JPS62163616A - Turn 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] [Industrial Application Field] The present invention detects the orientation of the aircraft in order to automatically move the aircraft to the next work process in the direction that intersects the previous work process after completing one work process. azimuth detection means for detecting the distance traveled by the aircraft; travel distance detection means for detecting the travel distance of the aircraft; stroke end detection means for detecting when the aircraft has reached the end of the working stroke;
and a forward pattern in which the robot moves forward a predetermined distance upon the completion of one working stroke, a primary turning pattern in which the next turning angle is set to the next stroke side, and a reverse pattern in which the robot moves backward a predetermined distance toward a point before the next stroke. Furthermore, a turn control pattern storage means stores information for executing a secondary turning pattern in which the set secondary turning angle is turned in the direction along the next stroke and the aircraft is moved forward; In order to maintain the height of the reaping section above the ground at a set appropriate value, it is provided with a turn control means consisting of a traveling control means for controlling the traveling means, a height above the ground detecting means for detecting the height of the reaping section above the ground, and a height above the ground of the reaping section. , further comprising a mowing height control means for controlling the operation of a lifting means for raising and lowering the reaping section based on the height above the ground detected by the height above the ground detecting means, and a forward pattern is executed by the turn control means. Accordingly, the present invention relates to a turn control device for a reaping/harvesting machine, which is provided with an elevation control means for stopping the cutting height control means and operating the elevation means to the upward side.

[Conventional technology]

In this type of turn control device, as shown in FIG. 6, in order to automatically move the machine to the next working stroke in the direction intersecting the previous working stroke after completing one working stroke, The respective turn control patterns for forward movement, -next turn, reverse movement, and secondary turn are defined and memorized in advance,
When the end of one working stroke is detected by the stroke end detection means and the forward pattern is started, the reaping section is raised significantly to prevent it from getting in the way during the turn. , based on the detection information from the direction detection means and the travel distance detection means, each of the above turn control patterns is executed in sequence, and then the reaping section is lowered and the machine automatically moves to the next work process, and the cutting height is adjusted. The height control is activated to control the reaping operation so that it starts at the appropriate reaping height.

[Problem that the invention seeks to solve]

However, conventionally, after the above-mentioned secondary turn, that is, after the turn is completed and the machine is facing the direction of the next work stroke, the reaping section is lowered and the mowing height control for the next work stroke is activated. Since the reaping work was started after the mowing was performed at a proper mowing height, there were the following disadvantages, and there was room for improvement.

In other words, until the cutting section descends to the appropriate cutting height,
I am unable to start the reaping process in the next step.
If the reaping unit is lowered after the end of the turn, there is a disadvantage that the start of the actual reaping operation in the next step is delayed, or the reaping operation is started at a height other than the appropriate reaping height.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to shorten the preparation process required from the end of a turn to the start of reaping work in the next work process, thereby improving work efficiency. To enable the start of reaping work to be accurately started at an appropriate reaping height.

(Means for Solving the Problems) As shown in FIG. 1, the characteristic configuration of the turn control device for a reaping harvester according to the present invention is that the lift control means (103) is connected to the turn control means (
The mowing height control means (104) is configured to be activated when the secondary turning pattern is executed by 100), and its functions and effects are as follows.

[For production]

That is, the turn control means (100) activates the cutting height control means (104) as the secondary turning is started, and at the same time as the secondary turning is executed, the reaping section (2) adjusts to the set appropriate value. (■.) is automatically lowered.

〔Effect of the invention〕

Therefore, as the secondary turn is executed, the cutting height control is activated, so by the time the machine enters the next work stroke after the secondary turn is completed, the reaping section has already been maintained at the appropriate set value. The mowing operation in the next working process can be started immediately at the appropriate mowing height without having to wait until the reaping section descends as in the conventional case. As a result, while maintaining an appropriate cutting height, the time required to prepare for the start of the cutting process for the next process after turning can be shortened, and work efficiency can be improved.

〔Example〕

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

As shown in Figure 7, the planted stem culms of rice, wheat, etc. in the field are raised and harvested, and while the harvested stem culms are transported, the posture is changed to a sideways posture, and the receiver is passed to the feed chain (1). The reaping section (2) and the threshing device (3) that threshes the stem culms that are pinched and conveyed by the feed chain (1) and sort and collect the grains are connected to a pair of left and right crawler traveling devices (4L).
, (4R) is mounted on a machine (ν) equipped with the machine (ν) to constitute a self-propelled combine harvester as a reaping/harvesting machine.

In addition, a direction sensor (8) is installed on the upper part of the aircraft (V), which is an integral unit of a geomagnetic sensor that detects the absolute direction by notifying changes in the geomagnetic field and a signal processing section that processes the detection signal. , constitutes an azimuth detecting means.

The reaping section (2) is configured to be able to be raised and lowered by a hydraulic cylinder (21) serving as an actuator for raising and lowering the reaping section (2). The height above the ground (H) detected by the ultrasonic sensor (22) as a height above the ground detection means provided in the reaping section (2) is adjusted so that the set cutting height becomes the appropriate value (+1°). The reaping section (2) is automatically adjusted based on this, and when turning to move on to the next work step after completing one stroke, it is raised significantly to prevent the reaping section (2) from colliding with the ground. This constitutes a cutting height control means (104).

As shown in FIGS. 2 and 7, the ultrasonic sensor (
22) is an oscillator (22) that emits ultrasonic waves toward the ground.
a) and a receiver (22b) that receives the reflected waves, and is configured to detect the height above the ground of the reaping section (2) based on the time difference between the transmission and reception of the ultrasonic waves. It is attached to the back of one of the weeding tools (5L) and (5R) provided at the tip of the cutting section (2).

Also, a contact type switch is provided in the stem culm conveyance path of the reaping section (2), which outputs a 0N10FF signal when it comes into contact with the base of the stem culm introduced into the reaping section (2) from the front. A stock head sensor (So) is provided, which constitutes a stroke end detecting means for detecting whether or not the stroke end has been reached by determining whether or not reaping work is in progress.

Furthermore, the weeding tools (5L) and (5R) at both left and right ends provided at the tip of the reaping part (2) are attached to the frame (6).
), (6) respectively, the machine body (ν) is biased forward and comes into contact with the base of the stem culm introduced into the reaping part (2), and the angle corresponding to the contact position is A copying sensor (51) (sz) is provided, which consists of a sensor bar (7) that rotates toward the rear of the aircraft (ν), and a potentiometer (1?) that detects the rotation angle of the sensor bar (7). , the lateral deviation 1 of the machine body (ν) with respect to the stem culm is detected, and based on the detected deviation, the machine body (V) automatically runs along the stem culm during the reaping operation. The control parameter is configured to detect a control parameter for controlling to perform the control.

Incidentally, since the stem culm planted in the field comes into contact with the sensor bar (7) intermittently, the output signal of the potentiometer (R) changes intermittently.

Therefore, in order to detect the lateral deviation, signal processing such as averaging the output signal of the potentiometer (1υ) or detecting the maximum value per unit time is performed.

The output from the engine (E) is transferred to the hydraulic continuously variable transmission (9
) is configured to transmit the information to the driving transmission section (10). A rotation speed sensor (11) is provided for detecting the running speed (vx) and the running path 14 (Lx) by detecting the rotation speed of the input shaft (10a) to the transmission section (10), This constitutes a traveling distance detecting means that also serves as vehicle speed detection.

Further, steering clutches (12L), (12R), which separately disconnect and disconnect power transmission from the transmission section (10) to the left and right crawler traveling devices (4L), (4R), the steering clutches (12L), (12R), respectively. ), and this hydraulic cylinder (13L).

A pair of electromagnetic pulps (14
L) and (14R) are provided. In addition, in Figure 2, (
16) is an electromagnetic pulp for operating a hydraulic cylinder (21) that raises and lowers the reaping section (2). Thus, the hydraulic cylinder (21) for lifting/lowering operations and the electromagnetic pulp (16) constitute lifting means for lifting/lowering the reaping section (2).

To describe the configuration of the steering clutches (12L, 12R) in detail, a clutch lever (17) for operating the steering clutches (12L, 12R) is connected to the hydraulic cylinder (13).
It is designed to be turned on and off by pushing and pulling the expansion and contraction action of L, 1311).

Further, a brake lever (18L, 18R) for operating the traveling brakes (18L, 18R) is provided so that the brake lever (17) is in a braking state when the thalasso-tile lever (17) is operated in the cutting operation direction.
A link member (20) pivotally connected to the clutch lever (17) is connected to the steering clutch (12L, 19) by the hydraulic cylinder (13L, 13R).
If the brake (12R) is cut off, the brake (18L,
18R) are configured to be in a braking state in conjunction with each other. In other words, the operation of the steering clutches (12L, 12R) and the travel brakes (18L, 18R) are linked so that the brakes (18L, 18R) are activated after the steering clutches (12L, 12R) are operated to the disengaged state. It is set to be carried out.

When only the steering clutches (12L, 12R) are disengaged, the clutch lever (17) is in contact with the clutch lever (17) at the operating position where the clutch is disengaged. The hydraulic cylinder (13L,
13R) and detects the operating position of the self-recording electromagnetic pulp (14R).
L, 14R) are stopped. Therefore, the crawler traveling device (4L), (4R),
Transmission (9), steering clutch (12L).

(1211), and travel brake (18L), (
18R) constitutes the traveling means (4).

Hereinafter, the travel control means (1) that controls the travel means (4) will be described below.
02), a control device 3 for configuring the mowing height control means (104) and the elevation control means (103) to be described later.
While explaining the operation of (15), we will explain the reaping control in which the machine (V) automatically travels along the stem culm in each work process, and the next work process in the direction that intersects with that process after the completion of one work process. The turn control for automatically driving the machine body (V) and the elevation control of the reaping section (2) will be explained.

That is, the automatic traveling for the reaping work is performed in a so-called rotary reaping work form while reproducing the reaping control and turn control, and,
Before starting such automatic reaping work, the outermost periphery of the reaping work range is manually operated and the reaping work is performed in advance to detect and store information necessary for performing the automatic reaping work. Based on the stored information and the preset and memorized information, the vehicle is caused to run automatically according to instructions from the control device (15), and a forward pattern of turn control, which will be described later, is executed. information for stopping the mowing height control and raising the reaping part (2) in accordance with the above, information for starting the mowing height control in accordance with the execution of the secondary turning pattern of the turn control to be described later; Information for controlling the cutting height is set and stored in advance, and based on the stored information, the reaping section (2) is controlled to move up and down in response to commands from the control device (15). It is set as.

In other words, when performing the reaping work by artificially steering the outermost part of the reaping work range in advance, the stock origin sensor (
The orientation (θ) detected by the orientation sensor (8) from when So) is turned on until it is turned off is repeatedly sampled, and the average orientation is calculated as the reference orientation (α), ( β), and the value is stored in the memory (101).

This memory (101) also contains information for performing a forward pattern, a next turning pattern, a reverse pattern, and a secondary turning pattern of turn control, which will be described later, as well as information about the reaping section (
2) The information for performing the elevation control and the information for performing the reaping control are stored. Thus, the memory (101) constitutes a turn control pattern storage means, and the mowing operation for storing the reference direction will be referred to as outer circumference teaching hereinafter.

Next, a detailed explanation will be given based on the operation order of the control device (I5).

As shown in FIGS. 2 and 3, the operating state of the work mode selection switch (S-0), which sets whether to perform the outer circumference teaching or automatic travel, is checked, and this switch (pot) is When it is in the ON state, the process for the outer circumference teaching is executed. When the steering control start switch (SW l) is turned on while the work mode selection switch (S-0) is in the OFF state, the stock sensor (So) and both left and right copying sensors (Sl), (Sl)
The state of is repeatedly checked at predetermined intervals (set to about 50 m5 in this embodiment).

Then, when the machine body (v) is manually operated to start reaping work, the stock sensor (So) is turned on and reaping control is started. In addition, when the stock sensor (So) is in the OFF state, the left and right scanning sensors (S0), (Sl
) and if the stock sensor (So) is OF
Even in the F state, the copying sensors (Sr) and (St) are O.
If it is in the N state, reaping control is started.

When reaping control is started, the current detection direction (θ) by the force position sensor (8) is changed to the stored reference direction (α).
, (β), and
Steering control is performed so that the body deflection amount detected by the scanning sensors (Sl) and (St) is maintained in an appropriate state.

Upon completion of one work process, the stock sensor (So)
Check whether both the copying sensor (St) and the copying sensor (S) are in the OFF state, and if the stock sensor (So) and copying sensor (Sl), (St) are all 0FFL,
If this state continues for a predetermined period of time (set to approximately 1.5 seconds in this example), it is determined that one work process has ended, the reaping control is ended, and the next process is started. Turn control is activated to move the aircraft (V) on a journey.

In addition, to determine the end of one work process, the stock sensor (
It is the stock sensor (So) that checks the status of both the sensors (So) and copying sensors (Sl) and (Sz).
) is configured to make 0N10FF when it comes into contact with the stem culm that is touched by four people, so it cannot be completely distinguished from the case where the stem culm is temporarily interrupted using only this plant sensor (So). , it is better to determine that one work process is completed when all the sensors (S0), (Sl), (sz) that are in contact with the stem culm introduced from the front of the machine (V) are all OFF. This is because malfunctions in determining the end of a work process are reduced.

Specifically, when both the stock sensor (three) and the copying sensor (Sl), (SZ) are turned off, the stock sensor (S0) and the copying sensor (Sl),
The number of times (N) of repeatedly checking the state of (Sl) at the predetermined period (50 ms) is the predetermined elapsed time (1,
5 seconds), and determines whether or not the set number of times (30 times) corresponding to
o) , (S0), (Turn control is started only when S continues to be in the OFF state. By the way, the stock sensor (So) or the copying sensor (S
l), (Sl) is in the ON state, reset the number of times (N) to check the status of the stock sensor (So) and copying sensor (s+), (sz) to zero, and Reaping control is continued until all of the sensor (So) and copying sensors (s+) and (Sz) are turned off and this state continues for a predetermined period of time or longer.

Further, in the reaping control, as described above, the height above the ground of the reaping section (2) is set to the appropriate setting value (11) based on the height above the ground detection information 1 (11) by the ultrasonic sensor (22).
Cutting height control is performed in parallel so that the cutting height is maintained at .

To explain the cutting height control in detail, as shown in FIG. 5, the detected value (11) by the ultrasonic sensor (22)
is compared with the set appropriate value (1 (.) of the cutting height), and the cutting unit ( 2) Electromagnetic valve (16) that operates the hydraulic cylinder (21) for lifting/lowering operation
It controls the operation of the

This constitutes a cutting height control means (104).

The appropriate value (11°) of the mowing height is set manually using a potentiometer (105) as a mowing height setting means shown in FIG. 101) may be stored in advance.

Next, the turn control will be described in detail.

As shown in Fig. 4 and Fig. 6, as mentioned above, the stock sensor (So) and the copying sensor (Sl), (S ri is 0F
FL, when a predetermined time or more elapses, the reaping control is stopped and the hydraulic cylinder (21) for raising and lowering the reaping section (2)
) to the upward side to greatly raise the reaping part (2) and interrupt the reaping operation, calculate the -th turning angle (θ1) based on formula (i), which will be described in detail later, and calculate the travel distance ( Lx
), and at the same time, the rotation speed sensor (1
1) Based on the vehicle speed (Vx) detected by the transmission device (9)
, and the travel distance (Lx) is a predetermined distance that is preset based on the width of the body (V) so that the turning of the body (V) does not push down the stem culm at the end of the next stroke. (
Advance until reaching La) (Step 1 to Step #9).

(The processing of steps 1 to 119 described above is the execution of the forward pattern.) Although the raising operation of the reaping section (2) is started before the start of the forward pattern, it is performed after the start of the forward pattern. In short, the mowing section (2) may be raised as the forward pattern is executed, and in this process and the mowing height control startup process described later, the elevation control means (103
) is configured. Incidentally, the reaping section (2) whose raising operation has started will be raised to its stroke end.

Then, the aircraft (
The direction detected by the direction sensor (8) (
Based on the change in θ), the left side solenoid valve (14L)
Turn ON (Step 110. Step 1111)
).

When the detected direction (θ) reaches the direction (α100) obtained by adding the next turning angle (θ0) to the current reference direction (α) at which the work has been completed, the left crawler traveling device t (4L) remains in the braking state, the right side electromagnetic valve (14R) is turned on to stop the drive of the right side crawler traveling device (4R), and the traveling of the aircraft (V) is forcibly stopped. The shift position of the transmission (9) is returned to the stop position, and then both electromagnetic valves (14L
) and (14R) are turned OFF to release the brakes of the left and right page crawler traveling devices (4L) and (4R) (step 1112 to step u14); Wait until a predetermined time (approximately 2.0 seconds in this example) has elapsed after stopping traveling, and when the aircraft (V) has come to a complete stop, operate the transmission (9) to the reverse side. Then, the vehicle starts moving backward while increasing the speed until it reaches a predetermined speed (Vb), and the travel distance (Lx) during that time is counted (Step 1115 to Step #20).

(The processing from step #15 to step 1I20 above is the execution of the backward movement pattern.) When the traveling distance (Lx) of the backward movement reaches a preset predetermined distance (Lc), the aircraft (V) direction is changed to the next direction. In order to put the right side crawler traveling device (4R) into a braking state in order to orient it toward the stroke start point, the change is determined as a secondary turning angle (θt) based on the direction (θ) detected by the direction sensor (8). In other words, the detection power is
The right electromagnetic valve (141?) is turned on until θ) matches the reference direction (β) of the next stroke, and the mowing height control is activated to raise and lower the hydraulic cylinder (21) of the reaping section (2). The solenoid valve (16) that operates the step valve #2 is lowered to the appropriate setting value (Ho) at the same time as the start of this secondary rotation.
1 to Step #24).

Next, while maintaining the right side crawler travel device (4R) in the braking state, the left side crawler travel device (4L)
) to the braking state to forcibly stop the traveling of the aircraft (v) (After turning on the left solenoid valve (14L), return the transmission (9) to the traveling stop position, and then , both solenoid valves (14L), (14
R) is turned OFF, and the left and right crawler traveling device (
4L) and (4R) (Step #25. Step #1126).

Furthermore, when the machine (ν) stops, it advances while increasing the speed until it reaches a predetermined speed (Vc), and enters the end of the next working stroke (steps 112 to 132).
).

(The processing of step #21 to step #32 is the execution of the secondary turning pattern.) In the execution of the secondary turning pattern, if the stock sensor (So) turns ON while moving forward, the above-mentioned reaping The control causes the reaping control to start the next work process so that the machine (V) automatically travels along the stem culm and then performs the reaping work.

By the way, in the turn control explained above, the intersection angle of each stroke, which is the difference between the reference bearing (α) of the stroke that has finished traveling and the reference bearing (β) of the next stroke, is different from the standard 90 degrees. As shown in (i) and (ii) 2 below, so that the orientation of the aircraft (V) after the end of the turn matches the reference direction (β) of the next stroke, even if the angle is -next turn, The turning angles (θυ, (θ2)) of each secondary turning are automatically set based on the reference directions (α), (β) of the two intersecting strokes.

θ, = 2/3 (β - α) ...... (i
)θ! =1/3(β-α)=β-θ, ・・・・・・(
ii) In other words, in the -th turn, the detected direction (θ) is the primary turning angle (θl) with respect to the reference direction (α) for that stroke.
) will be rotated until it matches the angle (α + 01) added, and in the secondary turn, it will be rotated until the detected orientation (θ) matches the reference orientation (β) for the next stroke. , No matter what the intersection angle of each stroke is, it is possible to turn so that the aircraft movement path during the turn is outside the work area, and the aircraft orientation after the turn matches the orientation of the next stroke. It is.

[Another example]

In the above embodiment, the height above the ground (H) of the reaping part (2)
An example is shown in which an ultrasonic sensor (22) is used to configure the height above the ground detecting means for detecting the height above the ground.
It is sufficient to detect the height above the ground in 2), and various types can be used, regardless of whether they are non-contact type or contact type.

In addition, in the above embodiment, the -th turning angle (θ1) is
We have shown an example of setting the difference (β - α) between the current reference heading (α) and the next leg reference heading (β) to 273, but if the aircraft (V
) can be changed depending on the size and turning performance.

Further, in the above embodiment, an example was shown in which the reference orientation is automatically set by outer circumferential teaching, but it may also be set manually in advance.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram showing the configuration of the present invention. Fig. 2 and subsequent figures show an embodiment of the turn control device for a reaping harvester according to the present invention, Fig. 2 is a block diagram showing the configuration of the control system J, and Fig. 3 shows the overall operation of the control device. Flowchart, FIG. 4 is a flowchart showing the operation of the control device in turn control, FIG. 5 is a flowchart showing the operation of the control device in cutting height control, FIG. FIG. 7 is a schematic side view of the combine harvester. (V) ..... fuselage, (2) ..... reaping section,
(4)... Traveling means, (8)... Orientation detecting means, (11)... Mileage detecting means, (
So)... Stroke end detection means, (θ1)...
...-Next turning angle, (θ2) ...Secondary turning angle, (Lx) ... Travel distance, (Lc) ...
...Predetermined additive, (16), (21)... Lifting means, (22)... Ground height detection means, (1
01)...Turn control pattern storage means, (1
03)...U descent control means, (104)...
... Cutting height control means.

Claims (1)

[Scope of Claims] Direction detection means (8) for detecting the orientation of the machine (V) in order to automatically move the machine (V) to the next work process in the direction intersecting the previous work process after the completion of one work process. ), a travel distance detection means (11) that detects the travel distance (Lx) of the machine body (V), a stroke end detection means (S_0) that detects that the machine body (V) has reached the end of the working stroke, and A forward pattern that moves the machine forward a predetermined distance upon completion of one work stroke, a primary turning pattern that turns the set primary turning angle (θ_1) toward the next stroke, and then moves backward a predetermined distance (Lc) toward a point before the next stroke. Turn control pattern storage means (1) for storing information for performing a backward movement pattern and a secondary turning pattern in which the set secondary turning angle (θ_2) is turned in the direction along the next stroke and the secondary turning pattern is made to move forward.
01), and each of these means (8), (11), (S_0), (101
) is provided with a turn control means (100) consisting of a travel control means (102) that controls the travel means (4) of the aircraft body (V), and detects the height of the reaping section (2) above the ground. Height above ground detection means (
22), and, in order to maintain the height above the ground of the reaping section (2) at a set appropriate value (H_0), the above-mentioned reaping is performed based on the height above the ground (H) detected by the above-mentioned height above the ground detection means (22). A cutting height control means (104) is provided for controlling the operation of the lifting means (16) and (21) for raising and lowering the section (2), and as the forward pattern is executed by the turn control means (100), the mowing height control means (104) is provided. A turn control device for a reaping harvester is provided with an elevation control means (103) for stopping the cutting height control means (104) and operating the elevation means (16), (21) on the upward side. The elevation control means (103) is controlled by the turn control means (103).
100) A turn control device for a reaping harvester, configured to activate the cutting height control means (104) when a secondary turning pattern is executed by the reaping/harvesting machine.