / disconnection operation is performed, and thereby the traveling machine body is steered along the grain culm row.

However, in the manual cutting operation, it is necessary to constantly pay attention so that the cutting portion does not come off from the grain culm row, which increases the burden on the operator and causes excessive fatigue.

Therefore, the applicant of the present invention has devised a combine in which the drive device is appropriately operated based on the automatic control device so that the harvesting work can be performed without the operator having to bother him (Actual Publication 57). -32646 gazette).

Then, the combine using the automatic control device is provided with a direction sensor that operates in contact with the root of the grain culm at the front lower portion of the traveling machine body, and the side clutch is timely based on the grain culm detection signal of the direction sensor. The direction of the traveling machine body is automatically corrected by connecting and disconnecting it, and further, only the control circuit that turns and corrects the direction sensor in the direction away from the grain by the signal from the direction sensor, A control circuit that inserts a signal holding circuit that lengthens the signal from the direction sensor, and that turns and corrects the direction sensor in the direction approaching the grain stem,
A short pulse signal is emitted so that the traveling vehicle can be slowly rotated and corrected, and when the mowing section is too close to the uncut area, the direction sensor detection signal is too short and the side clutch is mechanically disconnected. Even if it is difficult to correct the traveling direction to the already-cutted side, the traveling direction is surely corrected for a certain period of time so that the direction sensor, that is, the cutting unit can be reliably separated from the napped culm.

(C) Problems to be solved by the device However, in the combine proposed by the present applicant, the signal holding circuit pulls out all the signals for separating the direction sensor, that is, the cutting unit from the napped culm. Because of the extension, not only the signal when the grain culm is detected, but also the signal when the weeds are detected is extended. For this reason, the side clutch may be frequently operated until the travel correction does not have to be performed, and the cutting section may be dislocated.

(D) Means for Solving the Problem The present invention is intended to solve the above-mentioned problems, and for example, as shown in FIG.
(Refer to FIG. 10), the driving device is appropriately operated to automatically correct the direction of the traveling machine body 3 (see FIG. 10) based on the detection signal when approaching the grain culm and the detection signal when separating from the culm. In the mobile harvester 1 (see FIG. 10) configured as described above, the detection signal when the grain culm approaches by the direction sensor 11 is
Divided into a predetermined time T ₂ following signal and the predetermined time T ₂ or more signals, a signal holding means 20 for stretching up said predetermined constant-time T ₂ or more signals only necessary time (T ₃₎ is provided, said drive device is predetermined On the basis of having the dead time T ₄ for the signal of time T ₂ or less, the signal of the predetermined time or less is ignored in the direction correction operation of the driving device and is extended by the signal holding means 20. The direction correcting operation of the drive device is performed according to the time (T ₅ = T ₃ −T ₄ ) after the dead time of the spread signal.

(E) Action Based on the above-described configuration, when performing the mowing work in the mobile harvester 1, the direction sensor 11 provided in the mowing unit 5 detects a signal when approaching the grain stem and a signal when separating from it. . In this case, the signal at the time of approach is a predetermined time T ₂ or less due to contact with a weak weed, etc., and a predetermined time T ₂ or more due to contact with a grain culm that has become a stock Can be divided into Then, since the signal of the predetermined time T ₂ or less is ignored in the direction correction operation, the drive device is not operated when the signal is detected, and therefore the mobile harvester 1 goes straight. On the other hand, since the signal for the predetermined time T ₂ or more performs the direction correction operation, the drive device is operated when the signal is detected,
Therefore, the mobile harvester 1 is corrected in the direction away from the grain culm.

(F) Example As shown in FIG. 10, the combine 1 has a mowing section 5 supported movably up and down in front of a traveling machine body 3 supported by crawlers 2. Divider 6
..., the grain culm raising device 7, the cutting blade 9, etc. are arrange | positioned. Further, a direction sensor 11 is installed on the divider frame 10 supporting the uncut side divider 6a.

Further, as shown in FIG. 1, a microcomputer 12 (hereinafter referred to as a microcomputer) mounted on the traveling machine body 3 has a direction automatic switch 13 and a direction manual switch at its input port.
15, limit switches A and B provided on the direction sensor 11 and a vehicle speed detecting potentiometer 16 are respectively connected, and left and right solenoids of an electromagnetic switching valve for operating a left and right side clutch actuating hydraulic actuator at an output side port. 17,19 are arranged. Furthermore,
The limit switch cereal稈接recent pulse signals by B is divided into those predetermined time T ₂ of the (5 see figure) following are the predetermined time T ₂ or more, said predetermined fixed time between T ₂ following the pulse signal as it is Since it is employed, it is small compared to the drive dead time T ₄ , so that the side clutch is not actually activated. Also, for pulse signals over a predetermined time T _2, microcomputer
By the signal holding means 20 provided in 12, the dead time of the drive device
Because the extended pull up required time T ₃ in consideration of T _4, the predetermined time T ₂ or more pulse signals are reliably actuate the steering clutch by T ₅ remaining operating time even in consideration of dead time T _4.

As shown in FIG. 2 (a), the direction sensor 11 has a sensor arm 11a projecting inside the traveling machine,
The limit switch B is operated by the rotation of the sensor arm 11a by a predetermined angle or more, that is, the rotation to the rotation position C shown in FIG. The pulse signal shown in FIG. 3B is emitted, and when a weak weed that has not become a plant is detected, a short pulse signal shown in FIG. 3B is emitted. Further, in FIG. 4, a is a rotation range in which the limit switch A detects that the limit switch A is away from the culm, and b is a straight range in which neither the limit switch A nor the limit switch B is operated.

Since the present embodiment is configured as described above, as shown in FIG. 6, during the automatic direction control with the automatic direction switch 13 turned on (S1), the combine 1 is operated by the direction sensor 11 to change its direction at an appropriate time. Drive under control. At this time, when the direction sensor 11 is separated from the grain culm and the arm 11a of the sensor 11 is in the rotation range B shown in FIG. 4, the limit switch A operates to generate a signal (S2), which causes electromagnetic switching. The right solenoid 19 of the valve is excited to operate the right side clutch hydraulic actuator to disconnect the right side clutch (S3). Therefore, the combine 1 turns to the right, and the uncut side divider 6a is brought close to the culm.

On the other hand, the direction sensor 11 approaches the grain culm and the sensor arm 11
When a rotates in the rotation range C shown in FIG. 4, the arm 11a
Contacting the weeds causes the limit switch B to be turned on within a predetermined time T ₂ and the limit switch B moves to the third position.
When the short pulse signal shown in FIG. 6B is issued, the short pulse signal is adopted as it is, so the left solenoid 17 of the electromagnetic switching valve is excited (S4), but the dead time T _{4 of the} drive device is Therefore, the left side clutch is not actually disengaged, so the combine 1 ignores the detection of weeds and travels straight. Similarly, when the sensor arm 11a is rotated within the rotation range c, the limit switch B is operated for a predetermined time T ₂ or more, as shown in FIG. When the pulse signal as shown is issued, the pulse signal is extended to the required time T ₃ by the signal holding means 20, so that the left side clutch operated based on the pulse signal considers the dead time T ₄ . However, the remaining operation time T ₅ surely cuts (S5), so that the uncut side divider 6a is separated from the grain stem and the combine 1
Is rotated to the left and properly oriented.

In the present embodiment, the grain稈接recent signal by direction sensor 11, divided into those predetermined time T ₂ or less and what the predetermined time T ₂ or more, the signal retaining only said predetermined constant-time T ₂ or more signals means
The drive device of the combine 1 is stretched by 20 and the drive device of the combine 1 is operated based on this, but as shown in FIG. 7, the predetermined time T ₂ changes in accordance with the traveling speed of the combine 1. The predetermined time T ₂ is shortened as the speed increases, and the predetermined time T ₂ is lengthened as the speed decreases, whereby the weed detection signal and the grain by the direction sensor 11 are set. The culm detection signal may be surely determined regardless of the traveling speed of the combine 1.

Further, as shown in FIG. 8 and FIG. 9, the limit switch A of the direction sensor 11 for detecting the time of separation from the grain culm is connected to the unit 21, whereby the direction sensor 11, that is, the reaper 5 is connected to the grain culm. When separated from, the detection signal from the limit switch A is converted into an intermittent pulse signal, and the cutting unit 5
When approaching the grain culm, the detection signal from the limit switch B is used as it is as a continuous drive signal, and the cutting unit 5
If the reaper is separated from the grain culm, the drive device is intermittently operated, and if the reaper 5 approaches the grain culm, the drive device is continuously operated. The drive system operates due to the problem of the timing of the detection signal and the intermittent pulse due to the excessive swinging phenomenon of the traveling machine body 3 caused by the continuous operation to the culm and the separation operation from the culm when the grain culm approaches. It may be possible to perform traveling control of the combine 1 without causing a problem such as a delay, a short operating time of the drive device, and a slippage.

As (g) Effect of invention described above, according to the present invention, the grain稈接recent signal, divided into those predetermined time T ₂ or less and what the predetermined time T ₂ or more, the drive device is the Based on the fact that the dead time T ₄ is provided for signals that are less than the predetermined time T _2,
The signal below T ₂ is ignored in the direction correcting operation of the drive unit, and the direction correcting operation of the drive unit is configured to be performed by the signal of T ₂ or more for a predetermined time, so that the direction sensor 11 frequently detects the weeds. It is possible to eliminate the directional correction operation that occurs, so-called hunting, and to reliably operate the drive device without causing an operation error due to an operation delay during grain culm detection, and to perform accurate direction automatic control.

Further, when the predetermined time T ₂ is set to be short at high speed of the traveling machine body 3 and set to be long at low speed, the weeds and the culms can be reliably distinguished and detected without being affected by the change of the vehicle speed. Therefore, the automatic direction control by the direction sensor 11 can be made more reliable.

[Brief description of drawings]

FIG. 1 is a circuit diagram according to the present invention, FIG. 2 (a) is a plan view showing a state in which a grain arm is detected by a sensor arm of the direction sensor, and FIG. 2 (b) is a diagram showing a detection signal thereof. FIG. 3 (a) is a plan view showing a state when weeds are detected by the sensor arm, FIG. 3 (b) is a view showing detection signals thereof, and FIG. 4 is a plan view showing each rotation range of the sensor arm. FIG. 5 is a time chart showing the detection signal of the limit switch, the output signal to the driving device, etc., and FIG. 6 is a flow chart showing the operation of the present invention. Further, FIG. 7 is a diagram showing a relationship between a predetermined time and vehicle speed in another embodiment, FIG. 8 is a plan view showing a direction sensor in still another embodiment, and FIG. 9 is a diagram showing its electric circuit. is there. FIG. 10 is a schematic plan view of a combine to which the present invention can be applied. 1 ... mobile harvesters (combines), 2 ... crawler, 3 ... vehicle body, 5 ... reaper, 11 ... direction sensor, 20 ... signal holding means, A, B ... limit switch, T ₂ ... predetermined time.

Claims (2)

[Scope of utility model registration request] 1. A direction sensor provided in a mowing unit is provided to automatically correct the direction of the traveling machine body by appropriately operating a drive device based on a detection signal when approaching a grain culm and a detection signal when separating from the culm. In the mobile harvester configured, the signal holding means for dividing the detection signal when the grain culm is approached by the direction sensor into a signal of a predetermined time or less and a signal of a predetermined time or more, and extending only the signal of the predetermined time or more to a necessary time. Based on that the drive device has a dead time with respect to the signal of the predetermined time or less, the signal of the predetermined time or less is ignored in the direction correction operation of the drive device and the signal holding is performed. Automatic direction control in a mobile harvester, characterized in that the direction correction operation of the drive device is performed according to the time after the dead time of the signal stretched by the means. Location. 2. The automatic direction control device for a mobile harvester according to claim 1, wherein the predetermined time is set to be short when the traveling machine body is at high speed and is set to be long when the traveling machine body is at low speed.