JPS619207A - 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] A mobile harvester such as a combine harvester generally performs threshing work at the same time as reaping grain culms in a field, and includes a reaping section consisting of a dividing rod, a clipper, a grain culm conveying cheno, etc.
A threshing section consisting of a handling room, a winnow, a grain lifting device, etc., a crawler,
The machine has a traveling section made of a chenette or the like, and is configured to perform steering control during reaping work based on a detection signal from a grain culm detection sensor provided on the front side in the direction of movement of the machine.

[Problems with Prior Art] Nowadays, seedlings are generally planted in fields using mechanical power, such as a rice transplanter that plants seedlings in a predetermined planting pattern. However, the planting position of seedlings within the field may vary depending on 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 a rice transplanter. It is difficult to plant in an orderly manner. For this reason, for example, the so-called circular mowing method, which is generally considered to be the most efficient and leaves less grain uncut (starting from the outer edge of the field and gradually moving into the interior of the field while alternating row mowing and horizontal mowing). There is a problem in that even if this method is adopted, the occurrence of uncut leaves cannot be prevented. In order to prevent such uncut areas from occurring, for example, the harvester should be moved along the planting pattern of uncut culms to prevent partial uncut areas from occurring during row cutting, horizontal cutting, etc. When trying to control the direction, the detection area of the sensor that detects the grain culm was narrow, and due to the structure and weight of the aircraft, there was a tracking delay when turning, especially when the turning angle was large. This not only increases the number of uncut culms, but also causes another problem in that appropriate steering control becomes impossible.

[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 achieve accurate steering control by preventing the follow-up delay of the harvester that occurs when controlling the moving direction of the harvester. An object of the present invention is to provide a steering control device for a mobile harvester that is capable of reducing uncut grain culms.

[Summary of the present invention] The features of the present invention for achieving the above object include means for detecting grain culms planted in a field, and a drive device for rotating a harvester in a desired direction, Identification means for identifying whether the detected grain culm belongs to an area close to or far from the detection means in the entire detection area of the detection means, based on a detection signal given from the detection means; As a result of the identification by the identification means, if the harvester belongs to a short-distance area, the turning angle is set to a large value to correct the moving direction of the harvester, and if the harvester belongs to a long-distance area, the turning angle is changed. In order to correct the moving direction of the harvester by setting the
□F, □1□Ka□, □τ is in the steering control device of the mobile harvester. “[Examples] The present invention will be described 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. 3 is a block diagram according to an embodiment of the present invention, and FIG. 4 (
a), FIG. 4(b), and FIG. 5 are enlarged views of main parts according to an embodiment of the present invention, and FIG. 6 is a diagram showing a pulse signal output from a control section according to an embodiment of the present invention. FIG. 7 shows a flowchart of the configuration of FIG.

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. The grains are provided with a tip lug 19, a tip conveying chino 21, a root conveying chino 23, etc., for conveying the grains to the threshing section 5.

The threshing section 5 includes a clamping rod 25 that pinches and conveys the grain culm supplied from the reaping section 3, a threshing cheno 27, and a handling barrel (not shown) that threshes the grain culm that is conveyed via these two mechanisms. The present invention is equipped with a handling room 29 having a processing room (not shown), and a grain lifting device 33 for supplying grains threshed in the handling room 29 to an automatic hopper 31. The running section 7 includes wheel sprockets 1 to 35, an idle roller 37, a track roller 39, and a crawler 41.

The operating section 9 includes an operating panel/43 configured as shown in FIG. 3, for example, a handle 45, and a handling chamber 29 of the threshing section 5.
A handling depth adjustment handle 47 for adjusting the handling depth of the grain culms is provided.

As shown in FIGS. 1 and 2, the reaping section 3 is provided with a non-contact type grain culm detection sensor 49 (hereinafter referred to as "ultrasonic sensor 49"), such as an ultrasonic sensor. . 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 shown in height from the ground surface in FIG.

4, (a), 4(b), and 5 are enlarged views showing the positional relationship between the reaping section 3, the ultrasonic sensor 49, and the contact type sensor 51 conventionally provided in the reaping section 3. In the figure, in one embodiment of the present invention, a contact type sensor 51 is connected to a dividing rod 13.
The ultrasonic sensor 49 is attached to the side surface of the aircraft in the direction of movement. As described above, the ultrasonic sensor 49 has the horizontal directivity characteristic shown in area A of FIG. 4(a) and the vertical directivity characteristic shown in area B of FIG. 4(b). Regarding the horizontal directivity characteristics, as shown in FIG. 5, it is the time it takes for the ultrasonic waves emitted from the ultrasonic sensor 49 to reflect on the grain culms (uncut culms C, D) that are the detection target 1 and return. Accordingly, CPtJ57, which will be described later, determines whether the planting position of the grain culm to be harvested belongs to a short distance zone indicated by the H zone or a long distance zone indicated by the L zone. The contact type sensor 51 detects when the uncut culm C or D comes into contact with any one of the detection parts N' and R provided on the sensor 51 due to the movement of the harvester.
The sensor is configured to output a predetermined signal from the touched detection section. In this embodiment, when the uncut culm C or D comes into contact with the detection part as shown in the figure, the sensor 51
An L signal (a signal indicating that the aircraft should turn to the left in the direction of travel) is output from the sensor 5, and when it comes into contact with the detection part N,
From 1, there is an N signal (a signal indicating that the aircraft should continue straight ahead).
is output, and when it comes into contact with the detection part R, the hinge 51
The setting is such that an R signal (a signal indicating that the aircraft should turn to the right in the direction of travel) is output from each of them. 2 mentioned above
The detection signals outputted from the various harvesters are given to a CPLJ 57 built in a control unit (not shown) of the mobile harvester shown in FIG.

In FIG. 3, CPU 57 performs arithmetic and logical operations and comparison operations. The input information given to the CPU 57 is A/
D converter 55. There is sensor information provided by a sensor 51) via an amplifier 53.

In this example, the planting pattern of grain culms is
This is intended to improve problems when the harvester is used for so-called stacking work in which reaping work is done in the horizontal direction, which is relatively messy compared to the direction of contact sensor S151. And so.

A turning command signal for the 1 m body outputted from the CPU 57 is sent to the output capo 1 via 59 to a drive circuit 61 that drives an actuator 63 of an ACD device (automatic direction control device, not shown). The turning command signal is, for example, two types of pulse signals having different on-time durations as shown in FIG.

When the CPU 57 recognizes that it is necessary to make a sharp turn of the aircraft based on the grain culm detection information given from either of the two sensors, it outputs a pulse signal with a short on-time width shown by n. Further, when it is recognized that it is sufficient to turn the vehicle gradually, a pulse signal with a long on-time width shown at n' is outputted.

The control operation of the above configuration will be explained mainly using flowchart 1- in FIG. 7.

When the harvester starts driving and performs the so-called stratification work according to the shape of the field, the deviation in the planting arrangement of the grain culms is so small that it hardly becomes a problem for row cutting. Therefore, there will be no uncut residue on the grain culm. However, when shifting from row mowing to horizontal mowing, as mentioned above, it becomes necessary to rotate the harvester along the planting arrangement of uncut culms in order to create a misalignment in the planting pattern of seedlings by the rice transplanter.

The CPU 57 includes an ultrasonic sensor 5249 and a touch sensor 51
After checking the operating status, the process moves to step 71) and step 73. When it is recognized based on the detection signal given from the ultrasonic sensor 8249 that an uncut culm exists in the H zone detection area of the sensor 5249 as shown in the fifth diagram (step 73), the actuator of the ACD device (not shown) is activated. The pulse signal shown in the upper part of FIG. 6 is outputted n times in order to cause the robot 63 to make a sudden turn to the right in the direction of travel (step 75). After outputting the signal n times in step 75, the CPU 57 outputs the pulse signal shown in the lower part of FIG. Make the aircraft go straight (step 79). After making the aircraft go straight for a predetermined time in step 79, the CPU 57 outputs to the drive circuit 61 a pulse signal similar to that output in step 77 twice to gradually turn the aircraft to the left in the direction of travel (step 81). ). In step 73, the uncut culm is detected by one of the sensors 5249 as shown in FIG. 5C.
When it is recognized that the object exists in the zone detection area, the process immediately moves to step 77. The CPU 57 performs step 73
When it is recognized that no detection information regarding uncut culms C or D is provided from the ultrasonic sensor 5249, the process moves to step 83 and the detection signal provided from the integral touch sensor 51 is checked. If the grain culm detection signal is given from the detection section R in step 83, the process moves to step 77, and if the grain culm detection signal is given from the detection section N, the aircraft is made to proceed straight (step 85), and the detection section If a grain culm detection signal is given from
to move to. The CPU 57 outputs the pulse signal shown in the upper part of FIG. 6 N times to make the aircraft make a sharp turn to the left in the traveling direction (step 87), and after making the aircraft go straight in the moving direction corrected by the signal, (Step 89)
, a signal similar to the signal output in step 87 is output to N
7-2 outputs and turns the aircraft sharply to the right in the direction of travel (
Step 91).

Through the process described above, the CPU 57 controls the steering of the mobile harvester during the sorting work. It should be noted that the above-mentioned content is only related to one embodiment according to 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, the magnitude of the turning angle of the harvester is set depending on the distance between the grain culm detected by the detection means and the detection means, and the set turning angle is Since we decided to correct the moving direction of the harvester based on the following, it is possible to prevent the following delay of the machine that occurs when controlling the moving direction of the harvester, and it is possible to perform accurate steering control and improve the harvesting speed of grain culms. ), it is possible to provide a steering control device for a mobile harvester that can significantly reduce residue.

[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 mobile harvester according to an embodiment of the present invention;
FIG. 3 is a block diagram according to an embodiment of the present invention, and FIG. 4 (
a), FIG. 4(b), and FIG. 5 are enlarged views of main parts according to an embodiment of the present invention, and FIG. 6 is a diagram showing a pulse signal output from a control section according to an embodiment of the present invention. FIG. 7 shows a flowchart of the configuration of FIG. 1... Mobile harvesting 1 51... Separate tadjilensa 51
49...Ultrasonic sensor S257...CPU63...
・Actuator (Solenoid Valve) Injection Figure 4 (a) Figure 5 Figure 6 yl-yl'I (t) Figure 7

Claims (1)

[Claims] It has means for detecting grain culms planted in a field, and a drive device for rotating the harvester in a desired direction, and the grain culms detected based on the detection signal given from the detection means are detected by the detection means. an identification means for identifying whether the object belongs to an area close to or far from the detection means in the entire detection area; In order to correct the direction of movement of the harvester by setting a large turning angle, and for correcting the moving direction of the harvester by setting a small turning angle if the object belongs to a long-distance area, respectively. 1. A steering control device for a mobile harvester, comprising a movement direction correcting means for controlling a drive device.