JPS6258906A - Moving agricultural machine having automatic direction converting function - 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 (a) Technical Field The present invention relates to a mobile agricultural machine such as a combine harvester or a tractor, and more particularly to a mobile agricultural machine having an automatic direction change function that changes the direction of travel according to a pre-stored program.

(b) Summary of the Invention The mobile agricultural machine having an automatic direction change function according to the present invention has the following features:
In order to prevent the traveling direction change operation from taking a long time, the current vehicle speed is compared with the reference vehicle speed before the first cycle, and the reference vehicle speed is set to the standard vehicle speed, thereby preventing the traveling direction change operation due to running resistance, etc. This is to eliminate errors in operating speed.

(C1 Conventional technology and its disadvantages In order to use mobile agricultural machinery such as combine harvesters effectively and stably on a farm, they must move straight at a constant speed and change direction when they reach the edge of the farm. It is necessary to move in a straight line at a constant speed again.When harvesting with a combine harvester, the harvester performs circular movement in a rectangular manner from the outside to the inside of the farm.At this time, when changing direction, the crop is efficiently moved in the direction of travel without leaving any crops uncut. In order to change the direction of travel, conventionally a traveling direction changing operation is performed that combines a circular stroke and a straight forward stroke as shown in Fig. 3. However, the traveling direction changing operation as shown in Fig. 3 is similar to that of a combine harvester. A system that transmits driving force to the left and right axles independently and stops one drive to change the direction of travel in the desired direction is complicated to operate, and the reaping section installed at the front end of the combine has to be moved up and down. This further complicates the operation.

For this reason, conventionally, a predetermined movement direction change operation that combines a round stroke and a straight movement stroke at a set angle is memorized, and when the combine reaches the edge of the crop, this movement direction change operation is automatically performed. A mobile agricultural machine has been devised that has an automatic direction change function.

However, in the conventional mobile agricultural machinery, the movement direction change operation was controlled only by angle and distance.

For this reason, it has not been possible to correct speed differences caused by changes in running resistance that are affected by the wet and dry conditions of the farmland. Therefore, the speed may increase too much and become dangerous, or conversely, the speed may decrease too much and the direction change operation may take a long time, resulting in the disadvantage that a stable direction change cannot be performed.

(d) Purpose of the Invention In view of the above-mentioned conventional drawbacks, the purpose of the present invention is to eliminate the error in the operating speed of the direction change operation due to running resistance, etc., to prevent danger during direction change, and to prolong the operation time. An object of the present invention is to provide a mobile agricultural machine having an automatic direction change function that can prevent such problems.

(e1 Structure and Effect of the Invention The mobile agricultural machine of the present invention includes a vehicle speed detecting means for detecting the current vehicle speed after reaching the end of the crop and before the first round of the traveling direction changing operation, and this vehicle speed detecting means. A vehicle speed comparison means for comparing the detection result of the vehicle with a preset reference vehicle speed, and a speed control means for operating the transmission means in accordance with the comparison result of the vehicle speed comparison means to make the current vehicle speed match the reference vehicle speed. It is characterized by

According to the present invention, with the above configuration, the vehicle speed can be kept constant during the traveling direction changing operation, regardless of external conditions such as running resistance. Therefore, for example, if the farmland is dry and the running resistance is relatively low, the vehicle speed will be prevented from increasing above the specified value, while if the farmland is wet and the running resistance is large, the vehicle speed will be reduced to below the standard vehicle speed. This can be prevented. For this reason, it is possible to prevent danger during round-trip driving, and also to prevent delays in the movement direction change operation.

(f) Embodiment FIG. 2 is a block diagram of the main parts of a mobile agricultural machine having an automatic direction change function, which is an embodiment of the present invention.

The driving force of the engine 10, which is a power source, is guided to the gear transmission 7 via the hydraulic transmission 4, and is transmitted to each of the axles 9a, 9b. The hydraulic transmission 4 and the gear transmission 7 are transmission means. First shaft 7 of gear transmission 7
A speed detection sensor 8 is provided at a. This speed detection sensor 8 is constituted by a photo ink rubber. A shutter attached to a rotating shaft (not shown) connected to the first shaft 7a detects the frequency at which the light from the photo-intrabutton is blocked and uses it as a vehicle speed signal.

The hydraulic transmission 4 includes a variable displacement pump 5 and a constant displacement motor 6. By changing the angle of a variable swash plate 5a provided inside the variable displacement pump 5, the suction amount, discharge amount, and direction of pressure oil are changed. This change is constant volume■
In the motor 6, the rotation speed and rotation direction of the output shaft change and are transmitted to the gear transmission 7.

A shift lever 1 provided on the operating section is fixed to a rotary plate 2. This rotating plate 2 is connected to a variable swash plate 5a of a variable displacement pump 5 by a link mechanism 3. Further, the shaft portion of the motor 1) is connected to the rotating shaft of the rotating plate 2 via a friction plate (not shown).

The motor 1) can rotate in both forward and reverse directions, and the direction of the current is changed by the motor drive unit 12 to rotate the motor 1) in the forward or reverse direction.

A ROM 23 and a RAM 24 are connected to the CPU 21 of the control unit via an internal bus. The ROM 23 stores a program for performing operations such as changing the traveling direction. The CPU 21 receives a detection signal from the stock sensor ( ) 13 and a vehicle speed signal from the vehicle speed sensor 8 through the I10 interface 22 . Further, the CPU 21 is connected to the motor drive unit 12 via the (/○ interface 22), which determines on/off and direction of the current supplied to the motor 1) to drive the motor 1).

When the rotating plate 2 to which the shift lever 1 is fixed is rotated by the drive of the motor 1), the movement is transmitted to the variable swash plate 5a of the variable displacement pump 5 via the link mechanism 3. When the motor 1) rotates forward from the neutral state, the shift lever 1 moves in the forward high speed direction, causing pressure oil to be discharged from the variable displacement pump 5.
increases.

As a result, the rotational speed of the output shaft of the constant displacement motor 6 increases, and the rotational speed of the axles 9a and 9b increases. When the motor 1) reverses from the neutral state, the shift lever 1 moves in the backward direction, and the flow of pressure oil from the variable displacement pump 5 is reversed. As a result, the rotational direction of the output shaft of the constant displacement motor 6 is also reversed, and the axles 9a and 9b rotate in the backward direction.

FIG. 1 is a flowchart 1 showing a part of the operation of the combine harvester.

When the automatic direction change function is selected in step ni (hereinafter "step ni" is simply referred to as "ni"), the reaping work by straight motion is completed, and when the end of the crop is reached, the reaping section is set in n2. The stock price sensor 13 is turned off.

At n3, the vehicle speed 8 at this time is detected, and the process proceeds to n4. The current vehicle speed is detected by a speed detection sensor 8. At n4, it is determined whether the current vehicle speed ■8 is equal to a preset reference vehicle speed ■. If the two do not match at n4, the process proceeds to n5 and it is determined which of the current vehicle speed VX and the reference vehicle speed ■1 is greater. At n5, if the current vehicle speed 8 is smaller than the reference vehicle speed V1, the process proceeds to n6 and a speed increasing operation is performed. That is, the motor 1 is transmitted from the CPU 21 to the motor drive section 12 via the I10 interface 22.
) is instructed to rotate forward. As a result, the rotary plate 2 operates, the discharge amount of the variable displacement pump 5 increases, the rotation speed of the output shaft of the constant displacement motor 6 increases, and the rotating vehicle speed of the axles 9a, 9b becomes faster (current vehicle speed at n5). ■, is larger than the reference vehicle speed ■1, the process advances to n7, and the CPU 21 sends the I
10 interface 22 to instruct the motor drive unit 12 to reverse the motor 1). As a result, the rotary plate 2 rotates in the deceleration direction, the discharge amount of the variable displacement pump 5 decreases, and the rotation speed of the output shaft of the constant displacement motor 6 decreases.
The rotational speed of the axles 9a, 9b decreases.

n6. After the operation in n7, the process advances to n8. The mileage LX is counted when the stock sensor 13 is turned off, and at n8, this mileage L is compared with a preset reference distance. If the two do not match, the process returns to n4. If the current vehicle speed ■8 matches the reference vehicle speed ■1 at n4, the process directly proceeds to n8. If the travel distance falls short of the reference distance L1 at n8, the vehicle immediately enters a cycle of direction change operation.

In the above operation, vehicle speed detection sensors 8 and n3 correspond to the vehicle speed detection means of the present invention, and n4 and n5 similarly correspond to the vehicle speed comparison means. Also, n6 and r+7 similarly correspond to the speed control means. By the above operations n1 to n8, the current vehicle speed VX is detected immediately after reaching the end of the crop, and if there is an error from the reference vehicle speed 1, the current vehicle speed VX is detected from n5 to n8 by the time it reaches the position where the rounding stroke starts at n8. The current vehicle speed can be changed at n7. Therefore, the current vehicle speed ■8 is larger than the reference vehicle speed V (even if it is different, it can be made as close to the reference vehicle speed ■1 as possible, and the error with respect to the reference time of the direction change operation can be minimized) .

[Brief explanation of the drawing]

FIG. 1 is a flowchart showing part of the operation of a combine harvester, which is a mobile agricultural machine having an automatic direction change function according to the present invention;
FIG. 2 is a block diagram of the main parts of the combine harvester, and FIG. 3 is a schematic plan view showing the movement direction change operation of a mobile agricultural machine having an automatic direction change function. 8-vehicle speed detection sensor, 4-hydraulic transmission (speed change means), 13-
sensor.

Claims (1)

[Claims] (1) A vehicle that is equipped with a speed change means that increases or decreases the driving force of the power source and transmits it to the axle, and has an automatic direction change function that performs a predetermined direction change operation that combines a circular stroke at a set angle and a straight stroke. In the agricultural machine, after reaching the edge of the crop and before the first round of the movement direction change operation, a vehicle speed detection means for detecting the current vehicle speed, and a detection result of this vehicle speed detection means and a preset reference vehicle speed are detected. A mobile agricultural machine having an automatic direction change function, comprising a vehicle speed comparison means for comparison, and a speed control means for operating the transmission means according to the comparison result of the vehicle speed comparison means to make the current vehicle speed match the reference vehicle speed.