JPS59216503A - Reaming combine with follower 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 is provided with a contact-type tracing sensor that detects the entire row of stems introduced into the cutting section as the plant travels.

The present invention relates to a reaping/harvesting machine with a scanning sensor, which is equipped with a control device that controls the running direction of the machine based on the detection result of the stem culm row by this sensor.

In conventional reaping and harvesting machines of this type, in order to avoid leaving uncut leaves, the reaping section detects the rows of stalks in the field and moves along the rows of stalks as it travels. An ugly tracing sensor was installed to detect the deviation of the aircraft relative to the row of stems being introduced.

This sensor is provided with a contact bar whose rotation angle changes depending on the contact position with respect to the stem culm row, and
A switch that turns on and off according to this angle change, or a potentiometer that generates a voltage corresponding to this angle change is provided, and the traveling direction of the aircraft is controlled based on the on and off state of the switch or the generated voltage value. It was configured.

However, the conventional sensor configuration described above had the following drawbacks.

In other words, in the method of detecting and controlling the deviation of the machine body by turning ON/OFF the bender, it is not only impossible to detect deviation with respect to the stem culm row unless the contact par rotates more than a certain angle, but also the amount of deviation cannot be detected. Since this cannot be detected, not only is there always a delay in sensing the stem culm, but it is also impossible to control the running direction appropriately in response to the amount of deviation.

On the other hand, in the latter method that uses the voltage generated by a potentiometer, it is possible to detect the amount of deviation because a voltage corresponding to the contact position of the stem culm row with the contact node is obtained. Due to the mechanism, there was a drawback that there was a delay in sensing the stem culm as described below. That is, as the machine moves forward, when the contact nozzles come into contact with the row of stem culms, the generated voltage increases continuously over time to a voltage value corresponding to the position of the stem culms. Then, a configuration was adopted in which the entire bias was detected based on the peak value or average value of the generated voltage that changed over time.
If the contact bar does not rotate to the point where the generated voltage is at its maximum, deviation cannot be detected, so if a large deviation occurs, the detection will be delayed even further.

In other words, in the above conventional configuration, no matter which method is used,
Despite the original purpose of tracing travel control, which is to correct the running direction quickly in response to large deviations, the control response to large deviations is slow, and in some cases, it may be necessary to use the weed trimmer. This has caused the inconvenience of causing so-called row cracking due to the intrusion into the stem culm row.

It is an object of the present invention to provide a state in which there is no delay in sensing the stem culm row and good tracking response regardless of the size of the aircraft body deviation with respect to the stem culm row, and furthermore, to maintain the M (
The purpose is to allow the direction to be corrected in a JJ state.

A characteristic configuration of the present invention is that, in the above-mentioned reaping and harvesting machine with a scanning sensor, the control device is configured to detect a rotational speed of a contact bar constituting the scanning sensor in contact with a stem culm, and The present invention is a device that controls the traveling direction in such a manner that the higher the rotational speed, the faster the steering speed, and its functions and effects are as follows.

In other words, if the deviation of the machine body relative to the stem culm is detected based on the rotational speed of the contact bar, the accurate magnitude of the deviation of the machine body can be determined based on the rotation angle when the contact bar rotates into contact. The contact rotation speed of the contact bar increases as the vehicle speed increases, so that the control response becomes faster as the vehicle speed increases.

Therefore, the delay in sensing the stem culm can be eliminated, and the traveling direction can be corrected extremely quickly.

In addition, the faster the contact rotation speed of the contact bar, the faster the steering speed pressure required for direction correction, and the smaller the distance between the aircraft and the culm approaching it, the faster the aircraft will be able to move before it is too late. When the machine is quickly moved away from the stem culm - and the distance is large - the machine is turned slowly or quickly so as not to turn too far in the opposite direction. Therefore, the direction 1 is carried out at an excessive speed according to the car speed and the culm of the stem.
Overall, we were able to avoid problems such as strip cracking very reliably.

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

As shown in Fig. 1, the reaping section tl provided at the front of the machine
A weeding tool (2) is provided at the front of the +, and this weeding tool (
2) A contact type copying sensor V%J1: t is provided on the central frame of the support frame (2a) supporting Based on the grain culm row position detection result, the rollers (3B, (a5 electromagnetic clutch +41,
A control device η(5) for controlling ON/OFF of +4'l is provided, thereby configuring a combine harvester as a reaping/harvesting machine that can automatically travel in a predetermined direction along grain culm rows.

The copying sensor (A1'i is configured with a contact bar i61, (6'
When the contact bars +61 and +61 come into contact with the grain culm rows, they rotate backwards, and a pressure change corresponding to the speed of this rotation, that is, the position of the culm rows is generated.
There is a potentiometer at the base of the contact bar f6+, +6'l).

There is a provision for this.

Next, the mechanism for detecting the position of the culm row of the sensor (N) will be explained based on the explanatory diagrams shown in FIGS. 2(A) and 2(0).

That is, as shown in Figure 2 (a), if the traveling speed of the aircraft is constant, the culm row (
The movement speed of the contact bar (6PI) at the contact position is the same in the case where the contact bar (6PI) contacts the contact bar (6PI) and the case where the shell culm row (II) located at a far position contacts the contact bar (6PI). The rotation circumferential speed of the base of this contact bar (6) is faster than when the shell culm row (■) is in contact with it, and as shown in Figure 2 (b), the unit time (The voltage increase rate (d v/d t ) per unit t increases. The same applies to the contact bar (6).

Therefore, by measuring the rotational angular velocity of the contact bars +61 and +6, that is, the voltage increase rate (dv/dt) per unit time (to) of the potentiometer IPI and flp, the amount of deviation of the aircraft with respect to the position of the culm row can be determined. Therefore, even if the contact bar tel, +6ffi does not rotate to the maximum rotation angle, the amount of deviation of the aircraft body can be detected at the minimum rotation angle.

Hereinafter, a control system for detecting the shell culm row position using the tracing sensor configured as described above and controlling the traveling direction based on the detection result will be described.

As shown in FIG. 3, the control device (5) has an arithmetic device (7) consisting of a microcomputer and an output voltage (Vl,
(V) and converts it into voltage change rate (dv/dt). Information has been entered.

The calculation device (7) calculates the traveling direction, its control amount, and steering speed based on the information from the differentiation circuit (8), and outputs the results to the output interface (+01).

The output interface (10) is an arithmetic device (7)
Based on the signal from the electromagnetic clutch +41, +4'
It is configured to generate a pulse current of a predetermined duty ratio (pw) to drive the current.

The differentiation circuit (8) includes the potentiometer (RI),
(When the output voltage of the output voltage (v) is higher than the reference voltage (ref), a measurement start signal of "H" level, that is, the contact bar fil, +6'l outputs a signal indicating that it has detected the culm. Comparators ttn, an, delay circuits +xz, (I
X6, this delay circuit t+21. ai output (Dl
) + (D2), the output voltage (vl) + (v2) at time 10 shown in FIG.
) A sample hold circuit (131) that holds the voltage for a period in which it is generated.

i, and an A/D converter +x41. which converts the output voltages (V'1) and (F2) of the sample and hold circuits o and aj into digital signals. (Constructed by 141.

The voltage change rate (dv/dt) in the period of time (to) shown in FIG.
Differences (V'1-ref) and (V'2-ref) between the reference voltage (rf) and the reference voltage (rf) as an offset are input together with the output (Dl) r (D2) of the delay circuit 06. The arithmetic device (7) is connected via the interface (9).
).

The arithmetic unit (7) is activated by the output of the delay circuit (2), and calculates the differential voltage (v1'-ref),
(i/'2-ref), the duty ratio (pw
) is determined such that the voltage change rate (dv/dt) increases as the voltage change rate (dv/dt) increases, and the voltage increase rate (dv/dt) of the detected voltages (vl) and (v2), that is, the fuselage culm row The traveling direction is intermittently corrected by driving electromagnetic clutches +41 and +4 for a predetermined period of time at a speed corresponding to the direction and amount of deviation. To explain in more detail, Figure 4 (a)
As shown in Figure 5 (a), when the distance (Ll) between the fuselage and the culm is large, a pulse signal with a small duty ratio (pw) is output as shown in Figure 5 (a), and the steering amount (5) is small. The unit time f is set such that the amount of steering (support) is such that the time required for direction correction, that is, the steering speed, is relatively slow.
The electromagnetic clutch (4
1, +4').

And, as shown in Figure 4 (b), the distance between the body and the grain culm is Ll.
As shown in Fig. 5 (b), when t becomes small, the pulse signal with a large duty ratio (pw) is fully output, and the steering amount (support) becomes large, and this steering amount (5) In order to increase the call volume required for the first correction, that is, the steering speed,
The electromagnetic clutches 14+, +4') are fully operated in a state where the edge time within the unit time ftJ becomes large.

In addition, in Fig. 3, (Sl) is a manual/automatic changeover switch,
(S2) is a switch that instructs the arithmetic unit (7) to start work. Further, FIG. 6 is a flowchart showing the operation of the arithmetic unit (7).

By the way, since the present invention is configured to sense the amount of deviation of the aircraft body by detecting the rotational speed of the contact bars +61 and +6'l, it can essentially respond to changes in vehicle speed, but it is also possible to improve the control accuracy. In order to improve the potential change rate (av/at) of the detected voltage, the rate of change (dv/dt・α) is corrected by multiplying the rate of change in potential (av/at) by a predetermined coefficient (α) corresponding to the vehicle speed.
The duty ratio (FW)' may be determined based on .

Also, the voltage change rate (dv/dt) of the detection voltage 1f7 f
The detection means may be configured to be based on the pressure value obtained by differentiating the voltage generated by the potentiometers ("1") r ("2) using an ordinary differentiating circuit.

Furthermore, the differentiating circuit (8) may be operated without using the arithmetic unit (7).
) The duty ratio of the pulse signal that directly drives the electromagnetic clutches +41 and +4'l may be adjusted based on the voltage change rate output from the motor.

In addition, in order to change the steering amount and steering speed according to the rotation speed of the contact bar (61, (6Q), an electromagnetic clutch +41,
A configuration in which the frequency of the +4'l operation pulse signal is changed, a configuration in which the crawler (3j When the rotation speed of 1 is less than the set speed, the steering speed is kept constant and low, and when the rotation speed of contact bar +61' and (6') is greater than the set speed, the steering amount is 1'f'. A step change configuration may be adopted in which the speed is set to one constant speed.

[Brief explanation of drawings]

The drawings show all the embodiments of the scanning sensor reaping harvester according to the present invention, FIG. 1 is a plan view of a combine harvester, FIG. 2 (A) is an explanatory diagram of culm row position detection, and FIG. An explanatory diagram of the detection voltage, Fig. 3 is a block diagram of the control system, Figs. 4 (a) and (b) are explanatory diagrams of inspection control, and Figs. 5 (a) and (
B) is an explanatory diagram of the clutch operation pulse signal, and FIG. 6 is a flowchart showing the control operation. +I+... Reaping section, (5)... Control device,
+61, +6'l...Contact bar, (A)・
...Copying sensor. M 1 Mouth 3 3rd! ! l 4th round 5 drawings

Claims (1)

[Claims] A contact-type tracing sensor (2) is provided to detect a row of stalks introduced into the reaping part tit as the machine travels, and a control device ( 5), in which the control device (5) is configured to contact the stem culm of the hts tracing sensor (3) with a contact handle 161, (6'l); A reaping/harvesting machine with a scanning sensor which is a device that controls the traveling direction in a state where the steering speed is increased as the rotational speed increases based on the detection result of the rotational speed.