JPS58224605A - Reaming combine with sensor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] The present invention provides a reaping and harvesting machine with a copying sensor, specifically, it is provided with a copying sensor for row cutting and a copying sensor for horizontal cutting υ, and during row cutting and horizontal cutting. The present invention relates to a reaping/harvesting machine with a scanning sensor, which is equipped with a control device that controls the traveling direction using each sensor.

In conventional reaping and harvesting machines with tracing sensors of this type,
In order to avoid leaving any residue during cutting and harvesting, the cutting machine is introduced into the reaping section as it travels to follow the rows of kernel culms while detecting the rows of husks in the field. It was equipped with a tracing sensor that could detect the deviation of the aircraft relative to the culm row.

This sensor is provided with a contact bar whose inclination angle changes depending on the contact position with respect to the culm row, and a switch that turns ON and oyy depending on this angle change.
Based on the ON/01F1 state of this switch, it was configured to detect the deviation of the aircraft with respect to the row of shell culms. In consideration of ease of management, they are planted to be arranged at predetermined intervals, densely in the so-called row direction and coarsely in the direction of lateral force.

Therefore, in reaping work, there is row mowing, which is performed sequentially along the above-mentioned row direction, horizontal mowing, which is reaped from the side in the row direction, and intermediate cutting, which is performed to pre-divide the reaping work range of the field. There are three basic types of work (three-row cutting), each with its own pattern for the row of culms that are introduced into the reaping section. Since the cutting width of the cutting section is constant, the position of the optimum shell culm row is different for each of the three types of work modes.

However, with the sensor of the conventional configuration, the optimal detection zone of the detectable culm row is usually fixed to correspond to row mowing and horizontal mowing, which are common reaping operations. The vehicle was driven manually by human visual inspection, or by installing a separate dedicated sensor, which made the operation complicated and increased the burden on the operator, and the sensor structure became complicated in the winter. There was.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to automatically move the culm rows corresponding to each of the above-mentioned row cutting, horizontal cutting, and middle splitting operations using a set of sensors. The purpose of the present invention is to provide a reaping and harvesting machine capable of traveling according to the target.

In order to achieve the above object, the reaping harvester equipped with a copying sensor according to the present invention is configured to control the traveling direction based on a combination of the detection results of the culm row position of the sensors. It has the characteristic of being

Due to the above characteristic structure, the following excellent effects have been achieved.

In other words, even though the intermediate copying sensor is not used, the copying travel for all operations can be automated and the sensor configuration can be simplified.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Fig. 1, the reaping section Il provided at the front of the machine
A weeding tool (2)... is provided at the 111th part of l, and an integrated shell is installed in front of the central frame (2a) of the support frame (2a)... which supports the kernel weeding tool (2)... Tracing sensor that detects bias in the left and right direction of force for row cutting on culm rows [
In addition to providing an S, a copying sensor for horizontal cutting is provided in front of the rightmost frame (2JL), and based on the detection results of the culm row position of these sensors (S), the left and right A control device (61) is provided to control ON*OFF of the electromagnetic clutches 41 and 140 of the running rollers f3+, (a'l), so that the rollers f3+, (a'l) can be automatically moved in a predetermined direction along the culm row.Reaping and harvesting This constitutes a connoisseur as a machine.

To configure the copying sensor (Sl), rods +e+ and , which are respectively lodged in the front and protrude to the left and right, are provided at -, and the rods +61 and tffi rotate rearward when they come into contact with the culm row, In order to generate a code output corresponding to this rotation angle, an encoder (P) is provided at the base of the rods f61 and le'.

The copying sensor (S is the same number of copies as the copying sensor (8 pieces)) is provided, and a potentiometer is provided at the base of the copying sensor (8) to generate a voltage proportional to the rotation angle. be.

As shown in Figure 2, when these tracing sensors detect the shift of the aircraft in one day, they detect a shift for a predetermined time longer than the aircraft moves between the shell culms. In order to continue emitting the detection signal over the period of time and to prevent malfunction in areas where no culm exists, circuits with the following configurations are added to pre-process the detection signal.

That is, in the tracing sensor (Sz), the encoder (Pi), (P's culm row detection zone (AO)
.

Output to detect (BO) (D engineering 5. (D/l is Hlgh)
level (hereinafter simply referred to as H), that is, zone (B
When detecting the
Delay circuits +81 and +81 are provided to delay the change from to LOW (hereinafter simply referred to as L).

On the other hand, the outputs (Di) and (D2) are respectively in the detection zone (
°].

It generates a signal for FBI i discrimination, and is configured to output an L signal in the H1 zone IBI in the zone prisoner.

Next, the scanning sensor (in the case of S, the voltage generated by the potentiometer (P!I)) is connected to an integrating circuit (9).
K, it is averaged and converted to DC 4 voltage (V), and depending on the magnitude of this voltage (T), the shell culm row detection zone (I), (I
I), (Comparator Ool to determine Ill
, I can be provided, and the respective reference voltages (ra・fl),
(ref2), the zones (■), (
n), (Logic output (DIl) corresponding to Ill e
(D4) It is configured to obtain tl-.

This output (+) 3), (if D is both zone (1), output (Da) is H1 output CD4) is L and zone (U), and output (D), (0 both is H and the zone (corresponds to @, respectively).

The control device (5) is configured to function as a so-called microcomputer, and has a memory, a timer, a computer, etc. (not shown). Copying sensor (Ell) as a position detection device, ω reno output signal (Di),
(Dtsue (DQ, (D/), ([)sue (
”) pair: 1 Based on the engagement state, the front 1 electromagnetic clutch +41, [
4'1, the machine is controlled to automatically follow and travel along a predetermined culm row.

In addition, as shown in Figures 8 to 5, the culm row position detection zone of the copying sensor (day?) is adjusted in accordance with each work mode of row cutting, horizontal cutting, and mid-splitting (three-row cutting). In order to set the reference voltage (ref
(ref) is configured such that it can be automatically switched by the control device (5) via the % converter fill'i.

That is, during row cutting, as shown in FIG.
One row of culms (12) is introduced between the weeding tools f21 @ 6 of 1), and the entire position of this culm row (121) is detected only by the tracing sensor (sl). do.

When detecting the position of this culm row, the detection zone false 1
, IBI, (Ao), (Be) encoders (Ps, (p)) are set, and this zone detection result, that is, the 1fI period logic signal (Di
), (D, (D, (D), based on the D combination states, detects the deviation of the machine body with respect to the shell culm row α21-・, and also controls the traveling direction by determining whether it is row mowing or horizontal mowing. It is.

A logical signal (D) for detecting the position of this culm row.

The combination state of (Dsu, (Dtuple, DI/) is configured to be determined based on the table IK shown in Fig. 6 (a), and when zone (AQ) e (AO) is detected, it will move straight. Then, it steers left and right in Zone (AO) and IBI respectively, and when Zone (BO) * (BO) is detected, it moves straight for a certain period of time, and when it detects Zone Old 1 and IBI i for a specified period of time or more, it determines that it is horizontal mowing. It is C.

Next, when it is determined that horizontal mowing is being performed in this manner, the copying sensor (which enables daily cropping) detects the detection zones (y) and (n) in the horizontal mowing state shown in FIG.
, (m) lk stages are set, and the zone (I) corresponds to the combination state of the logic signals (Ds, (D4)).
Turn left eight times at , go straight in zone Cl1l, and enter zone (
II[) controls to steer to the right.

The logic signal CD11 in this culm row position detection
) and (D4) are configured to be determined based on table 2 shown in FIG. 6(b).

Next, when medium splitting (3-row cutting) is selected using the 1 selector switch (SW), basically 2-row cutting is performed as shown in Figure 5.
The cutting section fi+ of the row cutting machine can cut three rows.
In order to perform control based on the detection result of the culm row of the copying sensor (S encoder (P) and copying sensor (B) potentimeter 〇〇, the copying sensor Ce has the detection shown in Fig. 3 above. The culm rows 021... are detected in zones (4) and (B), and the detection zones (I), (If), (1
g) different detection zones (1'), (ff),
(To set lift, the comparator (1(1)
, fl(1)F+each reference voltage (ref”), (
ref9) t-set.

Then, the result of detecting the position of the culm row, that is, the combination of the states of the detection zone, IBI, (Gin, (In, 01), Based on the results, the running direction is controlled.
, (ffi, (nf)) The traveling direction control #'i corresponding to (nf) is configured to be performed based on the table 3 shown in FIG. 6(c).

In other words, when the sensor (S) detects a zone prisoner, and the sensor (S) detects the zone (wa or zone (m), it moves straight for a certain period of time, and even after this time has passed, the zone (4) and the zone (Gin or Zone) If both sensors (ex) and (Bri are detected, control the chain to steer it slightly to the left, and if Zone Prisoner and Zone (Wealth) are detected, steer it to the right, Zone IB + and zone (by detecting the ladle, it will turn to the left, and other combinations will control it to go straight.

Incidentally, FIG. 7 is a flowchart showing the operation of the control device (5) described above, and IJJ in FIG. 2 is a switch for manually operating the steering direction.

Alternatively, the detection zones (11, (II), (!In) and the detection zones ('r), (In, () may be set in the same detection zone to simplify the detection.

In addition, one of the above scanning sensors (S) is an encoder (P) that can directly digitally detect the position of the culm row.

(A configuration employing a P-type sensor? Although shown, it may also be configured to use a copying sensor (similar to the S-type potentiometer) to detect the position of the culm row in an analog manner.

Furthermore, the copying sensor (Elm), (Elm)
Although the above description has been made using a contact type sensor type 2, the present invention can also be implemented as a non-contact type sensor type such as an ultrasonic sensor capable of detecting the distance fllk from the sensor mounting position to the culm row.

[Brief explanation of drawings]

The drawings show all embodiments of the reaping and harvesting machine with a copying sensor according to the present invention, and FIG. 1 is a schematic plan view of a combine harvester, and FIG.
The figure is a block diagram of the control device, Figure 3 is a schematic diagram showing the detection zone during row cutting, Figure 4 is a schematic diagram showing the detection zone during horizontal cutting, and Figure 5 is a schematic diagram showing the detection zone during splitting. The schematic diagrams, FIGS. 6(a), 6(b), and 6(c) are tables of control directions based on the detection of culm row positions, and FIG. 7 is a flowchart showing the operation of the control device. 111... Reaping part, (31, (-...-
Running loaf, (4), 14'l... Electromagnetic Clara 4th, flit... Control device, (""L(
S1)...Copying sensor. Figure 1

Claims (1)

[Claims] A copying sensor (S) for row mowing and a copying sensor (GL) for woodcutter mowing are provided, and during row mowing and horizontal mowing, each sensor ωS, 181 is used to control the running direction. A reaping/harvesting machine with a copying sensor equipped with a device, which controls the running direction during splitting based on the combination of the culm row position detection results of the sensor (81) ICB I). A reaping and harvesting machine with a tracing sensor, characterized in that it is configured to control the direction of travel.