JPS61128806A - Steering controller of reaping 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] [Field of Industrial Application] The present invention relates to a steering control device for a reaping/harvesting machine, and more specifically, to a steering control device for a reaping/harvesting machine. The present invention relates to a steering control device for a reaping harvester, which includes means for controlling the steering so that it automatically travels along the grain culm row.

[Conventional technology]

In the above-mentioned type of reaping M8, for example, in a combine harvester, based on the amount of detected deviation in the horizontal direction of the machine body with respect to the grain culm row, the right and left By disengaging each clutch of the crawler traveling device, the orientation of the aircraft is changed and the steering is controlled. Since the grain culm rows are usually planted in the field in intermittent rows on a plant-by-plant basis, the detection signal of the deviation amount by the tracing sensor is an intermittent signal. In addition, although the grain culm rows are planted in a straight line as a whole, they may partially protrude from the row or intrude into the row.
If all the husks that are partially deviated from the grain culm row are followed in this way, the meandering of the machine will increase, resulting in uncut mowing, which will reduce work efficiency.

Therefore, in steering control for moving the aircraft along grain culm rows, a dead zone with a certain width is used as a standard for the amount of grain deviation by the tracing sensor to determine that the aircraft is traveling along grain culm rows. was provided, and when the detected deviation amount was within this dead zone, no steering operation was performed, and the aircraft as a whole was controlled to move straight along the grain culm row direction.

[Problem that the invention seeks to solve]

□ According to the above conventional means, unless the amount of lateral deviation of the aircraft with respect to the grain culm row deviates from the range set as the dead zone, actual steering operation cannot be performed, which tends to cause control delays. there were. Also, for example, if the orientation of the aircraft deviates to the right with respect to the grain culm row, the orientation of the aircraft will be corrected to the left, but the aircraft will be steered until the amount of deviation returns to within the dead zone. Overcontrol is likely to occur, and the aircraft will then deviate to the left after the correction was made, and it will be necessary to correct it again by turning to the right. Therefore, hunting was likely to occur in the control response, and the meandering of the machine body increased, resulting in poor followability to the grain culm rows.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to efficiently correct the aircraft orientation with a small number of times and without causing hunting in the control response.

Means for Solving Problem c] ゛In order to achieve the above object, the steering control device for a reaping harvester according to the present invention is provided with an azimuth sensor for detecting the traveling direction of the machine body, and the azimuth sensor Based on the direction detected by The effects are as follows.

[For production]

That is, by performing steering control to correct the orientation of the aircraft based on the detection information of both the amount of aircraft lateral deviation detected by the scanning sensor and the direction detected by the orientation sensor, over-control based only on the detection signal of the scanning sensor is prevented, As a result, steering control is performed to follow the grain culm rows with a small number of corrections.

〔Effect of the invention〕

Therefore, by using both steering control based on the amount of deviation detected with respect to the grain culm row by the scanning sensor and azimuth control based on the detected orientation with respect to the reference orientation corresponding to the grain culm row direction, that is, the reaping direction, the control response can be improved. While suppressing hunting, it is possible to align the aircraft along the grain culm rows with a small number of corrections. As a result, the meandering of the machine body is reduced and the machine can run smoothly without leaving any mowing left. Furthermore, the frequency of actuation of the actuator for steering operation is reduced, and the durability of the actuator is also improved.

r Example] Embodiments of the present invention will be described below based on the drawings.

As shown in Figures 1 and 6, the reaping section (1) raises and reaps the planted culms in the field, and while transporting the cut culms, changes its posture to a sideways posture and transfers them to the feed chain (1). 2), and a threshing device (3) that threshes the culm that is pinched and conveyed by the feed chain (1) and sorts and collects the grains, and a pair of left and right crawler traveling devices! (4)
, (4) is mounted on the machine (V) equipped with the above, and constitutes a combine harvester as a reaping/harvesting machine.

The lower part of the reaping part (2) has a 0N10
A stock sensor (SO) configured as a contact switch that outputs an FF signal is provided to detect the start and stop of reaping work. That's how it is.

Further, a weeding tool (6) provided at the tip of the cutting section (2)
The mounting frames (7), (7) of the weeding tools (6a), '('6b) on both left and right ends of the machine (V) are equipped with shells that are biased toward the front side of the machine (V) and introduced into the reaping section (2). In contact with the culm,
A scanning sensor (SL) consisting of a sensor bar (8) that rotates toward the rear of the machine (V) by an angle corresponding to the contact position, and a potentiometer (R) that detects the rotation angle of the sensor bar (8). , (S2) are provided respectively, and the grain culm row (I+
) to detect the amount of lateral deviation (β) of the aircraft (V>).

To explain the detected deviation amount (β) of the left and right scanning sensors (S, ), <52), as shown in FIG.
Corresponding to changes in the rotation angle of the sensor bar (8), the amount of deviation (β) is divided into three zones (a), (b), (c).
) for detection. That is, the sensor bar (8) is shifted away from the grain culm row () 1) from the state in which it has returned to the front side of the fuselage (v) to the state in which it has rotated to the rear side by a predetermined angle. The shallow scanning zone (a) is defined as the state in which the grain culm row (
A dead zone (b) that is in line with H),
A deep tracing zone (c) is defined as a state in which the dead zone (b) is rotated further rearward than the dead zone (b), which is a state in which the grain is too far into the grain culm row (H). Then, each potentiometer (R) of the copying sensor (Sl) and (S2)
, , (R), that is, the detected deviation amount (β) Force 1 The left and right crawler traveling device (4 ), (4), the clutches (9) and (9) are disengaged, and the steering is performed so that the detected deviation amount (β) is within the dead zone (b), thereby performing scanning control.

Furthermore, the aircraft (v) is equipped with an orientation sensor (T) using a geomagnetic sensor that detects the absolute orientation by sensing geomagnetic thinning, and the orientation sensor (T) detects the orientation (θ ) to detect changes in the running direction.

As shown in the 10th episode, the orientation sensor (T) applies a bias alternating current to the coil (C1) wound around the toroidal core (10), and the toroidal core (9)
) with 45 degree angle differences in the direction perpendicular to ).

(Cy), (Cz), and (Cw) are wound in a so-called sash, and this pink-up coil (Cx
), 4 (Cy).

(Cz) and (Cw), the electromotive force fluctuation caused by the bias coil (C5) that fluctuates due to the influence of the earth's magnetism across the four pickup coils (Cx) is taken out.
) , (Cy) , (Cz), , (Yesterday) It is configured to detect the absolute direction based on the phase difference of the signals output from the signals and their output levels. Basically, the direction and position can be detected using only the two pickup coils (Cx) and (Cy), but in order to eliminate detection errors when the aircraft (V) is tilted, the other two coils are used. ((,z), (Cw) is used to supplement the detection direction (θ) from the four detection signals.

It is like that.

That is, the detection direction (θ) is corrected using the relational expression (i)+(,,iJ) shown below.

f(X, Lθ)-f' (ZJ, θ)-g(θ)...
・(i)f (X, Y, O) -f' (Z, W, O)
=W/4 .=(ii) Below, the operation of the control device (G) will be demolded based on the flowcharts shown in FIGS. 2 to 5.

That is, when the stock sensor (So) is in the ON state, the reaping mode setting switch (S) provided in the control device (G) is activated.
111) ON /, O, FF Select each cutting mode of row cutting mode and horizontal cutting mode. Based on the detection information of both the positional quantities (β), (β) and the direction (θ) detected by the direction sensor (T), the left and right launch (!) of the crawler traveling equipment W (4), (4) is carried out.
) and (9) so that the machine (V) automatically travels along the grain culm row (H) and in the direction of the preset reference direction (θ0). It performs steering control.

Hereinafter, based on the flowchart shown in FIG. 3 and the blood flow chart shown in FIG. 8, steering control in the row mowing mode for automatically traveling in the row direction of the grain culm row (■1) will be explained.

In this row cutting mode, the left and right scanning sensors (S
1), (S2), the already cut innξ1 copying sensor (S,
) detected deviation amount (β) in any of the above zones (a),
(b) Zone (a) of the detected deviation amount (β) of the scanning sensor (SZ) on the opposite side after determining whether it is in (c),
(b) and (c), each machine sensor (Sl)
, the detected deviation amount (β) of (SZ) is in the dead zone (b)
only when the aircraft (V) orientation is in the reference orientation (θ0) based on the orientation (θ) detected by the orientation sensor (T).
), priority is given to tracing control by the tracing sensors (Sl)' and (SZ).

If the detected positions (β) and (β) by the machine sensors (Sl) and (SZ) are respectively in the deep scanning zone (C), the machine (V) is immediately moved toward the grain culm row (11). In order to turn the aircraft (V) by a predetermined angle so that the orientation is restored, the corresponding clutch (9) is operated for a predetermined period of time.

On the other hand, when the detected deviation amount (β) is in the shallow scanning zone (a), the detected direction (θ) by the direction sensor (T)
While checking the change in the angle (θ゛), the aircraft (v
) in the grain culm row (H) direction. As shown in FIG. 5, if this turning angle, that is, the actual turning angle with respect to the steering control amount (θ'') does not match the control amount (θ''), the direction sensor (
Based on the change in the detected azimuth (θ) by so that it becomes the target steering amount (α). This constitutes a steering control amount correction means that automatically corrects a decrease in steering controllability or overcontrol caused by a change in slip ratio due to differences in field conditions, such as between dry fields and wet fields.

In addition, in Fig. 8, the trajectory of the aircraft (V) indicated by a broken line indicates the case where conventional steering control is performed using only the scanning sensors (Sl) and (SZ), and the trajectory indicated by a solid line indicates the case where azimuth control is also used. This shows that.

Next, based on the flowchart shown in FIG. 4 and the explanatory diagram shown in FIG. 9, steering control in the horizontal mowing mode in which the vehicle travels in a direction perpendicular to the traveling direction in the row mowing mode will be described.

In this horizontal mowing mode, first, the detected direction (θ) by the direction sensor (T) is in a dead zone (R) with respect to the reference direction (θ0).
Only when the machine (V) is oriented in this dead zone (B), the detected deviation amount (β) zone by the mowed side scanning sensor (S,) is determined as described above. (a)
, (b), (c') Based on the determination results, priority is given to azimuth control so as to perform steering control by turning at a constant angle as shown in FIG.

Incidentally, when the detection direction (θ) is outside the dead zone (B), the vehicle is steered with a large turning radius until the detection direction (θ) falls within the dead zone (8).

In this way, in the horizontal cutting mode, the steering control ffl in the row cutting mode is different from the case of the steering control ffl in the row cutting mode.
('S2) and the orientation sensor (T) have the opposite priorities, but in either case, tracing control and orientation control are used together to prevent uncut areas. It automatically travels straight along the grain culm row (H) and in the reference direction (θ0).

The reason for prioritizing directional control in the horizontal mowing mode explained above is that when looking at the grain culm row (H) from a direction perpendicular to the row, which is the planting direction of the grain culm row (+()), As the culm rows (H) are intermittent at row intervals, the linearity of the grain culm rows that should be followed becomes poor, so the grain culm rows in the lateral direction (if the old method was used to control the grain culm rows, the grain rows would cam and the body (V) would meander. This is because the amount of mowing increases, resulting in a decrease in straight running performance and the occurrence of uncut areas.

In addition, in the so-called Hara-sown field where the culms are not planted in the form of rows, there is no row of grain culms (1 ()) to imitate, so it is difficult to steer in the ten-row mode. Although control cannot be performed, it is possible to handle this by performing steering control that prioritizes directional control using the horizontal cutting mode, which makes it possible to automatically perform reaping work regardless of field conditions. .

In addition, since the scanning control by the scanning sensors (Sl) and (S2) and the direction control by the direction sensor (T) are used together, the meandering of the separate path, which conventionally occurs due to repeated mowing operations, is reduced. There's nothing to do. If you repeatedly reap the grass, the trajectory will become straighter.
The number of times the orientation of the machine body (V) is corrected is reduced, improving work efficiency and making the work marks more aesthetically pleasing.

In the horizontal mowing mode, only the mown side sensor (S,) of the two scanning sensors is used, but the remaining scanning sensor (S2) may be used auxiliary.

Further, the reference orientation (θ0) may be set based on the orientation of the machine (V) at the start of the reaping operation, or the detected orientation (θ) sampled while traveling the -stroke, or the like.

[Brief explanation of drawings]

The drawings show an embodiment of the steering control device for a reaping harvester according to the present invention, FIG. 1 is a block diagram of the control system, FIG. 2 is a flowchart showing the overall operation of steering control, and FIG. 3 is a flowchart showing the overall operation of the steering control. Fig. 4 is a flowchart of steering control in row cutting mode, Fig. 5 is a flowchart of steering control in horizontal cutting mode, Fig. 5 is a flowchart of constant angle turning control, Fig. 6 is an overall side view of the combine, and Fig. 7 is a flowchart of steering control in horizontal cutting mode. Fig. 8 is an explanatory diagram of the steering control in the row mowing mode, Fig. 9 is an explanatory diagram of the steering control in the horizontal mowing mode, and Fig. 1O is a schematic plane showing the configuration of the orientation sensor. It is a diagram. (H)... Grain culm row, m... Body, (S
l) (St)...Imitation Ceresa, (T)...
・・Direction sensor, (β) ・・Detection deviation amount, (θ
)...Detection direction, (θ,)...Reference direction.

Claims (3)

[Claims] (1) Based on the amount of deviation (B) detected by the scanning sensors (S_1) and (S_2) that detect the amount of lateral deviation of the machine body (V) with respect to the grain culm row (H), the grain culm row (H) is A steering control device for a reaping and harvesting machine is provided with means for controlling the steering so that the machine automatically travels along Orientation sensor (
The aircraft (V) follows the grain culm row (H) based on the detected orientation (θ) by
A steering control device for a reaping harvester, which is equipped with a direction control means for controlling the steering so that it travels in the θ_0) direction. (2) The orientation sensor (T) and the copying sensor (S_1),
The steering control performed based on the detection information by (S_2) is
When the detected deviation amount (β) by the copying sensors (S_1) and (S_2) is within the predetermined deviation amount (b), the orientation is controlled based on the detected orientation (θ) by the forward position sensor (T). A steering control device for a reaping and harvesting machine according to claim 1, which performs the following. (3) The orientation sensor (T) and the copying sensor (S_1),
The steering control performed based on the detection information by (S_2) is
When the orientation (θ) detected by the orientation sensor (T) is within a predetermined orientation (B) with respect to the reference orientation (θ_0), the amount of deviation (β) detected by the copying sensors (S_1) and (S_2) A steering control device for a reaping harvester according to claim 1, which performs steering control based on the following.