JPS5942807A - Reaming harvester 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] Kibatsu F#'+ is a reaping and harvesting machine with a tracing sensor, specifically, it detects the deviation of the culm row introduced into the reaping section as it travels in the left and right direction of the machine body. The present invention relates to a reaping/harvesting machine with a scanning sensor, which is provided with a scanning sensor and includes a control device that controls the running direction based on the detection result of the sensor.

In conventional reaping and harvesting machines with tracing sensors of this type,
In order to avoid leaving any uncut leaves during reaping and harvesting work, the culm row machine is introduced into the reaping section in order to detect and follow the culm rows in the field. A tracing sensor was provided that could detect deviations on the left and right sides.

As such a sensor, a pair of contact bars are provided whose angle of backward rotation changes depending on the position where the culm rows contact each other, and each bar can be turned ON/O by a rotation angle of a predetermined value or more.
The position of the shell culm row is detected by a switch that turns OFF or a potentiometer that generates a voltage corresponding to the rotation angle, thereby detecting the shift of the fuselage to the left or right with respect to the shell culm row.

Regardless of which type of sensor length configuration is used, using an E switch or a potentiometer, the running force direction is controlled based on the result only when deviation to the left or right is detected. A configuration was adopted in which a system was adopted in which the sensor detected deviation of the aircraft on both the left and right sides, prohibiting control of the direction of the traveling force and allowing the aircraft to propel itself for a predetermined period of time. .

However, in reality, the intervals between the rows of planted culms are not always constant and linear, so in the conventional control means of 114 configurations, the sensors For rows of culms planted with such narrow row spacing that the system continues to detect deviations, the disadvantage is that situations occur relatively frequently in which reaping operations cannot be performed without automatically tracing the rows. There was.

The present invention was made in view of the actual situation described in E, and its purpose is to solve a situation in which the spacing between the culm rows is narrow and the tracing sensor simultaneously detects the positions of the left and right culm rows. It is an object of the present invention to provide a reaping and harvesting machine equipped with a scanning sensor capable of automatically controlling travel by appropriately following this row of culms.

In order to achieve the above object, the copying Yancer 2 reaping harvester according to the present invention controls the running force direction based on the detection result of the offset of the sensor. It has the characteristic of being based on

With the number of feature configurations mentioned above, excellent effects such as those shown in F have been achieved.

In other words, since the running force direction is controlled based on the difference in the position of the shell culm relative to the aircraft in the left and right directions detected by the tracing sensor, the distance between the left and right rows of shell culms detected by this sensor is Regardless, it is possible to determine in which direction the aircraft as a whole is shifting to the left or right, as well as the amount, so it is possible to determine whether the culm row is narrow or irregular. It has now become possible to perform good copy running without causing any separation of the tracks.

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

As shown in Figure 1, the reaping section (1
) A weeding tool (21...) is installed in front of the weeding tool (2). A copying sensor (N) is provided to detect the deviation of the sensor (5), and based on the detection result of the culm row position by this sensor (5), the left and right running rollers +31, (3 electromagnetic clutches +41, (
A control device (5) for controlling ON/OFF of 4 is provided,
Thus, the combine harvester is configured as a reaping/harvesting machine that can automatically travel along the culm row in a predetermined direction.

The copying sensor (~ is configured with a rod +61, (6) that is biased by the i++ force and protrudes laterally, and this rod (161, (6) contacts the culm row and rotates backward. Said rod (6) is moved to generate a voltage that is 8 times different from this rotation angle, that is, the position of the culm row.

(Potentiometer (P,), (P,
) is set.

Then, as shown in FIG. 2, the copying sensor (A)
- When it detects the shift of the carrier body, it continues to emit the detection signal for a predetermined time VC, which is longer than the time it takes for the carrier body to move between grain culms, and malfunctions in areas where there are no husks. Make potentiometers (P, ), ('P
, ) generated voltage (V, ).

An integrating circuit (7+, f71) is provided to average (V,) and convert it into DC voltages (V,), (v,).

The following is a copying center with the above configuration! The control system 1 that detects the shell culm row position using the 7'-IAI and controls the traveling direction based on the detection result will be described.

As shown in FIG. 2, the control device (5) includes an arithmetic device (8) consisting of a microcomputer as a main part, an input interface (9) which receives a large signal to the arithmetic device 111 (arithmetic device i!2 f81). ), an output interface 7 ace flO) which outputs the calculation result of the calculation device (8), and an output voltage (V, ) of the integration circuit +71, (7).
, (V,) to a digital value VC.

The calculation device (8) calculates the running force direction and its control paper based on the information from the L VD converter (11), that is, the left and right culm row position information from the tracing sensor °-ti to'. Output the results to the output interface (10).

The output interface (101 is a calculation device (8)
Based on the signal from the electromagnetic clutch (41), it is configured to generate four pulses with a predetermined duty ratio (+) V/ to drive the four electromagnetic clutches.

That is, the arithmetic unit (8) is configured to convert the fake converter +l]
) corresponds to the left and right shell culm positions, respectively, output through.

Calculate the difference (DI-Dr) between the detected voltages CDI) and (Dr), and determine the duty ratio (pw) corresponding to the turning operation force (SJic) that is the calculation result,
Based on the positive or negative sign of the sign, the electromagnetic valve +
41, (4'l is idly moved. By the way, 1. The turning operation force (S) is obtained by multiplying the differential voltage (DI - Dr) by a predetermined coefficient & (Kl), and this coefficient & ward) is determined as appropriate based on the characteristics of the control mechanism. - force, the generated voltage CD! ) * (Dr.
If the numbers are equal, +m electromagnetic cutch f4+ , (4
The aircraft is made to fly straight ahead without driving the two wheels.

Therefore, the left and right rods (6
1, (6')7'): The sensor + A) automatically moves to position itself at an equal distance from the rows of culms that contact each other, that is, at the center of the tea room, and the spacing between the rows is narrow or Even with irregular rows of culms, it has become possible to run smoothly without causing so-called striations.

In addition, the structure of the copying sensor in this embodiment is a contact type sensor, such as a rotary encoder, which can detect the culm position in multiple stages, instead of the pointer stopper (P,), (P,). It may be of any type, including non-contact type.

Further, in FIG. 2, (sWρT(SWI)) is a switch for manually controlling the running force direction.

[Brief explanation of drawings]

The drawings show an embodiment of the reaping and harvesting machine with a scanning sensor according to the present invention, Fig. 1 is an overall plan view of the combine, Fig. 2 is a block diagram of the control system, and Fig. 8 shows the operation of the arithmetic unit. It is a flowchart. (1)... Reaping section, (5)... Control device, Captor... Copying sensor (,l)θ, (P
, door - - - potentiometer.

Claims (1)

[Claims] ■ A tracing sensor (
A reaping/harvesting machine with a copying sensor, which is equipped with a control device ft51 that controls the running direction based on the detection result of the deviation of the sensor IA), A reaping/harvesting machine with a scanning sensor, characterized in that the direction is controlled based on the difference in the detected offset F7j of the left and right sides of the sensor (A). (1) The traveling direction is controlled based on the difference in the amount of deviation detected between the left and right sides of the sensor sensor, and the control is carried out in accordance with the difference in the amount of deviation detected between the left and right sides of the sensor. The reaping harvester with a copying sensor as described in item 0.