JPS6143914A - Automatic 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 specifically to an automatic steering control device (ACD device) for a mobile harvester.

[Prior art and its problems 1] Mobile harvesters such as combines generally perform threshing work in parallel with the harvesting of grain culms in the field. A threshing section consisting of a handling room, a winnowing machine, a grain machine, etc., and a running section consisting of a crawler, a cheno, etc., and an automatic steering control device I.
The microcomputer built into the ACDH (ACDH) 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 configured.

When carrying out reaping and threshing operations using a mobile harvester with the above configuration, the most efficient way of working without leaving any grain culms uncut is to first cut in rows starting from the outer edge of the field. Circumferential mowing is common, in which the field is gradually moved into the interior of the field, alternating between horizontal mowing and horizontal mowing.

By the way, the work of planting seedlings in the field is generally done using a rice transplanter, but the planting position of the seedlings in the field is
Due to misalignment of the planting pattern that occurs when the rice transplanter is moved from the forward route to the return route, the planting intervals in the horizontal direction with respect to the direction of movement (row direction) of the rice transplanter tend to be random.
It is difficult to plant everything in an orderly manner.

Therefore, the automatic steering control system M (A
In the CD device, a row cutting grain culm detection sensor used during row cutting and a horizontal cutting grain culm detection sensor used during horizontal cutting were separately provided.

Therefore, there is a problem that the configuration of the control device becomes complicated and expensive.

[Object of the Invention] Therefore, the present invention aims to improve the above-mentioned problems of the conventional technology, and its object is to achieve the above-mentioned object by providing a movable grain culm detection sensor capable of performing row cutting and horizontal cutting. As shown in FIG. 4, the features of the present invention include a distance measuring means for measuring the distance between the aircraft body and the left and right grain culms, and a distance measuring means for measuring the distance between the left and right grain culms. In an automatic steering control device for a mobile harvester, the automatic steering control device includes a steering control means for controlling the traveling direction of the mobile harvester based on the detection results of the measured distances to the left and right grain culms. The present invention provides an automatic steering control device for a mobile harvester configured to detect grain culm distances in the row direction of grain culms and grain culm distances in the lateral direction using a single grain culm detection sensor.

[Operation of the invention] In the above configuration, the distance to the left and right grain culms is detected by the distance measuring means provided on the dividing rod, and the traveling direction of the mobile harvester is controlled based on the detection results. Therefore, row mowing and horizontal mowing operations can be performed using a single grain culm detection sensor.

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

FIG. 1 is a plan view of a mobile harvester according to a first embodiment of the present invention, FIG. 2 is a side view of a mobile harvester according to a first embodiment of this invention, and FIG. 3 is a plan view of a mobile harvester according to a first embodiment of this invention. A front view of the grain culm detection sensor, FIG. 4 is a block diagram according to the first embodiment of the present invention, and FIG. 5 is a flowchart of the configuration of FIG. 4.

In Figures 1 and 2, moving harvest! 11 is the reaping part 3
．． Threshing section 5. Running part 7. It has an operation section 9 and the like. Reaping part 3
is a lifting lug 1 that lifts the planted grain culm in a predetermined posture.
1. The weeding rod 13 moves between the rows of the planted grain culms and weeds the grain culms from side to side, and the stock base of the grain culms that is raised by the raising lug 11 and separated by the weeding rod 13 is moved. Reaping clippers 1
5. A raking device 17 for raking the grain culms cut by the clippers 15
, a head conveying device 19 that pinches the grain culm scraped by the scraping device 17 and conveys it to the threshing section 5; and a stock conveying device 1.
It is equipped with 21 mag. The threshing section 5 has a pruning rod 23 and a foot chain 2 that pinch and transport the grain culms supplied by the ear tip conveying device 19 and stock head conveying device 121 of the reaping section 3.
5. A handling room 27 having a handling cylinder (not shown) for threshing the grain culms transported through these two mechanisms;
A lifting device 31 is provided for supplying grains subjected to FEAM to an automatic hopper 29. The running section 7 includes a wheel sprocket 33, an idle roller 35, a track roller 37, and a crawler 39. The operating section 9 includes an operating box 41, a handle 43, a handling depth adjustment handle 45 for adjusting the handling depth of grain culms in the handling chamber 27 of the threshing section 5, and the like.

In such a mobile harvester 1, the dividing rod 13 is provided with an ultrasonic sensor 47 constituting a grain culm detection sensor as a distance measuring means for measuring the distance between the left and right grain culms. . As shown in FIG. 3, the ultrasonic sensor 47 includes a pair of left and right ultrasonic transmitting sensors 49 and a corresponding pair of left and right ultrasonic receiving sensors 51.

This ultrasonic sensor 47 includes left and right ultrasonic transmitting sensors 49
It emits ultrasonic waves to the left and right from the grain culm 53, and when the ultrasonic waves are reflected by the grain culm 53 and other obstacles, they are received by the left and right ultrasonic reception sensors 51, respectively, and the distance to the grain culm 53 is detected. .

FIG. 4 shows a block diagram of a distance measurement and steering control circuit using the ultrasonic sensor 47.

Signals from the left and right ultrasonic sensors 47 as distance measuring means are input to the input port (a) of the microcomputer 57 via the A/D converter 55. The signal from the ultrasonic census 47 is input to a comparator 59 in parallel with the A/D converter 55, where it is compared to see if the signal strength is above a reference value, and when it is above the reference value, it is used as a grain culm detection signal. It is input to the input port (b) of the microcomputer 57. The microcomputer 57 includes a CPU 101, a time counter 103, and a memory 105.
have. The output boat (C) of the micro 1 viewer 57 outputs a drive command signal to drive the left and right solenoids 63 as steering control means via the output interface 61.

CPLIIOI of microcomputer 57 performs arithmetic and logical operations and comparison operations. A time counter 103 counts the time for row mowing or horizontal mowing. In addition, the memory 105 has a built-in control program, etc., and the CPU 101
Stores input/output data for.

The operation of the automatic steering control device for the mobile harvester having the above configuration will be explained with reference to the flowchart shown in FIG.

The inside of the microcomputer 57 is first put into an initial state,
It is determined whether a grain culm detection signal having a strength equal to or greater than a predetermined value is obtained from the second I inverter 59.

If there is no grain culm detection, the initial state is returned, and on the other hand, if a grain culm detection signal is obtained, the distance signal α from the left and right ultrasonic sensors 47 is output from the input boat (a).

β is input (steps 64-67). CPU101
calls the reference value of the left and right grain culm distances in the row direction and the reference value of the left and right grain culm distances in the lateral direction stored in the memory 105, and calculates the grain culm distance α+β given in step 67.
A comparison calculation is made with , and it is determined whether the direction is in the row direction or in the horizontal direction (step 69). When it is recognized in step 69 that it is in the row direction, the time counter 103 is reset (step 71
).

Then, it is determined whether the time has expired (step 73). If it is determined that the time has elapsed and the row cutting has been completed, steps 65-69 described above are repeated. If it is determined that the time-up has not occurred, it is determined whether a grain culm detection signal having a strength equal to or higher than a predetermined value is obtained from the left and right ultrasonic sensors 47 to the comparator 59 (step 75).

Therefore, the ultrasonic sensor 47 at this time functions as a grain culm sensor. If the grain culm detection signal is obtained in step 75 and is large, distance signals α and β from the left and right ultrasonic sensors 47 are input from the input boat (a) (
Step 77). Therefore, the ultrasonic sensor 47 at this time
serves as a grain culm detection sensor for row cutting. The distance signals α and β are then processed in the row cutting control routine (step 79).

Further, when it is recognized in step 69 that the direction is horizontal, the time counter 103 is reset (step 81). Then, it is determined whether the time has expired (step 83). If it is determined that horizontal mowing has been completed due to time-up, steps 65-69 described above are repeated.

If it is determined that the time-up has not occurred, it is determined whether a grain culm detection signal having a strength equal to or higher than a predetermined value is obtained from the left and right ultrasonic sensors 47 to the comparator 59 (step 85). Therefore, the ultrasonic sensor 47 at this time functions as a grain culm sensor. Step 85
If the grain culm detection signal is obtained, input boat (a)
Distance signals α and β from the left and right ultrasonic sensors 49 are input (step 87). Therefore, the ultrasonic sensor 47 at this time functions as a grain culm detection sensor for horizontal cutting. and distance signal α.

β will be processed in the horizontal cutting control routine (step 89).

6 to 9 show a second embodiment in which the grain culm detection sensor according to the first embodiment is used to determine the grain culm and its width. FIG.・Block diagram of the lateral determination circuit, FIG. 7 is a flowchart of the configuration of FIG. 6, FIG. 8 is an explanatory diagram of the operation according to the second embodiment, and FIG. 9 is a condition table for row/lateral determination according to the operation of FIG. 8. It is. In FIG. 6, the same reference numbers as those in FIG. 4 indicate the same parts.

In FIG. 6, signals from left and right ultrasonic sensors 47 as distance measuring means are inputted to an input port (a) of a microcomputer 57 via an A/D converter 55. The signal from the ultrasonic sensor 47 is input to a comparator 59 in parallel with the A/D converter, where it is compared to see if the signal strength is above a reference value, and when it is above the reference value, it is output as a grain culm detection signal. It is input to the input port (b) of the combi coater 57. The microcomputer 57 includes a CPU 1011, a memory 105, and a counter 107. The CPU 101 of the microcomputer 57 performs arithmetic and logical operations and comparison operations.

The memory 105 has a built-in control program, and also has a CPU
Stores input/output data for 101. counter 10
7. Count the zero clock signals and keep time. Further, the microcomputer 57 includes an output boat (C) and outputs a drive command signal 8 to drive left and right solenoids 63 as steering control means via an output interface 61.

Number of movements for the above configuration! The operation of the automatic steering control device of the FA will be explained using the flowchart shown in FIG.

The inside of the microcombiner 57 is first put into an initial state,
It is determined whether a grain culm detection signal having a strength equal to or higher than a predetermined value is obtained from the comparator 59.

If there is no grain culm detection signal, the system returns to the initial state; on the other hand, if a grain culm detection signal is obtained, the distance signals α and β from the left and right ultrablind wave sensors 47 are input from the input port (a). . At the same time, the measurement time of the distance input signal is measured by the counter 107 (step 9l-97). Here, the distance signals α and β are related to the arrangement state of the left and right grain culms, the cutting direction depending on whether it is row cutting or horizontal cutting, and the grain culm 5 of the mobile harvester 1.
It changes depending on the direction of invasion with respect to 3. 1, that is,
As shown in FIGS. 8(a) to 8(g), the mobile harvester 1 enters straight into parallel rows where the left and right grain culms 53 are well aligned, and measures the distance between the left and right grain culms 53. When the signals are obtained at the same time (a), when the moving harvester 11i1 obliquely enters parallel rows where the left and right grain culms 53 are well aligned, and the distance measurement signals of the left and right grain culms 53 are obtained with a time difference ( 0
), when the mobile harvester 1 directly enters a row in which the left and right grain culms 53 are shifted back and forth, and the distance measurement signals of the left and right grain culms 53 are obtained with a time difference (c), the left and right grain culms 53 are When the mobile harvester 1 obliquely enters a row that is shifted back and forth and the distance measurement signals of the left and right grain culms 53 are obtained with a time difference (d), (e), the mobile harvester 1 enters the grain culm next to the grain culm. Intrude straight to the direction and the distance between the left and right grain culms 53 Mil! lI
If constant signals are obtained simultaneously (to
When distance measurement signals are obtained with a time difference (1~)
Such situations occur. To this end, it is first determined whether the distance measurement inputs for the left and right grain culms 53 are simultaneous (step 99).
). If the left and right grains are detected simultaneously, it is determined whether two plants are detected for the left and right grain culms 53. If the distance measurement signals for the two plants are not input, steps 93 to 97 are repeated until the two grain culms 53 are detected (step 101). If two grain culms 53 are detected, the value of the distance measurement signal α+β is analyzed (7
．． Terra 7103), T na Wachi, CP Ll 101
C. Standard value γ1 of left and right grain culm distances in the row direction and standard value γ2 of horizontal grain culm distances stored in the memory 105
is called and compared with the distance measurement value α+β given in step 95 above. When the comparison result is α+β>γ1, it is determined that the direction is in the strip direction, and when α+β<γ2, it is determined that the direction is in the horizontal direction. However, the comparison result is γ1〉α+
There are cases where β>γ2 (?), and in this (?) region, it may not be possible to determine whether the direction is in the strip direction or in the horizontal direction. Therefore,
The time difference αt−βt between the measurement time αt of the distance input signal α of the left grain culm 53 and the measurement time βt of the distance input signal β of the right grain culm 53 is analyzed (step 105). As a result of this conclusion, as shown in FIG. 9, in the γ1〉α+β〉γ2, that is, (?) region, if the time difference α is medium or large, it is determined that the time difference α is in the ray direction, and αt−β
If t is O, it is determined that the direction is horizontal (step 107).

When it is recognized in step 107 that the direction is in the row direction, the row flag is set (step 111), and when it is recognized that the direction is in the lateral direction, the lateral flag is set (step 109).

Although an ultrasonic sensor is used as the distance measuring means in the above embodiment, the distance measuring means may be a non-contact type sensor other than ultrasonic waves, for example, an optical sensor, a radio wave sensor, etc.

[Effects of the Invention] As explained above, according to the present invention, the distance to the left and right grain culms is measured with a grain culm detection sensor, the left and right grain culm distances are compared with a reference value, and the condition is determined by the comparison and bundling. Since the direction and the lateral direction are determined, row cutting and horizontal cutting can be performed using a single grain culm detection sensor.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a mobile harvester according to a first embodiment of the invention, FIG. 2 is a plan view of a mobile harvester according to a first embodiment of the invention, and FIG. 3 is a plan view of a mobile harvester according to a first embodiment of the invention. A front view of a grain culm detection sensor, FIG. 4 is a block diagram according to the first embodiment of the present invention, FIG. 5 is a flowchart of the configuration of FIG. 4, and FIG. 6 is a grain culm row/lateral determination according to the second embodiment. FIG. 7 is a flowchart of the configuration shown in FIG. 6, FIG. 8 is an explanatory diagram of the operation according to the second embodiment, and FIG. 9 is a condition table for determining the row/width according to the operation shown in FIG. <Explanation of symbols representing main parts in drawings) 1... Mobile harvester 3... Reaping section 13... Grass cutting rod
47...Ultrasonic sensor 57...Microphone 1'' = 1 monitor 101...CP IJ @3 engineering Fig. 4

Claims (2)

[Claims] (1) Based on the distance measuring means for measuring the distance between the aircraft body and the left and right grain culms between adjacent grain culms on the left and right, and the detection result of the distance to the left and right grain culms measured by this distance measuring means In an automatic steering control device for a mobile harvester having a steering control means for controlling the traveling direction of the mobile harvester, detecting a grain culm distance in a row direction of grain culms planted in a field;
1. An automatic steering control device for a mobile harvester, characterized in that a grain culm distance in the lateral direction can be detected by a single grain culm detection sensor. (2) Comparison means for comparing the grain culm distance measured by the grain culm detection sensor with a reference value; and calculation means for calculating the measurement time difference between the distances to the left and right grain culms measured by the grain culm detection sensor. Automatic steering control of a mobile harvester according to claim 1, characterized in that the grain culm rows and laterals are determined based on the comparison result by the comparison means and the calculation result by the calculation means. Device.