JPS5831904A - Automatic steering control apparatus of harvester - 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 is characterized in that as far as the planting W is concerned, the introduction path ft+'f)
'r.

Punishment associated with contact with the stem culm! IIJJVr, more IIl'
A sensor that outputs the displacement IA in the left and right force direction of the aircraft moving rY is installed on the I-vertical culm, and this sensor detects iLV qs.
vr l, Q Then, the aircraft moves along the r - culm group. 1, then create the NTR steering control mechanism with a time delay.
The white reaper is equipped with a towing mechanism. ll1
1 relates to a steering control device.

This type of conventional automatic steering control device t! f.t., III
The control delay time length by the J mechanism is completely constant. 11 List 1.
However, for example, if this control delay time U is set to a small value, the aircraft will be steered in the left-right direction [1σ] based on the detection operation of the sensor, so that the planted stem group will move in the left-right direction. If the meandering is small, is it excessive steering control? 8 tends to cause a hunting phenomenon, and conversely, if the control 64I # time length is set to a large value, the time from the time of detection activation of the sensor to the actual steering control of the aircraft becomes longer. However, if the group of planted stems and culms is meandering significantly in the left and right direction, the steering control may be delayed and the planted stems and culms may not be cut properly. There was a drawback that it was easy to leave a 7 or miss a step.

In view of the above-mentioned circumstances, 411' of the planted stem and culm group.
Always follows the aircraft stably and accurately according to the 5th line status VC1'
In order to be able to perform the following steps: In the case where the +fiJ reporter detects and operates the control delay time length due to the mechanism, in the case where the Depending on the previous straight running time or the length of the straight RAo running time within the set time before the detection activation EK, the detection time is increased as the detection time increases.
It is characterized by being provided with a mechanism for qy.

If the group of planted stems and culms is meandering slightly in the left-right direction, the aircraft will take a long U-travel, and if the group of planted stems and culms is meandering in the left-right direction At the point where the straight running time becomes shorter, rll[]L,, the straight running time before the sensor detects the detection operation is violated, or the mechanism detecting operation 11ζ: 1 straight running time within the set time of 1171 becomes thicker. In response to the meandering state of L's, !++'+ standing culm! 11 ~ urgent time i, 7 lit;
A group of meandering state 1 (plant the aircraft according to the shield culm! rr' V
Along c, ;,! 7:! We were able to achieve good and accurate tracking.

Hereinafter, an example of the implementation of the present invention will be described with reference to the drawings [, M, i.
ll, ill, both these horte devices +1+, i
Steering clutch + 21 intervening in the transmission to the i1i# system,
(Mission case (3) with 21 inside, ``11 (
The steering clutch (21t +21 (r-person 12) is equipped with hydraulic cylinders f41 and +41 for operation,
4: 1j of the machine
Divider (5) leading to al..., each route (a)...
A combine harvester V which is equipped with a reaping 111J processing section having a cutting device (6) that operates on 2q people and 9 culms.
On the other hand, the automatic steering control AL system that is attached to the VR system is constructed as follows.

That is, among the stem culm introduction routes (a)..., the introduction and planting are carried out on the support rods (7) of the divider (5) on the side of the route (a), which is located in the most mown area. Due to the backward swinging as it comes into contact with the stem culm, the left-right displacement of one hemorrhoid with respect to the planted stem culm is N. Straight running area C
11+) to left turning area (a or right turning area (88)
A sensor (8) for horizontal cutting 1/A is provided to detect in which direction the stem culm is displaced. al), in other words, so that the aircraft follows along the vertical culm group Vr, the hydraulic cylinder 1llII +41
, a mechanism (IO) for controlling the automatic steering of the aircraft to the left or right by intermittently controlling the excitation IvFfli (Da), (9a) of the control pulp (9) for +41;
After the rFJ sensor (old) detects, the mechanism (1) that activates the control mechanism (10) with a time delay after the detection operation (1) and the control delay time by this mechanism (11), @Ki7 A mechanism (12) is provided which automatically changes the detection time so that it increases as the detection time increases, depending on the length of the straight-ahead A-row time immediately before the detection operation of the N!7-i81.

If the group of planted stems is meandering from side to side, the straight-line traveling time of the aircraft will be l'J:, so the control delay time will also be 1, resulting in stable control without excessive control. On the other hand, when the planted stem culms meander significantly in the left-right direction, the nrl becomes shorter when the aircraft is traveling straight, so the above-mentioned control delay is reduced. The time j1)) is also shortened, and the steering can be controlled accurately without any control delay.

In addition, on both sides of the stem culm introduction path body located on the farthest All ground side, support rods [7] of the dividers +51 and +51 are installed.
i.

(7) is also equipped with a row cutting sensor (18itO This sensor (13+, (13) i
(31.
The steering control section is configured to be selectively switchable between the steering control section and the steering control section based on the detection result of Q3).

In the embodiment described above, the sensor (8) detects fI.
The delay time was determined according to the length of the traveling time, but the delay time was determined by detecting the length of the traveling time. Alternatively, the delay time may be determined according to the length of the i + yen traveling time within the set time of the detection operation surface iii of the sensor (8). It is also possible to detect the straight running time of the vehicle and determine the delay time in the next measurement time period according to the detection result.

In addition, in order to detect the above-mentioned straight running time violation, 1111
Even if the entire transmission time length of the advance signal is detected, Jn<, the steering clutch (2) from the steering clutch (2)
.

The length of time when (2) enters the river and is activated may be detected.

[Brief explanation of the drawing]

The drawing is a steering control system diagram illustrating an embodiment of an automatic steering control device for a reaper according to the present invention. ... Mechanism, (12) ... Automatic change 1 return (load.

Claims (1)

[Claims] On the side of the introduction route of the sprouting stem culm, there is a sensor that detects the sap on the left side of the machine (+' direction) as it comes into contact with the introduced planted stem culm. (8) Fully use the detection center of Jin's sensor (8);
l Move the aircraft left and right so that it follows the standing culms. l-11J-like steering control mechanism (10);
A mechanism (11) that operates the steering control mechanism (lO) with a time delay after the sensor (8) detects the sensor (8).
) and the reaper itself! In the Ir/I steering control device, the control delay time length by the mechanism (11) is
hII (The length of the detection time is large depending on the length of the straight-line traveling time IJ before the L sensor (8) detected the first movement or the length of the straight-line traveling time within the set time immediately before the detection operation VJ. 1. An automatic steering control device for a reaping machine, characterized in that it is equipped with a machine 4III (1) that automatically changes the height of the harvesting machine so that it becomes larger.