JPS602B2 - Automatic steering control device for reaping harvesters - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a reaping harvester, such as a combine harvester, which is configured to introduce multiple rows of crops and reap them all at once. The amount of lateral displacement of the aircraft is detected without contact, and based on the detection results, the aircraft is
Regarding an automatic steering control device for a reaping harvester that is configured to perform automatic steering control to guide multiple rows of crops into the introduction path of multiple crop rows, its purpose is to control the amount of lateral displacement of the machine body with respect to the crop rows. The object of the present invention is to enable a detection device for detecting the angle to be mounted compactly on the aircraft body, and to perform proper automatic line direction control without improper steering control. .

First, embodiments of the present invention will be described based on the drawings.

Figure 1 shows a combine harvester, which is equipped with a threshing device 4 and a mission case 6 that controls the drive of a pair of left and right crawler-type traveling devices 5, 5. A lifting device 8 that introduces rows of standing grain grains, raises them to a standing or nearly vertical position, and transports them; a clipper-type cutting device 9; Vertical conveyance device 1 that transfers and connects to the threshing feed chain 10 while changing its posture to a sideways posture.
It is constructed by disposing a reaping section 12 consisting of a first type.

As shown in FIG. 2, the lifting device 8...
Among them, on the front side of the pulling device 8 located on the mowed field side,
Weeding odor 1 in which the shield-standing grain groups are weeded to the left and right as the aircraft advances.
3, 13... A first crop presence/absence detection device 1 that transmits electromagnetic waves toward the front of the grain stalk introduction path A formed between them and receives reflected waves from the shielded grain stalks, and an already mown field. A second crop presence/absence detecting device 2 that emits electromagnetic waves forward and diagonally outward along the inner side weeding draft inner surface 13a of the side weed culling tool 13 and receives reflected waves from the shield standing grain shaft is placed in close proximity. However, a mechanism 3 is provided which controls the steering of the machine based on the detection results of both the detection devices 1 and 2 so as to guide the three rows of horizontal vertical grain pillars into the path A.

The first crop presence/absence detecting device 1 includes a transmitter I that emits electromagnetic waves toward the front of the turmeric introduction route A, as shown in FIG.
A and a receiver IB that captures the reflected waves from the standing cereal grains, and the second crop presence/absence detecting device 2 is also configured from a diagonal front It is composed of a transmitter 2A that transmits electromagnetic waves outward and a receiver 2B that transmits reflected waves from the planted grains.

The steering control mechanism 3 automatically turns on and off steering clutches 3A and 3A provided in the mission case 6 based on the detection results of both the detection devices 1 and 2, and controls the three-row shield. Steering control is performed to guide the millet row into the introduction path A. In other words, when both the detection devices 1 and 2 detect reflected waves from the shield standing grain mill, the machine is moved to the side of the mown field. If the first crop presence/absence detecting device 1 alone detects a reflected wave from the camphor tree, the machine maintains the state of straight-line control, and If only the two-crop presence/absence detecting device 2 detects the reflected wave from the standing grain, the machine is steered in a direction toward the mowed field, and both the detecting devices 1 and 2 are detected. If the reflected wave from the grain stalk is not captured, the steering control should be performed to direct the aircraft toward the unmowed field. The electromagnetic waves emitted from both the detection devices 1 and 2 include laser beams,
There are infrared rays, ultrasonic waves, visible light, etc., and it is best to select and use them as appropriate.

In summary, the automatic steering control device for the reaping and harvesting machine according to the present invention transmits electromagnetic waves toward the front of the multiple crop row introduction route A to one side of the machine body, and receives reflected waves from the crops. A first crop presence/absence detection device 1 and a second crop presence/absence detection device 2 that transmits electromagnetic waves diagonally forward and outward and receives reflected waves from the crops are arranged close to each other, and both of these detection devices 1, The present invention is characterized in that it is equipped with a mechanism 3 that controls the steering of the machine based on the detection result of step 2 to guide a plurality of rows of crops into the introduction path A. That is, among the two detection devices 1 and 2 for detecting the amount of lateral displacement of the machine body with respect to the crop row, one of the first crop presence/absence detection device 1 is located in front of the multiple crop row introducing path A. By emitting electromagnetic waves toward the front, and causing the other second crop presence/absence detection device to emit electromagnetic waves toward the front and diagonally outward, it is possible to place both of these detection devices 1 and 2 close to one side of the aircraft. Even though two detection devices 1 and 2 are installed, the space required for their installation can be reduced, and they can be installed compactly on the aircraft, making maintenance easier.
This will be advantageous for inspections, wiring, etc.

Furthermore, by transmitting electromagnetic radiation forward and diagonally outward from the second crop presence/absence detecting device 2, the crops to be detected can be detected in a continuous state like a wall. This eliminates crop damage and loss of work caused by inappropriate steering control under conditions where one crop protrudes outward, and it has now become possible to perform overall appropriate and good automatic steering control.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of the automatic steering control device for a reaping harvester according to the present invention, and FIG. 1 is an overall plan view of the combine harvester, and FIG. 2 is an operational system diagram of the main parts. 1... First crop presence/absence detection device, 2... Second crop presence/absence detection device, 3... Steering control mechanism, A... Multiple crop row introduction route. Figure 1 Figure 2

Claims (1)

[Claims] 1 A reaping harvester that is configured to introduce multiple rows of crops and reap them all at once, with a harvester installed on one side of the machine body toward the front of the multiple row introduction route A. A first crop presence/absence detection device 1 that transmits electromagnetic waves and receives reflected waves from the crops, and a second crop presence/absence detection device that transmits electromagnetic waves toward the front diagonally outward and receives reflected waves from the crops. A mechanism 3 is provided which is arranged close to the device 2 and controls the steering of the machine based on the detection results of both the detection devices 1 and 2 so as to guide a plurality of rows of crops into the introduction path A. Features an automatic steering control device for reaping and harvesting machines.