JPS6117443B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention automatically follows the plant row of the stem culm introduction path on the most uncut side during row mowing to reliably reap a predetermined number of stem culms, and when horizontal mowing, the stem culm introduction path on the most already cut side The present invention relates to an improvement in an automatic steering control mechanism for a reaping/harvesting machine, which is configured to automatically follow the plants in the field and perform reaping without leaving any uncut leaves. In order to automatically switch between the automatic steering control mode for row mowing and the automatic steering control mode for horizontal mowing, the present inventor previously proposed the following means. In other words, in general, in the cropping pattern of rice and wheat, the distance between plants is small compared to the distance between rows, so when horizontally cutting, multiple rows of plants are introduced into one stem culm introduction route, and this fact can be used to The desired objective was achieved by detecting the presence of multiple stem culms in a predetermined path and automatically switching the steering control mode from row mowing to horizontal mowing based on this detection. be. As shown in Fig. 3, its specific configuration is as follows: A pair of left and right stem culm contact sensors are installed on the path L on the most uncut side.
S ₁ and S ₂ are provided, and during row cutting (see Fig. 4 A), steering control is performed to guide the row cutting to the dead area b at the center of the stem culm on path L, and both sensors S ₁ and S ₂ contact the stem culm, the route R on the most cut side
The system automatically switches to a steering control mode for horizontal mowing based on sensor _S3 installed at the front. However, in the above configuration, if the dead area b' is made large in order to stabilize the control during row cutting,
During horizontal mowing, if a stem culm enters this dead area b' and the detection areas a', c' of one sensor S ₁ or S ₂ , the control mode may not switch to horizontal mowing, resulting in an unstable control mode. found. The present invention has been made in order to solve the above-mentioned problem of control mode switching. Embodiments of the present invention will be described below based on the drawings. Fig. 1 is a plan view showing the schematic structure of the running section and the pulling reaping section of a 4-row reaping combine, in which 1 is a transmission case, 2L and 2R are crawlers,
3L and 3R are steering clutches, 4L and 4R are steering hydraulic cylinders, 5 is a three-position solenoid valve for operating the hydraulic cylinders, and 6... are dividers. The route L closest to the mowing side and the route R closest to the already mowed side
includes a first detection mechanism A and a second detection mechanism A that detects the position of the planted stem culm by contacting the planted stem culm introduced into each path L and R.
A detection mechanism B is provided, and the excitation parts 5L and 5R of the electromagnetic valve 5 are operated and controlled based on the detection results of both the detection mechanisms A and B. The first detection mechanism A is provided on both sides of the path L, and the magnitude of the backward swing angle of the first and second sensors _S1 and _S2 , which swing backward by contact with the stem culm, is determined respectively. The stem culm detected in two stages by the two switches SW ₁ , SW ₂ and SW ₃ , SW ₄ and introduced into the path L belongs to which region a, b, c, d, or e, which divides the path width into five. It is configured to detect whether the
Further, the second detection mechanism B detects the magnitude of the backward swing angle of the third sensor _S3 provided on one side of the path R in two stages by two switches _SW5 and _SW6 , It is configured so that it can be detected whether the stem culm introduced into the path R belongs to one of the regions f, g, and h obtained by dividing the width of the planted stem culm into three. Then, the switches _SW1 ... _SW6 and the excitation parts 5L, 5R of the solenoid valve 5
are connected as shown in FIG. Incidentally, each of the above-mentioned switches _SW1 ... is of a normally closed type.
In addition, 7 in the figure is a knot circuit, 8a, 8b, 8c, 8
d is an AND circuit, 9a and 9b are OR circuits, and 10 is a main switch. Next, automatic steering control operation with the above configuration will be explained. (B) During row cutting (see Figure 4 A) When the stem culm of one plant introduced into path L belongs to area a, switch SW ₁ of the first sensor S ₁ is opened and switch SW ₂ is closed. along with the second
Since switch SW ₃ of sensor S ₂ is kept open and switch SW ₄ is kept closed, AND circuit 8
a and the OR circuit 9a are satisfied, the excitation part 5L is energized, and the steering clutch 3 for left turning is activated.
L is hydraulically operated. In this case, since the operating conditions of the AND circuits 8b, 8c, and 8d are all negated, the third sensor in the second detection mechanism B
Switches SW ₅ and SW ₆ of S ₃ are unrelated to control. When the stem culm of one plant in the path L belongs to the area e, the switch SW ₃ of the second sensor S ₂ is closed and the switch SW ₄ is opened, and the first sensor S ₁
Since the switch SW ₁ is kept closed and the switch SW ₂ is kept open, the operating conditions of the AND circuit 8c and the OR circuit 9b are established, the excitation part 5R is energized, and the steering clutch 3R for right turning is activated. is hydraulically operated. In this case as well, the second detection mechanism B
becomes unrelated to control. When the stem culm of one plant in path L belongs to region b, only the first sensor S ₁ is in the first stage swing range, so both switches SW ₁ and SW ₂ are closed, and the second sensor S 1 is closed. The switch _{SW 3 of} S2 is kept open and the switch SW ₄ is kept closed, and the operating conditions of the all AND circuits 8a are negated, and straight forward movement is maintained. The stem culm of one plant introduced in route L is in the middle area c
or when there is no stem culm in the path L, switches SW ₂ and SW ₃ are opened, and the switch
Since SW ₁ and SW ₄ are kept closed, the operating conditions of the AND circuits 8a are denied in this case as well, and the vehicle continues to travel straight. When the stem culm of one plant introduced into the path L belongs to the region d, only the second sensor S ₂ is in the first stage swing range, so both the switches SW ₃ and SW ₄ are closed, and Switch SW ₁ is closed and switch SW ₂ is opened, and at this time as well, the operating conditions of all AND circuits 8a are negated and the vehicle continues to travel straight. (b) During horizontal cutting (see Figure 4 b) When multiple stem culms are introduced into route L and belong to at least one of areas a and b and at least one of areas d and e (for example, a-d , a-e, b-
d, b-e), since the switches SW ₂ and SW ₃ are both kept closed, the AND circuits 8b and 8d are operated by the switches SW ₅ and SW ₆ of the second detection mechanism B, respectively.
pertains only to Hereinafter, this state will be referred to as a horizontal cutting detection state. In the above horizontal cutting detection state, if the introduced stem culm of the route R on the most mowed side belongs to the area f, or if there is no stem culm in the route R, the switch SW ₅ is opened and the switch SW ₆ is closed. Then, the AND circuit 8b and the OR circuit 9a operate, and the excitation section 5
L is energized and steered to the left. In the horizontal cutting detection state, when the stem culm of path R belongs to region g, both switches SW ₅ and SW ₆ are closed because the third sensor S ₃ is operated in the first stage, and AND circuits 8b and 8b are closed. 8d does not operate and the vehicle continues to travel straight. In the above-mentioned horizontal cutting detection state, when the stem culm of the path R belongs to the area h, the third sensor _S3 is operated to the second stage, so the switch _SW5 is closed and the switch _SW6 is opened. circuit 8
The operating condition d is satisfied and right steering is performed. The above-mentioned operations are shown in the diagram below. However, the opening of switch SW ₁ ...SW ₆ is 1,
0 indicates closed, 1 indicates energization of the excitation portions 5L and 5R, and 0 indicates non-operation.

[Table] Left turn 5L = SW ₁・SW ₃ +SW ₂・SW ₃・SW ₅ Right turn 5R=SW ₂・SW ₄ + SW ₂・SW ₃・
SW ₆ That is, the first detection mechanism A operates preferentially over the second detection mechanism B. As described in detail in the embodiments above, according to the present invention, a sufficient neutral dead zone is provided when performing automatic steering control during row mowing using the first detection mechanism provided on the path closest to the uncut side. While performing stable control,
It is now possible to reliably identify horizontal cutting conditions when multiple stem culms are simultaneously introduced into this route, and the control mode can be switched to row cutting during horizontal cutting, or the control mode can be changed from row cutting to horizontal cutting. This has made it possible to reduce problems such as delays in automatic switching of control modes when

[Brief explanation of the drawing]

The drawings illustrate embodiments of the automatic steering control mechanism according to the present invention, and FIG. 1 is a plan view schematically showing the pulling and reaping section and traveling section of the combine, FIG. 2 is a control circuit diagram, and FIG. 3 4A and 4B are plan views of the reaping section showing the outline of the conventional structure, and FIGS. 4A and 4B are plan views of the reaping section showing row mowing and horizontal mowing states.

Claims (1)

[Claims] 1 Among the plurality of planted stem culm introduction paths formed side by side in the front part of the machine, first and second stems that swing due to contact with the introduced stem culms are placed on both sides of the most uncut side path L. The sensors S ₁ and S ₂ are arranged opposite to each other, and the first detection mechanism A is configured to detect the deviation of the introduced stem culm to the side of the path in two stages with both the sensors S ₁ and S ₂ , respectively.
A second detection mechanism B is provided in the path R on the most cut side to detect whether the introduced stem culm belongs to one of the areas f, g, and h obtained by dividing the width of this path into three. The second stage detection of only the first sensor _S1 on the mowing side controls the steering toward the non-mowing side, and
The steering control toward the already cut side is performed by the second stage detection of only the second sensor S ₂ on the already cut side, and the presence of multiple stem culms is detected by both the first and second sensors S ₁ and S ₂ . When detected, based on the detection result of the second detection mechanism B,
An automatic steering control mechanism for a reaping harvester, characterized in that it is configured to automatically switch to a steering control mode that guides the stem culm of a path R to an intermediate region g.