JPS5899801A - Automatic controller of agricultural machine - Google Patents

Abstract

PURPOSE:To elevate stability of control, and control accuracy, by counting the frequency by which the physical quantity to be controlled is deviated from a blind sector, and varying a range of the blind sector in accordance with its frequency. CONSTITUTION:When the physical quantity to be controlled is detected by a detecting circuit 19, its detection voltage VX is supplied to comparators 25, 27 having a blind sector of a range between voltages VS1, VS2, respectively. An integration circuit 33 for receiving outputs of both these comparators outputs voltage being proportion to frequency by which the physical quantity has been deviated from the blind sector. Subsequently, the output of the integration circuit 33 is supplied to comparators 39, 41, respectively, and when it exceeds the upper limit value of the frequency decided in advance, a servomotor M rotates forward, a resistance value of a resistance R2 increases, and width of the blind sector expands. As a result, stability of control is elevated. Also, when said output becomes less than the lower limit frequency, the motor rotates backward, the width of the blind sector is narrowed, and accuracy of control is elevated. In this way, stability of control, and control accuracy can be elevated.

Description

[Detailed Description of the Invention] The present invention relates to automatic control devices for combine harvesters, tractors, rice transplanters, etc., and particularly relates to a control device that aims to improve control stability and control accuracy all at once. .

Combine harvesters have conventionally been equipped with one or more automatic handling depth adjustment devices, automatic travel devices, automatic cutting height adjustment devices, vehicle speed control devices, and other automatic control devices, which allow for smooth and reliable harvesting. In such automatic control, in order to stabilize the control, a dead zone is provided in the control area of each amount of thought to prevent knocking due to oversensitive control.

Conventionally, the width of this dead zone is considered to be constant, but
In the case of a combine harvester, the target for harvesting is agricultural products such as fields,
Due to the growth conditions, cropping conditions, contamination of weeds, etc., the signal input to the control device may be unstable and have a dead zone.
cannot be determined easily. However, if the dead band - is set to be wider than -6, hunting etc. will be prevented and the control will be stabilized, but the control value itself will vary greatly] and the control accuracy will deteriorate considerably. . Agricultural machinery other than combines (for example, tractors, rice transplanters, etc.) also have similar problems.

The present invention has been made in view of the above points, and includes counting the frequency at which the amount of salt to be controlled deviates from the dead zone, and changing the range of the dead zone according to this frequency.
Variations are limited depending on grain growth conditions, etc. Therefore, when the frequency mentioned above is high, the range of the dead zone is widened to stabilize control, and conversely, when the frequency is low, that is, the variation is small, the range of the dead zone is expanded. The idea behind this is that when the physical quantity to be controlled deviates from the range of a predetermined dead band and the same physical quantity falls within the range of the dead band, In an agricultural machine such as a combine harvester that runs on its own while automatically controlling it to return to the dead zone, the frequency at which the above-mentioned physical quantity deviates from the dead zone is determined, and the range of the dead zone is changed according to this frequency. It provides automatic 111jllll location.

Next, an embodiment in which the present invention is applied to a combine harvester will be described in detail with reference to the attached nine drawings. Here, Fig. 1 is a perspective view of the entire combine harvester that is the basis of the present invention, Fig. 2 is a circuit diagram of an automatic steering device that is an embodiment of the present invention, and Fig. 3 is a weed divider plate in the same device. FIG. 3 is a schematic diagram showing the relationship between the 0 operation sensor and the 0 operation sensor.

As shown in Fig. 1, the combine harvester (1) is driven in the field by a pair of left and right crawlers L21, and is a main machine that moves upwardly the grain stalks (3), (3), etc. planted in front of the machine. (41, 14) and pull it up, cut the root by a cutter (group), and transfer it to the upper threshing device +7 while holding it by 61 and laying it horizontally 0 Threshing device After being transferred to the vicinity of the inlet (8), the husk is connected to the feed chain (9) running on the side of the threshing device, and is carried to the feed chain +91, where the tip of the husk is transferred to the threshing device (91). 7) The grains pass through the threshing device (7) and are threshed by a handling drum that rotates in a circle.
(to) is block a where the driver sits.

The following is the running direction of the original 1Jit-combine harvester.
An embodiment applied to an automatic steering device to be controlled will be described.

The direction of travel of the combine harvester is controlled in accordance with a physical quantity, ie, the rotation angle of a self-operating center, which is attached to the weir stopper shown in FIGS. 1 and 3.

That is, as shown in Figure 3, as the machine moves in the direction of arrow a3, the grain culm 13) comes into contact with the sensor @, and the sensor rotates in the direction of arrow 0. , the machine base is grain culm L3)
If the vehicle is traveling more to the left than necessary with respect to K, the rotation angle of the Senna will be small, and conversely, if the vehicle is traveling to the right, the center will rotate significantly. In order to correct the positional deviation of these combine harvesters, the crawler (2) or (2Y) is intermittently stopped to adjust the traveling direction.
The crawler t2) on the right side (or left side) in the direction of travel
Also, when a (2)') is stopped, the combine harvester will run to the right (or to the left). In such an automatic steering system, the circuit shown in the third diagram is used in order to change the range of the dead zone of the colossal image sensor according to the operating frequency of the zero operation sensor @.

In FIG. 2, (to), 129. (2) is the power supply 111
A key switch, an automatic switch, and a threshing switch are connected in series. The resistance value of the detection circuit changes depending on the angle of the potentiometer. The resistor (iLl) connected in series with the threshing switch (2) is further connected to the variable resistor (2).
) and a resistor (λ3), the resistor (it's
) is grounded. The output ends of the pulse circuit plane connected to the threshing switch dη are connected to and - of the two-man power AND gate circuit, respectively. In addition, the electric No. 1d Vx taken out from the threshold of the variable resistance j and the resistance of the potentiometer is connected to the measurement voltage input terminal (to) of the comparator and the standard voltage input terminal (to) of the comparator (to). ) has been entered, and
Comparison t#ac) 11 The quasi-voltage input terminal fault is the resistor (ILL)
and l of variable resistance (ret2)! Input the measurement voltage of Makuhimonki@ to l! (to) is the variable resistor (lt2) and the resistor (iL3
) are connected to each other. The outputs 4@ and (2) of each comparator and @ are connected to the input terminals of the AND gate and, respectively, and are also connected to the integrating circuit (to) at the same time. The AND gate (2) or Ω excites the left-hand coil (to) or right-row coil surface via the switching circuit (to) or (to). The left-hand coil (to) or right-hand coil surface is for stopping the left or right crawler, respectively, and operating an electromagnetic clutch for turning the combine to the left or to the right. The above-mentioned integrating circuit (to) integrates the total number of output pulses from the comparator (c) and @, inputs it every fixed period during that period, and outputs a voltage proportional to the number of nine pulses. Its output is connected to the measuring voltage input 4 of the comparator and to the standard voltage input 4 of the comparator. Also, a resistor (rl) inserted in series is connected to the standard voltage input terminal of the comparator (to) and the stationary voltage input terminal of the comparator.
, (r2), (r3) and the measurement voltage "I m 2" are applied.

The output terminal of the comparator (to) (or U) is connected to the switching circuit (b) (or -) which operates the relay - (or a).
These relays and contacts are inserted between the power line 6υ and the servo motor (c), respectively, and when the contacts close, the servo motor (b) rotates in the forward direction, and when the contact - closes, the servo motor (c) rotates in the reverse direction. :) The drive shaft of the servo motor is connected to the slider of the variable resistor (iL2), and when the servo motor rotates forward, the slider rotates in the direction of the arrow - and the resistance value of the variable resistor (R2) increases. and comparator (2) or (
The width of the reference voltages Vsl and Vll output by the product, that is, the range of the dead zone, becomes wider.

Next, the operation of the above embodiment will be explained.

Hit the three switches installed on the power line 6υ, ue, αη
Let's consider a case where the combine harvester is running with a load biased to the right side. If the combine harvester leans too far to the right, the self-operation sensor (to) will rotate greatly due to contact with the grain culm (3) as shown in Figure 3, and the resistance value of the variable resistance haze will increase.
do. Therefore, the voltage Vx input to the comparator and 1
decreases. On the other hand, a resistor (ILI
), the resistance (R2), and the resistance (is).
) is applied and Vsl (Vs2), so when the voltage ■! decreases as above (the combine shifts to the right) and becomes smaller than Vll, the output of the comparator becomes high. This signal and the pulse signal from the pulse circuit (2) are input to the AND gate (2), and the left coil (to) is intermittently operated via the switching circuit (to), and the combine is activated. As the machine moves to the left, the rotation angle of the sensor (2) decreases, and the voltage Vx eventually rises, so that the output of the comparator stops.

If the machine base is too far to the left, the rotation angle of the sensor @ is too small, and the voltage Vx becomes large, the comparator @ is activated, the right-hand coil (to) is energized, and the machine The platform turns to the right. In this way, when voltage Vx deviates from the range of voltages VIA and Vs2, the machine rotates, and conversely, voltage V! is Vsl
Between and VsQ, the left and right crawlers rotate at the same speed, and the machine moves straight, so the voltages vsl and Vs
The region between 2 and 2 or the rotation angle range of the sensor that generates such a voltage is called a dead zone. However, if the frequency of turning the combine harvester to the right or left within a certain period of time is too high, the control will not be able to keep up with it and hunting will occur.

This occurs because the width of the dead zone is too narrow relative to the operating frequency, and in such cases it is necessary to widen the width of the dead zone.

Therefore, the output pulses from both comparators - and @ are input to the integrating circuit (to), and a voltage vx proportional to the total number of both pulses is applied to the comparator (to) and the music.

Which applied voltage ma8 is the measured voltage ma inputted into the comparator?
When it becomes larger than 2 (operation frequency exceeds a certain number of times),
When the output of the comparator (2) reaches a high level, the switching circuit and relay operate, the contacts close, and the servo motor rotates in the normal direction, increasing the resistance value of the variable resistor (λ2) and Since the voltage Vsl, which is the operating reference for the device-1 side, decreases and Vs2 increases, the width of the dead zone widens and hunting is prevented. Conversely, when the operating frequency becomes lower than the number of times,
When the voltage is smaller than M and □, the servo motor (C) is reversed by the output from the comparator (to), narrowing the range of the dead zone and improving control accuracy.

Although the above embodiments have been described with reference to the case where the present invention is applied to an automatic steering device of a combine harvester, the present invention is not limited to this, but includes an automatic cutting height adjustment device, an automatic handling depth adjustment device, a vehicle speed adjustment device, etc. It is also applicable to adjustment devices and the like.

For example, in the case of an automatic cutting height adjustment device, the gap between the cutting part (to) and the ground surface is detected by the hide sensor 6g)K shown in Fig. 1, and the cutting part is adjusted according to vertical changes in the ground surface. The principle of the hide senna in this case is the same as that of the own machine sensor shown in the above embodiment, and the height is adjusted by the rotation angle of the hide 7/s in contact with the ground surface. Adjust cutting height.

Therefore, the variable resistor A of the potentiometer α shown in FIG. This circuit can be used to change the width of the dead zone for mowing height adjustment in accordance with the operating frequency.

As shown in Fig. 4, the automatic handling depth adjustment device is a threshing device (
7), an M sensor (b) and an H sensor (
) is installed to adjust the insertion length of the husk transported to the entrance section (8) by the vertical conveyance chain (6) (to adjust the length of insertion into the threshing device (7) in A). If it is detected by the M sensor, it indicates a deep handling condition, and if it is not detected by the M sensor, it indicates a shallow handling condition. Therefore, for deep handling, the vertical conveyance chain (6) is rotated in the direction of the arrow (a), and for shallow handling, the vertical conveyance chain (6) is rotated in the direction of the arrow (a), so that the tip of the head is connected to the H sensor. Adjust so that it is between M sen.
When the H sensor (2) is OFF and the M sensor (M sensor) is ON, that is, when the tip is between the H sensor and the M sensor, the vertical conveyance chain (6) is not rotated. That is, M sensor (
The area C) between C) and H sensor (H) is a dead zone,
If the operating frequency of the M sensor is too high when the H sensor is used, there is a risk of sea hunting.
It is necessary to move the sensor in the direction of widening the dead zone, that is, in the direction of the arrow. In this case, as shown in Fig. 5, a screw roller (to) is screwed into the holder of the H sensor, and this screw roller is rotated by a servo motor to move the H sensor ■ in the direction of the arrow. It's okay. The servo motor is driven by H sensor ■ and M
This is done when the number of times the sensor is activated is integrated and the integral value (frequency) per unit time j is greater than or equal to - or below a certain level. In this case, in the circuit shown in the second diagram, the outputs from the comparators (2) and (to) are replaced with the signals from the H sensor and the M sensor, and the coils (to) and (to) are replaced with signals from the H sensor and the M sensor. This is achieved by replacing the servo motor with an electromagnetic pulp that operates the hydraulic cylinder that rotates the conveyor chain, and by replacing the servo motor with a servo motor. The culm detection sensor (2) provided at the inlet of the threshing device detects whether the grain culm is in the conveyance state, and may be provided in the conveyance chain section (6).

Further, nine cases will be described in which the present invention is applied to a device for controlling vehicle speed according to the load on a handling cylinder.

Normal vehicle speed control is designed to reduce the load by reducing the vehicle speed and reducing the amount of grain culm supplied to the handling drum when the load on the handling drum increases and the rotational speed falls below a certain value. Yosi,
This achieves reduction of third-line loss and improvement of engine fuel efficiency. Therefore, the dead zone is between the predetermined upper and lower limits of the rotation speed of the handling cylinder. As a circuit for changing the width of such a dead zone according to the operating frequency, the potentiometer (to) is omitted in Fig. 2, and the comparator (to) and (to) are used according to the rotation speed of the handling cylinder. This can be achieved by inputting a signal with a certain voltage level and replacing the coil (end) and (support) with a solenoid, servo motor, etc. that changes the position of the speed change lever.

Furthermore, it goes without saying that the present invention is also applicable to automatic steering devices for tractors and rice transplanters. Although the case where the lower limit is expanded in both directions has been described, the accuracy may be improved by controlling the upper limit and the lower limit separately. For example, in the example shown in the second figure, the resistances that determine the reference voltages of the comparators and (to) are made variable resistances that can be controlled depending on the resistance, and the resistances are varied by separate servo motors.
It is also conceivable to actuate each servomotor separately with the integral value of the signal from each comparator.

The present invention is capable of controlling, when the physical quantities to be controlled as described above, such as the rotation angle of the zero operation sensor, the rotation angle of the hide sensor, the insertion length of the tip, and the rotation speed of the handling cylinder, deviate from the range of a predetermined dead zone.
In an agricultural machine such as a combine harvester that runs on its own while automatically controlling the physical quantity to return it within the dead zone range, the frequency at which the physical quantity deviates from the dead zone is counted, and the range of the dead zone is changed according to the degree of ζOs. Because it was done,
Hunting etc. do not occur even when the automatic control device operates at a high frequency, and when the frequency is normal, the dead zone - becomes narrower depending on the frequency, so the control accuracy is improved considerably.

[Brief explanation of drawings]

Fig. 1 is an Ofl+ view of the entire combine, which is an example of the agricultural machine that is the basis of the present invention, Fig. 2 is a circuit diagram of an automatic meat handling device which is an embodiment of the present invention, and Fig. 3 is a Schematic front view showing the relationship between the grass dividing board and the white edge sensor in the same device, 51
FIG. 4 is a schematic front view of the threshing device, and FIG. 5 is a schematic front view of the H%M sensor used for adjusting the handling depth. (Explanation of symbols) 19...detection circuit (potentiometer), 20...
Variable resistance, R2... Variable resistance, 25.27...
Comparator, 33... Integral circuit, 36.37... Left row, right row coil, M... Servo motor.

Claims (1)

[Claims] 1. When a physical quantity to be controlled deviates from a predetermined dead band range, the physical quantity is automatically returned to within the dead band range.In an agricultural machine that runs on its own, the frequency at which the amount of salt mentioned above deviates from the dead band range. An automatic control device for agricultural machinery, characterized in that the range of the dead zone is changed according to the frequency of the dead zone.