JPS5822416A - Harvesting machine - Google Patents

Abstract

PURPOSE:To perform an automatic sweep securely in safety even in a muddy rice field, etc., by changing swiveling positions and performing the sweep when swiveling is not completed within a certain time after the starting of the swiveling after the 1st backward movement. CONSTITUTION:A harvesting machine having started sweeping operation swivels to left while moving backward and if a sensor s6 does not detect a group of unreaped ears even a time t1 later, the machine moves straight backward for a time t2 to shift in swiveling position. During the backward movement, if the sensor s6 does not detect unreaped ears, the machine swivels and moves straight backward repeatedly for a time t3 after the 1st backward movement; if the sensor s6 still does not operate, the machine is swiveled to left while moved straight backward for a certain time and then moved straight forward to face its head to a next lateral reaping direction and then to start harvesting operation.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a harvesting machine equipped with a microcomputer and equipped with an automatic rotation function that rotates the machine at the corner of uncut grain culms. This paper proposes a harvester that can be operated without any problems even when the harvester is suffering from the disease.

The harvesting machine according to the present invention enables automatic harvesting work using a microcomputer in addition to the harvesting work that can be performed by front operation. The functions for automatic harvesting include an automatic operation function that runs in a manner that follows the grain culm lines to be harvested, and - After completing the harvesting of one process, the corner of the group of uncut husks is used to start the next process of harvesting. An automatic rotation function that turns the machine with a treadmill, a vehicle speed control function that slows down the vehicle speed depending on the harvesting situation, an automatic handling depth adjustment function that allows threshing to be performed according to the grain culm length, and a constant cutting height. It is equipped with an automatic cutting height adjustment function and an alarm function that detects clogging of the grain culm conveyance system, abnormalities in the swing sorting unit, etc., and issues an alarm. The machine of the present invention is characterized by the above-mentioned automatic rotation function. In other words, when performing a turning operation using this automatic turning function, if turning is not completed within a predetermined time, it is assumed that turning at the same point is difficult due to weak turning position, etc., and the turning position is changed. It is unique in that it is configured so that it can be rotated by

The present invention will be described in detail below based on drawings showing embodiments thereof.

Figure 1 shows the grass division plate II of the reaping section 1! , lr, etc., and the sensors installed in their vicinity. The detection target of each sensor is the culm. The 0 sensor is a combination of a touch rod and a limit switch. or an optical type using a photoelectric switch.
An optical type is used for l ss j sea, and a combination of a touch rod and a limit switch is used for the others.

The sensor S1 is attached to the mounting rod of the right side grass plate 1r with its detection surface facing the outside of the machine body, that is, to the right (generally towards the already cut side), and detects the culm within its detection area, i.e. This detects the husk culms on the cut side that originally exist, that is, the husks that have been cut, and is involved in the control for harvesting the culms that remain uncut.

Sensors S2 and S4f'i, right and left side grass dividing plates lr, 11! The contact rods are attached to the mounting rods with the respective contact rods facing inward of the fuselage, and depending on the rotation angle when each contact rod contacts the shell culm and rotates, the grass divider plate l' and its left side are The distance between the grass dividing plate 11 and the grain culm row adjacent to the right side, in other words, the relative position between the machine body and the grain culm row to be harvested. It detects relationships and is mainly involved in control for automatic steering.

Sensor S3I/-i is attached behind the grass divider plate 1r on the right side so that its contact rod rotates around the inside of the aircraft.
The length of the touch rod is shorter than that of sensor S2. The sensor S there functions to supplement the sensor S2, and moves so close to the grass divider plate 1r that the left culm of the grass divider plate 1r contacts the short rod of the sensor S, and moves backward. When the vehicle rotates, this proximity is detected in front of the sensor S2, and the detection signal is used to quickly correct the traveling direction to the right.

The sensor S51 and the sst ij sensor S6 are attached to the mounting rod of the grass divider board 11 back to back with the respective detection surfaces facing left, and are involved in control during reciprocating mowing.

The cutting blade 1c is located at the auxiliary cutting rod 1s on the left side of sensor s and Fi.
It is mounted on the side of the robot with the detection surface facing left, and is involved in control during rotation.

Sensor S6 is installed at the lower left side of the vehicle body with the auxiliary output surface facing left, and is involved in control during reciprocating mowing.

FIG. 2 is a block diagram schematically showing the control system of the wood invention machine. The microcomputer (hereinafter referred to as microcomputer) MCN, which is the core of the control system, includes a central processing unit 1cPU, read-only memory ROM, random access memory RAM,
It consists of an input/output board I10P and an interface PPI, and the CPU is μC0M- manufactured by NEC Corporation.
80 is used.

The signals emitted by each of the sensors S1p...S60 are ■
(B) Ilo P, Interface PPI
The actuator drives the aircraft to move forward and backward and steer the aircraft left and right by performing necessary calculations based on the program prepared in advance in the tROM and signals input from sensors, etc. A necessary control signal is issued to the circuit ACC via the interface PPI and I10 port ■10P to perform automatic harvesting.
M is used for programs in the ROM, temporary storage of data during calculations, etc.

Various actuators ACT driven and controlled by the actuator drive circuit ACC perform predetermined operations, causing the traveling section, reaping section, and threshing section to perform operations corresponding to the signal 8vc issued from the CPU. The outline of the configuration of the actuator related to the automatic rotation function and the traveling section controlled by the actuator is as follows.

First, looking at the traveling section, gear changes are performed by a hydraulically controlled transmission such as a power shift transmission, and an electromagnetic directional control valve installed in the hydraulic circuit for changing gears is connected to the lrI. It is equipped as an actuator. Therefore, by issuing a predetermined signal from the microcomputer MCN, the electromagnetic directional control valve is driven to select from reverse gear, neutral gear, and forward speed to third gear.

In addition, steering can be performed by operating the side clutches that turn on and off the power transmission to the left and right crawlers and the brakes for braking separately on the left and right sides using hydraulic circuits. The actuator also includes an electromagnetic directional control valve for switching oil passages to operate the brake.

Next, regarding the reaping section 1, the entire reaping section is raised and lowered by a hydraulic circuit, and the actuator is an electromagnetic directional control valve that switches the oil passage for raising and lowering. In addition, the reaping latch installed in the transmission system for the cutting blade LC, etc. consists of a belt stretched between the drive pulley on the engine side and the driven pulley on the reaping unit side, and a tension pulley that tensions and loosens the belt. The actuator is provided with a renoid that moves the tension pulley to tension or loosen the belt.

Now, this harvester is designed so that it is possible to select an automatic rotation mode, a breast cutting mode, and a reciprocating cutting mode.

In the reciprocating mowing mode, Fii initial reciprocating mowing is performed, whereas in the circular mowing mode, if the Fi lateral holding time becomes shorter than the set value, it is switched to reciprocating mowing from then on. Digital switch DSW installed on the operation column 3 around the driver's seat 2
is for setting a set value, for example, as a number of seconds, and in the embodiment, it is configured by a three-digit thumbwheel switch.

This machine is based on the premise that circular mowing begins with row mowing. Figure 3 is a drawing schematically showing the locus of movement of the machine in the case where the machine faces one corner of the uncut culm group C and starts round cutting from row cutting, and Figure 4 shows the rotational movement in this case. 70-chart showing a control sequence;

Based on these drawings, we will explain the rotating operation of this machine when rotating and holding it. When instructed to start harvesting, the machine automatically operates and performs the first row mowing process.

During this time, the grain culm is pressed and rotated backward by the contact rod I/'i of sensor S4, but when this row cutting process is finished, the culm that comes into contact with it is no longer present. Both touch rods become free. The microcomputer MCN thereby detects the end of one stroke of row cutting, and thereby enters a sequence for turning. That is, first, the transmission is set to the forward gear, the reaping section is raised, and the cutting section is moved at a low speed for a predetermined period of time.
Corresponding parts in FIG. 4 are given the same reference numerals. same as below)
Then, the vehicle is rotated to the left for a predetermined period of time (2), the reaping latch is shut off, the gear is set to reverse gear, and the gear is immediately turned to (2). Immediately after this, timer T starts timing from the start of the groove. Immediately after the groove (■), the right brake is activated to make a left turn (■) while moving backward. Then, the sensor S6 will detect the culm at the corner of the uncut culm group C and will be activated, so that the machine will immediately groove for a predetermined period of time thereafter. The seven aircraft that do so gradually move away from the uncut culm group C and go out of the detection area of sensor S6, so wait for a certain delay time to elapse from the time when sensor S6 becomes inactive, and then brake the right brake again. is activated to make a left turn ■ while moving backward for a predetermined period of time, and the nose is turned in the same direction approximately perpendicular to the previous row cutting stroke, followed by the cutting groove ■, the reaping part lowering, and the reaping clutch engagement. After completing a series of accompaniment sequences, the harvesting work in the next separation process begins.

However, if the time measured by the timer T passes tl by the time the senna S6 is activated, that is, if the sensor S6 does not detect the uncut culm group C even if the left turn ■ in reverse continues for 17 hours. , the operation of the right brake is released and the immediately groove is performed, and the time for this immediately groove is measured by the timer T. If the sensor S6 does not detect the uncut culm C even after this immediate groove continues for t3 hours, the operation of left turning and immediate groove is repeated. This repetition is repeated until the time measured by the timer T reaches t3, that is, until 13 hours have elapsed since the first groove. If the sensor S6 does not operate even after the time t3 has elapsed, the aircraft is forced to move astern for a predetermined period of time, and then makes a left turn (■) while going astern, turns the nose toward the next loading direction by turning the front groove (■), and Start reaping work. Also, if sensor S6 operates, sensor S
Immediately the groove (2) is performed until 6 becomes inactive, and after the above-mentioned left turn (2) and self-advance (3), the reaping work is performed.

That is, if the turning operation is started, the turning operation is started, and the turning is made to the left while moving backward, and the group of uncut culms cannot be detected even after time t1 has elapsed, the turning position is weak, etc., and the turning at the same point is not possible. If it is difficult, the vehicle is made to proceed immediately after a certain period of time (t), and after moving the turning position, it is made to proceed backward and turn left. and,
This movement of the turning point is carried out until IF, (=N?S) is activated or until the timer T1 reaches t3,
jIf the sensor Ss does not operate after 3 hours have elapsed, that is, if the vehicle cannot escape from the soft ground even after repeated execution of reverse, left turn, and straight forward, then After forcibly escaping from the soft ground, the aircraft is moved astern and made a left turn to turn the nose in the direction of the next harvesting operation and perform the reaping operation. The above time 1. It is determined so that repetition of turning, backward turning, and straight forward movement can be performed appropriately.

On the other hand, the rotating operation of the machine of the present invention when performing reciprocating mowing will be explained. FIG. 5 is a drawing schematically showing the locus of movement of the machine during reciprocating mowing, and FIG. 6 is a flowchart showing the control sequence of the rotation operation at this time. The mowing work is carried out in the same way as in the case of circular mowing described above, and when the sensors S, , S, become free, the microcomputer MCNH detects the end of one stroke of row mowing and starts the sequence for 1gI row. First, the transmission is set to the forward gear, the reaping section is raised, and the reaping section is opened at a predetermined time and moved straight forward at a low speed. Then, the sensor 551 on the left side of the fuselage eventually detects the culm at the end of the uncut culm group C.
2 and it works. This causes the left turn to stop and the sensor s
5. e The vehicle is automatically steered by the SO to travel along the edge of the uncut culm group C. On the other hand, if the left turn continues for more than a certain period of time, it is assumed that there are no culms on the left side of the aircraft, that is, all the harvesting work has been completed and there are no more unharvested culms, and the engine stops VC. Enters the final work completion sequence.

Sensor Ss1. Automatic steering by S6□ is performed as follows. That is, the sensor 551 has a shorter culm detection range than the sensor S, and when the sensor SS+ detects the edge culm of the uncut culm group C, the aircraft is in the uncut culm group. If the vehicle is too close to C, it is turned to the right, and if only Senna SSt detects the culm, it is determined to be appropriate and the vehicle goes straight, and both sensors S and □eSIH do not detect the presence of the culm. If so, assume that they are too far apart and turn left.

In this way, as it travels along the edge of the uncut culm group C, the aircraft eventually reaches the corner of the uncut culm group C, and the sensor S located further behind the cutting blade 1c , becomes inactive and does not detect the culm.

Just before that - both Senna S51 e S11! The aircraft has already started turning to the left as both of them no longer detect the presence of the culm, but after sensor S6 becomes inactive, steering by sensors 551 + 552 is stopped. Then, make the left turn 0 again for a predetermined period of time, then set the transmission to reverse gear and immediately proceed to O for a predetermined period of time, and then,
During the above-mentioned circular mowing, left turn 01 immediately forward qφ, left turn, corrective action by repeating immediately forward, after immediately forward, left turn ■, immediately forward [phase], further 11c#i Reaping part lowering, reaping After the latch is engaged and the rotation sequence is completed, the next row mowing process begins.

The rotation from the next row mowing to the next row mowing is carried out in exactly the same manner as described above, and reciprocating mowing is performed while repeating this rotation operation until the last row mowing is completed. At this point, the sequence for completing the work begins as described above. Note that the reciprocating mowing mode in which row cutting is performed from the beginning is also performed in the same manner as described above.

As described in detail above, in a harvester equipped with an automatic rotation function, the present invention causes the rotation position to be changed if the rotation operation is not completed within a predetermined time. Because of this structure, it is possible to safely and reliably perform automatic rotation without turning in an unexpected direction even in a weak field such as a field.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Figure 1 is a schematic plan view of the machine of the present invention showing the arrangement of sensors, the wJz diagram is a schematic block diagram of the main parts of the control system, and Figure 3 is a schematic diagram of the main parts of the control system. A schematic diagram of the movement trajectory of the machine body during mowing, Fig. 4 is a flowchart schematically showing the control sequence at that time, Fig. 5 is a schematic diagram of the movement trajectory of the machine body during reciprocating mowing, and Fig. 6 is a schematic diagram of the movement trajectory of the machine body during reciprocating mowing. 2 is a flowchart outlining the control sequence of FIG. SI+ S's S$+ S4. s6.551e S
o, sea ・-'Sensor M CN...My”
ACT... Actuator If, lr... Grass dividing plate Patent applicant Yanmar Agricultural Machinery Co., Ltd. Agent Patent attorney Noboru Kono Mushroom 1 Figure $ 2 times-IP-, l Concave 1-5 Concave

Claims (1)

[Claims] 1. When it is detected that the aircraft has reached the corner of a group of uncut culms, it performs an astern turn and a straight forward rotation to direct the aircraft in a direction perpendicular to the previous direction of travel. In a harvester equipped with this function, in the process of repeatedly performing backward turning and forward movement for a predetermined time each, if the required turning is not completed within a predetermined time after the start of the first backward turning, the turning position is changed. A harvesting machine characterized by the following configurations.