JPS6137014A - Steering controller of moving 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 generally relates to a mobile harvester such as a combine harvester, and more particularly to a steering control device for a mobile harvester.

[Prior Art] An 8i machine such as a combine harvester generally performs threshing work in parallel with grain culm reaping work in the field.
It has a reaping section consisting of a cutting rod, hair clippers, grain culm transporting cheno, etc., a threshing section consisting of a handling room, a winnowing machine, a grain lifting device, etc., a traveling section consisting of crawlers, a cheno, etc., and an automatic steering control system. The micro combicoater built into the ACD device performs automatic steering control during reaping work based on the detection signal from the grain culm detection sensor installed at the front of the machine in the forward direction of movement, according to a preset work pattern. It is composed of

[Problems with conventional technology] Nowadays, the process of planting seedlings in the field is
For example, this is generally done using mechanical power such as a rice transplanter that plants rice in a predetermined planting pattern. However, the planting position of seedlings in the field may vary due to the shape, topography, and geology of the field as a whole, or due to positional deviations in the planting pattern that occur when moving from the outward trip to the return trip during so-called reciprocating planting by the rice transplanter. It is difficult to plant in an orderly manner. Therefore, when performing harvesting work using automatic steering control using the above-mentioned He〇D device, for example, it is recommended to use a work form such as so-called round-harvesting, which is generally considered to be the most efficient method and also leaves less grain uncut (at the outer edges of the field). There is a problem in that even if a work pattern is adopted in which the field is gradually moved into the interior of the field while alternating row mowing and horizontal mowing, the occurrence of uncut leaves cannot be prevented. In order to prevent such uncut areas from occurring, the ACD device harvests the uncut culms along the planting pattern to prevent partial uncut areas from occurring during row cutting, horizontal cutting, etc. A method was devised to control the direction of movement of the aircraft. However, with this method, the distance from the harvester to the trees changes each time the rows of trees are shifted, so the following delay during turns caused by the structure and weight of the aircraft overlaps, and eventually the distance between the aircraft and the trees changes. Accurate steering control according to distance becomes impossible.

Furthermore, even if the microcomputer recognizes a positional shift between the rocking pillows based on the signal output from the grain culm detection sensor, it will not be able to determine whether the planting is due to a misalignment in the arrangement or because the aircraft has deviated from the predetermined direction of movement. There was a problem in that it was not possible to identify the grains, making it impossible to perform efficient harvesting according to the desired work pattern.

[Purpose] Therefore, the present invention is intended to improve the above-mentioned problems of the conventional technology.The purpose of the present invention is to determine whether the positional deviation between the rocking pillows is due to a deviation in the planting arrangement, or if the body deviates from the predetermined direction of movement. The steering of the mobile harvester allows for accurate steering control according to the distance between the machine and the forest, allowing for efficient harvesting according to the desired work pattern. The purpose is to provide a control device.

[Configuration] The features of the present invention to achieve the above object are as shown in FIG. device 20
7, based on the detection signal output from the detection means, it is determined whether the positional deviation between the grain culms is due to a deviation in the planting pattern or whether the harvesting machine has a predetermined moving force. Method 2 to determine whether the problem is due to deviation from the direction
03, the steering control device for a mobile harvester is provided with a control means 205 which outputs an output to the drive device in order to correct the shift in the moving direction when the means recognizes that the shift is due to a shift in the moving direction.

[Operation] In the above configuration, the determining means checks whether or not there is a shift in the planting position of the rocking pillows based on the detection signal output from the grain culm detecting means. At the same time, when the judgment means recognizes a deviation in the planting position, it compares all conceivable planting arrangement patterns stored as data in advance with the detected deviation in the planting position. For planting, it is calculated to determine which of the above patterns the positional deviation applies to, and it is determined whether the planting is due to a deviation in the row or a deviation in the moving direction of the aircraft. When it is determined that this is due to a deviation in the moving direction of the aircraft, a signal to the effect that the moving direction should be corrected is output to the control means, and based on the signal, the control means sends a command signal to the drive device to correct the moving direction of the aircraft. This is what is output.

[Example] The present invention will be explained in detail below with reference to the drawings.

FIG. 1 is a plan view of a mobile harvester according to an embodiment of the present invention;
FIG. 2 is a side view of a mobile harvester according to an embodiment of the present invention;
FIG. 4 is a block diagram according to an embodiment of the present invention, FIG. 5 is a flowchart showing the main routine of the configuration of FIG. 4,
6 and 7 are flowcharts showing the subroutine of the configuration shown in FIG.
0 and 11 are diagrams showing a steering control process of a mobile harvester according to an embodiment of the present invention.

In FIGS. 1 and 2, the mobile harvester 1 includes a reaping section 3,
It has a threshing section 5, a running section 7, an operation section 9, etc. The reaping part 3 has a lifting lug 11 that pulls the planted grain culm into a predetermined posture.
, a grass cutting rod 13, a clipper 15 for cutting the grain culm planted in the field, a raking device 17 for scraping the grain culm cut by the clipper 15, and a raking device 17 for holding the grain culm scraped by the raking device 17. It is provided with a tip lug 19, a tip conveying chino 21, a root conveying chino 13, etc., for conveying the grain to the threshing section 5.

The grain culm section 5 has a clamping rod 25 and a grain chain 27 that clamp and transport the grain culm supplied from the reaping section 3, and a handle 11ii (
A handling room 29 (not shown) is provided, and a grain hoist @ 33 is provided for supplying grains threshed in the handling room 29 to an automatic hopper 31. The running section 7 includes a wheel sprocket 35, an idle roller 37, a track roller 39, and a crawler 41.

The operation unit 9 includes, for example, an operation panel 43 configured as shown in FIG. It is equipped with As shown in FIGS. 1 and 2, the reaping section 3 is provided with one non-contact type grain culm detection sensor 49, such as an ultrasonic sensor, on each side.

The sensor 49 has a horizontal directivity characteristic as shown in area A in FIG. 1 and a vertical directivity characteristic as shown in area B indicated by the height h from the ground surface in FIG. The detection signals outputted from the above-mentioned sensors 49 are the fourth
The CPU 57 is provided in a control unit (not shown) of the mobile harvester shown in the figure.

In FIG. 4, a CPU 57 performs arithmetic and logical operations and comparison operations. The input information given to the CPU 57 is A/
There is sensor information provided from the grain culm detection sensor 49 via the D converter 51.

A turning command signal for the aircraft body outputted from the CPU 57 is given via an output interface 61 to a right solenoid drive circuit 63 and a left solenoid drive circuit 65, which respectively turn the aircraft body in the left and right directions. The CPU 57 compares the reference value given from the right turning reference value setting circuit 55 with the signal output from the grain culm detection sensor 49 provided on the right side of the aircraft, and determines the right direction of the aircraft based on the signal output from the comparator 53. Calculate the turning angle. Similarly, the CPU 57 compares the reference value given from the left turning reference value setting circuit 59 with the signal output from the grain culm detection sensor 49 provided on the left side of the aircraft, and based on the signal output from the comparator 53, the Calculate the direction turning angle. An internal memory (not shown) of the CPU 57 contains control programs and the like, and also stores necessary data. The data stored in the internal memory includes, for example, all grain culm arrangement patterns that can be detected by the sensor 49 as shown in FIGS. There is a combination of data.

The control operation of the above configuration will be explained mainly with reference to FIGS. 5, 6, and 7. When the operator operates the drive switch of the harvester, power supply to the CPU 57 from the drive power source is started. The CPU 57 initializes various counters, switches, addresses (all not shown), etc. (step 71), and determines whether a detection signal is given from the grain culm detection sensor 49 (step 73). When it is recognized in step 73 that no detection signal is given, the process does not proceed from step 73, but when it is recognized that a detection signal is given, the data is transferred from the input port to a predetermined location (step 75). ). The CPU 57 determines whether or not the detection signals are given almost simultaneously from both the left and right grain culm detection sensors 49, and if it recognizes that they are not at exactly the same time, the process goes to step 73, or if it recognizes that they are almost at the same time, the process goes to step 7. (Step 77). The CPU 57 compares the signals successively output from the sensor 49 with the data stored in the internal memory (shown in FIG. 8) and determines to which pattern of the above data the detected grain culm arrangement belongs. (step 79).

The processing carried out by the CPU 57 in step 79 is performed, for example, in accordance with the procedure illustrated in FIG. 6, which will be explained below. That is, based on the output signal given from the sensor 49, the CPU 57 determines whether the second plant is on the left side, the right side, or neither of the above with respect to the first grain culm detected first. The subsequent processing will be different (step 91). The CPU 57 performs step 91
When it is determined that the second stock is on the right side, it is determined whether the third stock relative to the second stock is on the right side, the left side, or neither of the two (step 101), and when it is recognized that it is on the right side, the pattern shown in Figure 8 is executed. The moving direction of the aircraft is controlled according to D8 (step 107). When it is recognized in step 101 that it is on the left side, the process moves to step 105 and the movement direction is controlled according to pattern C6.
If it is neither on the left side, the process moves to step 103 and the movement direction is controlled according to pattern A2. When it is recognized in step 91 that the second stock is on the left side, the process moves to step 109 and step 10
In steps 9 to 115, processes similar to those described above are performed. Further, when it is recognized that the second stock detected in step 91 is neither to the right nor to the left of the first stock, the process moves to step 93, and the same processing as described above is performed in steps 93 to 9. . Step 79
After performing the above processing, the CPU 57 analyzes the magnitude of the displacement amount (turning angle) of the machine body in the moving direction, as shown in FIG. 11, based on the recognized grain culm arrangement pattern (step 81). After analyzing the amount of displacement in the moving direction of the aircraft in step 81, step 79
The direction of movement of the aircraft is determined by comparing the array pattern recognized in step 83 with the array pattern recognized based on the detection signal provided from the detection sensor 49 (the process performed by the CPU 57 in step 83 is described below, for example). The procedure is as shown in FIG. 7. That is, it is determined to which pattern the grain culm arrangement belongs as shown in FIG. 8 based on the output signal given from the sensor 49 (step 121). .Step 121
If the pattern recognized in step 123) is pattern C6 and the previously recognized pattern is pattern B4 shown in step 9 of FIG. In particular, it was unclear whether this was caused by the accident or by a deviation in the direction of movement of the aircraft. Since the pattern recognized in step 121 is 06, the aircraft is turned to the left by the amount of displacement of the third stock relative to the second stock (step 125). If the pattern recognized in step 121 is not C6, the process moves to step 127, and if the pattern recognized in step 127 is C7, processes from step 127 to step 131 are performed. C
The processing that the PU 57 performs in steps 127 to 131 is the same as that performed in steps 121 to 125, and when the pattern recognized in step 127 is not C7, the process moves to step 133 and steps 133 to 1
39 processing is performed. The same applies to steps 141 to 147. Since the movement direction of the aircraft is controlled by the process described above, the CPU 57 controls the first
Once ABC is recognized from the grain culm arrangement as shown in Figure 0, the moving direction of the aircraft is controlled according to pattern A3. Also, the CPU 57 selects the ABC for the second time.
When this is recognized, the moving direction of the aircraft is controlled according to pattern C7. It should be noted that the above-mentioned content is only related to one embodiment of the present invention, and does not mean that the present invention is limited to the above-mentioned content.

[Effect] As explained above, according to the present invention, when the determination means recognizes a deviation in the moving direction of the machine body, it outputs an output to the drive device to correct the deviation in the moving direction, so that the grain culms can It is possible to identify whether the positional deviation is due to a deviation in the planting arrangement or the aircraft has deviated from the predetermined direction of movement, and it is also possible to perform appropriate steering control according to the distance between the aircraft and the grain culm. It is possible to provide a steering control device for a mobile harvester that allows efficient harvesting work in a desired work pattern.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a mobile harvester according to an embodiment of the present invention;
FIG. 2 is a side view of a moving number Wt machine according to an embodiment of the present invention, FIG. 3 is a diagram corresponding to claims, FIG. 4 is a block diagram according to an embodiment of the present invention, and FIG. Flowcharts showing the main routine of the configuration, FIGS. 6 and 7 are flowcharts showing the main routine of the configuration of FIG. 4, and FIGS.
FIG. 9 is a diagram showing data of the arrangement pattern for planting rock pillows according to an embodiment of the present invention, and FIGS. 10 and 11 are processes for controlling the steering of a mobile harvester according to an embodiment of the present invention. The figure shows the four grain culm detection sensor 57, CPU 63, right solenoid JP-A Sho Gl-37014 (7). 8), τWow?■
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Claims (1)

[Claims] A means for detecting grain culms planted in a field, a drive device for correcting the moving direction of a harvester, and a discrepancy in the planting position of grain culms based on a detection signal outputted from the detection means. means for determining whether the positional deviation is due to a deviation in the planting pattern or due to deviation of the harvester from a predetermined moving direction; and when the means recognizes that the positional deviation is due to a deviation in the moving direction, the A steering control device for a mobile harvester, characterized in that a control means for outputting an output to the drive device is provided to correct the deviation.