JPS62244307A - Steering 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 provides a method in which a reaping section that is installed on the front side of a machine body and that is smaller than the width of the machine body is positioned biased toward the uncut stem culm side with respect to the machine body. The reaping section is provided with a steering control sensor that detects the position of the machine body in the width direction with respect to the stem culms planted in the field, in contact with and acting on the stem culms introduced into the reaping section. Steering control means provided at both left and right ends of the steering control means for automatically steering a pair of left and right traveling devices so that the machine automatically travels along the stem culm based on position information detected by the stirring control sensor. The present invention relates to a steering control device for a reaping and harvesting machine.

[Conventional technology]

As shown in Fig. 1 and Fig. 4, this type of reaping/harvesting machine is capable of knocking down stem culms (H) planted in the field during reaping work using the traveling devices (4L) and (411). The left and right traveling devices (4L),
(4R) has been expanded to include a threshing section (3) that threshes the stem culms that have been cut by the reaping section (2) installed at the front of the machine (V), and sorting and collecting the grains. This is convenient for maintaining good left-right balance when the storage section (4) for storing grains is mounted on the fuselage (V).

Incidentally, in general, the reaping section (2) is placed on the uncut stem culm side so that the position of the leftmost weeding tool (5L), which is the uncut side at its tip, approximately coincides with the left end of the machine body. It will be installed biased to the left side of the machine, and from the perspective of preventing uncut leaves, the right side weeding tool (5R) on the already mowed side will be located as close to the already mowed side as possible. This will expand the range of introduction of the stem culm formed between the weeding tool (5c) and the weeding tool (5c) located in the center.

In normal reaping work where the uncut stem culm is adjacent to the left side of the machine and the stump of the cut stem culm is located on the right side of the machine, a pair of left and right stems provided at the tip of the cutting part (2) at O:8 is used. The steering control sensors (S+) and (S2) are connected to the left and right weeding tools (
5L), (5R) and the central weeding tool (5C), respectively - the stem culms (II) of the tea ceremony (in Fig.
Based on the detected position information, automatic driving is performed to prevent the machine (V) from trampling over rows of stem culms located on the uncut side of the stem culms to be harvested. It is designed to control the steering so that the

However, for example, in a field where the work area is wide, the reaping work area may be divided in advance into intermediate division work, and in this case, with the above-mentioned normal steering control, the aircraft (V)
Since the cutting part (2) protrudes in the direction toward the already cut side than the cutting width position, there is a risk that the traveling device (4R) on the already cut side will step on the stem culm located on the already cut side. Because of this, conventionally, for example, the detection zone of the aircraft position relative to the stem culm by the steering control sensor (S2) on the right side has been changed from the normal detection zone shown in FIG. 5 to the one shown in FIG. 6. In this case, the shallow scanning zone (a) is determined to have shifted away from the dead zone zone (b) where the machine position is within the appropriate position range, and the deep scanning zone (a) is determined to be shifted toward the already-cut stem culm. Switch to the detection zone for intermediate splitting expanded to the zone (c) side, and check the left weeding tool (located on the uncut side).
SL) and the weeding tool (5C) located in the center.
R) and the central weeding tool (5C), two rows of stem culms (1
1), steering control is carried out so that the machine moves as a whole in a state closer to the side of the cut culm.

(Shape 8 shown by a solid line in Fig. 1) Conventionally, when the detection position of the steering control sensor (S2) located on the already-mowed side is in the shallow scanning zone (a), the machine moves straight ahead. The steering was controlled so as to cause the vehicle to move (see Japanese Patent Laid-Open No. 58-220607).

[Problem that the invention seeks to solve]

However, in the reaping section 1m, the machine body protrudes toward the cut culm side with respect to the reaping section, so during the middle splitting operation, the detection position of the steering control sensor located on the already cut side is When the machine is in the shallow scanning zone (a), conventional steering control means that simply causes the machine to travel straight ahead may cause the machine to lean too far toward the already cut side, resulting in There was a risk that the uncut stem culm adjacent to the already cut side would be knocked down by the body traveling device that protruded toward the already cut stem culm side, and there was room for improvement.

[Means for solving problems]

The characteristic configuration of the steering control device for a reaping harvester according to the present invention is as follows:
The steering control means is configured such that the detection position by the steering control sensor located on the already-cut side of the pair of left and right steering control sensors is set to a point closer to the already-cut stem culm than a preset appropriate position range. If the steering wheel deviates in the direction, regardless of the detection position of the steering control sensor located on the uncut side,
The present invention is equipped with a means for steering the machine toward the uncut stem culm, and its functions and effects are as follows.

[For production]

In other words, during splitting work, if the detected position of the machine with respect to the stem culm by the steering control sensor installed at the end of the cut side of the reaping section deviates from the appropriate position range to the cut side. Regardless of the detected position of the steering control sensor on the uncut side, the machine is steered toward the uncut side so that the machine moves toward the uncut side of the stem culm.

〔Effect of the invention〕

Therefore, it is avoided that the machine body is driven too close to the already-cut side, and the end of the machine body that protrudes toward the already-cut side pushes down the stem culm, or the traveling device located on the already-cut side pushes down the stem culm. You can prevent this from happening. In addition, the aircraft will be traveling on the uncut side compared to before,
Since the reaping section is originally located biased towards the uncut side of the machine body, even if the machine runs on this uncut side, it will not push down the uncut stem culms or run over them with the traveling device.

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

As shown in Figures 3 and 4, the stem culms (11) of rice, wheat, etc. planted in the field are raised and harvested, and the harvested stem culms are transported and changed to a horizontal position for threshing. The reaping section (2) is connected to the feed chain (1) without passing it through the feed chain (1).
) On the front side, it is located biased to the left side, which is the uncut side with respect to the machine body (V), and is movable up and down.
A threshing section (3) that threshes the stem culms that are pinched and conveyed by the threshing feed chain (1) and sorts and collects the grains, and a storage section that stores the grains that are sorted and collected in the threshing section (3).
4) and a pair of left and right crawler traveling devices (4).
R) is installed on the left and right sides of the aircraft (V), and the harvesting amount is W! The machine consists of a self-propelled combine harvester. However, the width of the reaping section (2) is smaller than that of the body (V).

In addition, an orientation sensor (8) is provided on the upper part of the fuselage (V), which is an integral unit of a geomagnetic sensor that detects absolute orientation by sensing changes in the earth's magnetic field and a signal processing section that processes the detection signal. .

Further, the stem culm conveyance path of the reaping section (2) is provided with a contact type switch that 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 position sensor (So) is provided, and steering control, which will be described later, is automatically started and stopped based on the 0N10FF signal from this stock position sensor (So).

In addition, the front side of the fuselage (V) is attached to each of the mounting frames (6) and (6) for the weeding tools (5L) and (5R) located at both left and right ends provided at the tip of the reaping section (2). The stem culm (H
), the sensor bar (7) contacts the base of the fuselage (V) and rotates to the rear of the aircraft (V) by an angle corresponding to the contact position, and a potentiometer (7) detects the rotation angle of the sensor bar (7). Steering control sensors (Sl) and (S2) consisting of
are provided, and the left and right weeding tools (51,), (5
The position of the lateral force direction of the body (V) with respect to the stem culm (I+) introduced between the weeding tool (5C) and the weeding tool (5C) located at the center is detected. The output signal of the potentiometer (R) is determined when the sensor bar (7) is connected to the stem culm (1).
1), it will change intermittently because it is intermittently connected to 1), so for example, after performing signal processing such as averaging or detecting the maximum detection value per unit time,
This will be used as detection information for the aircraft (V) position.

In addition, the distance between the rightmost weeding tool (5R) located on the mowed side and the weeding tool (5C) located in the center is adjusted to The distance between the right and left weeding tools (5L), (5R) and the center weeding tool (5C) is set wider than the distance between the leftmost weeding tool (5L) and the center weeding tool (5C). During normal reaping when the stem culm (11) is introduced (the state shown by the two-dot chain line in Fig. 1), the stem culm (11) located on the already cut side is cut so as to reduce the occurrence of uncut parts, and During splitting work, the rightmost weeding tool (511) with this gap widened and the weeding tool (5C) located in the center are used.
), two stem culms (11) are introduced (the state shown by the solid line in Fig. 1), and three stem culms (11) can be harvested at the same time.

Describing the determination of the aircraft position with respect to the stem culm (II) based on the detection information of the right steering control sensor (S2), as shown in FIGS. 5 and 6, the output signal of the potentiometer (R) Based on this, the detection position is divided into three zones (a), (b), and (c) for discrimination. That is, from the state in which the sensor bar (7) returns to the most forward side of the body (7) to the state in which it rotates backward by a predetermined angle, the state in which the body (V) leaves the body (V) with respect to the stem culm (11) In other words, the shallow copying zone (a) is in a state where it is shifted to the already cut side, and this shallow copying zone (a
) to the state where it is rotated further backward by a predetermined angle,
The dead zone (b) is a state in which the body (V) is along the appropriate position range with respect to the stem culm (11), and the state in which the body (V) is rotated further rearward from this dead zone zone (b) is defined as , the deep tracing zone (c) is a state in which the area is too close to the stem culm (11).
The figure shows a discrimination zone for in-between work, which will be described later. While expanding toward the dead zone (b) side, the width of the dead zone (b) is narrowed. In other words, in the middle splitting operation, as shown by the solid line in Figure 1, two rows of stem culms are separated between the weeding tool (5R') located at the right end and the weeding tool (5C) located at the center. (11) is introduced, so even if the stem culm (II) located at the right end is at the appropriate position for mid-splitting, the steering control sensor (Sl) on the already cut side On the other hand, since the contact is biased in the deep scanning direction, the position of the dead zone (b) moves toward the right side of the machine body (V), which is the already cut side.

Similarly, the left steering control sensor (S+)
Three zones (a), (b), and (c) will be determined. However, between the left weed divider (5L) located on the uncut side and the center weed divider (5c), one row of stem culm (+1) L is placed between the weed divider (5L) located on the uncut side and the center weed divider (5c), as in normal times. Therefore, for the left steering control sensor (Sl) located on the uncut side, the determination zone of the detection position is not changed between the above-mentioned normal time and the middle cutting operation.

Next, the power transmission structure and steering operation structure for the crawler traveling devices (4L) and (4R) will be explained.

As shown in Figure 1, the output of the engine (E) is
The transmission is configured to be transmitted to a transmission section (10) for driving via a hydraulic continuously variable transmission (9). A rotation speed detection sensor (11) is provided which detects the traveling speed and distance by detecting the rotation speed of the input shaft (10a) to the transmission section (lO), and controls the traveling speed to a predetermined speed. This is so that control information can be detected to automatically change direction or stop the vehicle as the vehicle is maintained or travels a predetermined distance.

In addition, steering clutch brakes (12L), (12R), which individually disconnect and disconnect power transmission from the transmission section (10) to the left and right crawler traveling devices (4L), (4R),
The steering clutch brake (12L), (121?
) Hydraulic cylinder (13L), (13
R), and the hydraulic cylinder (13L), (13
Solenoid valve (14L), (1
4R) are provided.

The steering clutch brake (12L), (12R)
To explain the configuration of the steering clutch brake (1
Clutch lever (15) for operation of (2L) and (12R)
), (15), the hydraulic cylinder (13L),
(13R) is operated by pushing and pulling with the expansion and contraction action of the clutch lever (13R). A filter is provided so that when the clutch is disengaged by one actuator, the travel brake is interlocked and brought into the braking state so that the brake is put into the applied state. In FIG. 1, (16) is a hydraulic cylinder that raises and lowers the reaping section (2), (17) is a solenoid valve that operates the hydraulic cylinder (16), and (SW, ) is a steering valve. The control start/stop switch (SW2) connects the aircraft (V) to the stem (11).
Row cutting mode that runs along the row direction of the stem culm (H)
This is a steering mode selection switch for selecting three steering control modes: a horizontal mowing mode in which the mowing machine runs in a direction perpendicular to the row direction of the mowing machine, and the above-mentioned intermediate cutting mode.

Next, the configuration of the control device (18) as a steering control means for controlling the steering of the aircraft (V) will be explained in detail based on the flowchart shown in FIG. do.

Basically, the control device (18) starts steering control by an ON signal that is output when the stem culm (11) comes into contact with the stock sensor (SO), and then Until the original sensor (So) is turned off, the stem culm (1(
), the detection position of the aircraft (V) in the lateral direction is in the three discrimination zones (a) and (b) shown in Fig. 5 or Fig. 6 above.
, (c), so that the detected position is maintained within the set position range based on which range the left and right steering cranoch brake gear (12L), (12R) is located.
The machine (V) is configured to be controlled so that it automatically travels along the stem culm (11) by operating the machine.

In the middle splitting operation, the discrimination zone for the detection position of the right steering control sensor (S2) is set to the fifth
At the same time as switching from the normal work shown in the figure to the intermediate work, first, the zone of the detection position of the already-mowed side steering control sensor (S2) located on the right side is determined.

When the detection position of the already-mowed side steering control sensor (S2) is in the formation zone (a), regardless of the detection position of the un-mowed side steering control sensor (Sl), immediately The aircraft (V) is intended to perform a left turn steering operation that makes a large turn to the left, which is the uncut side. If the detected position by the steering control sensor (S2) located on the mowing side is deviated from the preset appropriate position range (b) in the direction of the cut stem culm, the position is on the uncut side. This constitutes means for steering the machine body toward the uncut culm side regardless of the detected position of the steering control sensor (S,).

The detection position of the already-mowed side steering control sensor (S2) is
If it is in the dead zone zone (b) or the deep scanning zone (c), turn left or go straight in accordance with the determination zone of the detection position by the uncut side steering control sensor (S,) located on the left side. , and perform each steering operation such as turning to the right.

That is, the detection position of the already-mowed side steering control sensor (S2) is in the dead zone (b), and the detection position of the un-mown side steering control sensor (So) is in the forming zone. If it is in (a) or dead zone (b),
It is determined that the machine m is maintained within an appropriate range with respect to the stem culms (11) adjacent to the left and right sides of the machine body (V), and the machine moves straight ahead, and the already-cut side steering control sensor (S2)
the detection position is in the Fuwazai zone (b), and
The detection position of the uncut side steering control sensor (Sl) is
If the machine is in the deep scanning zone (c), a left turning operation is performed to change the direction of the machine (V) to the uncut side.

On the other hand, when the detection position of the mowed side steering control sensor (S2) is in the deep scanning zone (c), the detection position of the uncut side steering control sensor (Sl) is in the determination zone. Based on this, steering operations such as turning left, going straight, and turning right are performed. That is, when the detection position of the uncut side steering control sensor (S,) is in the deep scanning zone (c), the machine body (V) is turned to the left to change direction to the uncut side in the same manner as described above. If the aircraft (V) is in the dead zone (b), perform a straight forward operation to maintain the aircraft (V) in its current orientation, and if it is in the image formation zone (a), perform a straight forward operation to maintain the aircraft (V) at a preset fixed angle. A fixed angle right turning operation is performed to change the direction of the dividing body (V) toward the already cut side. However, regarding the above fixed angle right turn operation, the aircraft (
Since the operation is to turn the machine (V) to the already-cut side, which does not have much margin for the adjacent uncut stem culm, the machine (V
) is controlled so that the aircraft (V) does not turn by more than a certain angular variation by performing a turning operation while checking the turning angle of the aircraft (V).

Therefore, during the middle splitting work, the machine m automatically travels while maintaining a state closer than usual to the reaping stem culm (11) located on the rightmost side, and the reaping section (2) The fuselage (V) protrudes to the right of the fuselage (V).
This reduces the risk of trampling over the uncut stem culm (11) adjacent to the right side.

Next, the configuration of the steering control means in row mowing mode, which is an example of normal reaping work, will be explained based on the flowchart shown in FIG. 7 using the normal discrimination zone shown in FIG. 5. .

That is, the detection position of the unmown side steering control sensor (Sl) is in the fuwazai zone (b), and the detection position of the mowed side steering control sensor (S2) is in the fuwazai zone (b). b), the steering clutch brake (12L ), (12R) to perform azimuth control.

On the other hand, when the detection position of the uncut side steering control sensor (Sl) is in the deep scanning zone (c), and the detection position of the uncut side steering control sensor (Sl) is in the shallow scanning zone ( a), and the already-cut side steering control sensor (S2
) is in the deep scanning zone (c), the steering clutch brake (121,
), (121?) for a predetermined period of time to perform a right turn or left turn operation.

Further, the detection position of the uncut side steering control sensor (S) is in the shallow copying zone (a) or the fuwazai zone (b), and the detection position of the uncut side steering control sensor (S) is located in the shallow scanning zone (a) or the fuwazai zone (b), and When the detected position is in the shallow scanning zone (a), the fixed angle turning control causes the body (V) to turn rightward by a certain angle.

In short, in the steering control in the row mowing mode, basically, as in the above-mentioned intermediate division, the field The direction sensor ( Based on the detection information obtained in 8), azimuth control is also used.

[Another example]

In the above embodiment, the steering control sensor (
SL), the same discrimination zone is used for intermediate cutting and for normal reaping work. The shallow scanning zone (a) may also be widened for better use.

Also, in order to change the direction of the aircraft (V) to the right, the example is shown in which the aircraft (V) is rotated by a constant angle variation.
Similar to left turning, right steering clutch brake (121?
) may be turned for a predetermined period of time. In that case, for safety reasons, the turning angle may be made smaller than when turning left.

[Brief explanation of drawings]

The drawings show an embodiment of the steering control device for a reaping harvester according to the present invention, FIG. 1 is a block diagram showing the configuration of the control system, FIG. 2 is a flowchart showing the operation of the control device during mid-splitting, and FIG. Figure 3 is an overall side view showing the general configuration of the combine harvester, Figure 4 is its rear view, Figure 5 is an explanatory diagram of the detection position discrimination zone of the steering control sensor for normal control, and Figure 6 is for intermediate control. FIG. 7 is a flowchart showing the operation of the control device during normal steering control. (2)...Reaping section, (4L), (4R)・
...Travelling device, (5L), (5R)...
・・Grass cutting tool, (V) ・・・Aircraft, (Sl) , (
Sz)... Steering control sensor, (b)...
...Appropriate position range.

Claims (1)

[Claims] A reaping section (2) installed on the front side of the machine body (V) and having a width smaller than the width of the machine body (V) is provided so as to be biased toward the uncut stem culm side with respect to the machine body (V). In addition, a pair of steering control sensors (S_1) detect the position of the body (V) in the width direction with respect to the stem culms planted in the field.
, (S_2) are provided at both left and right ends of the reaping section (2) in a state of contacting and acting on the stem culm introduced into the reaping section (2), the pair of steering control sensors (S_1), (S_
Based on the position information detected by 2), a pair of left and right traveling devices (4L
), (4R), the steering control device for a reaping and harvesting machine is provided with a steering control means for automatically steering the left and right steering wheels. Sensor (
The detection position by the steering control sensor (S_2) located on the already-cut side of S_1) and (S_2) is shifted in the direction of the already-cut stem culm from the preset appropriate position range (b). In some cases, regardless of the detection position of the steering control sensor (S_2) located on the uncut side, the reaping/harvesting machine is equipped with a means for steering the machine toward the uncut culm side. Control device.