JPS6258907A - 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 mobile agricultural machines such as tractors and combines, and particularly relates to a machine that automatically memorizes and automatically changes a predetermined traveling direction by combining a round stroke and a straight stroke at a set angle. The present invention relates to a mobile agricultural machine having an automatic direction change function that automatically changes the direction of travel.

fb1 Summary of the Invention A mobile agricultural machine having an automatic direction change function according to this invention has the following features:
In order to be able to perform a predetermined traveling direction change operation while maintaining appropriate reaping work conditions, if the current vehicle speed is slower than the predetermined set vehicle speed for the proceeding change operation, the vehicle speed change is started during the reaping operation. By delaying the
This is to enable a predetermined movement direction change operation and to prevent an increase in loss due to an increase in vehicle speed (C1 Conventional technology and its disadvantages) In particular, in agricultural work using mobile agricultural machinery, particularly in reaping work using a combine harvester, see Figure 3. As shown in the figure, there is a moving method (hereinafter referred to as circular mowing) in which the crop 32 is traveled in a rectangular manner around the outer periphery of the crop, and the length of each side is reduced by twice the cutting width of the combine harvester 31 each time it travels around the crop 32. In this case, when changing the traveling direction from the direction of the arrow to the direction of arrow B, after finishing the reaping work on the - side, the circular stroke W2.W5 and the straight stroke Wl, W3. A traveling direction changing operation is performed in combination with W4 and W6.This is to efficiently change the direction and prevent uncut leaves.

However, such a movement direction change operation requires a complicated operation, and when changing the direction, another operation related to other devices such as a height control device of the reaping section is also required.

For this reason, conventional models have an automatic direction change function that stores the angle of the round trip and the distance of the straight trip in memory, and automatically controls this operation using a direction detection means and a travel distance detection means. There was something. The distance traveled during this direction change operation is determined by the vehicle speed and time.
Furthermore, the radius of rotation during the circular stroke changes depending on the angular velocity.

Therefore, in order to accurately change the direction of travel, it is necessary to make the vehicle speed during operation accurately match the reference value, and conventionally, the combine 31 starts shifting as shown in FIG. 3 during the reaping operation before changing the direction of travel. When point S is reached, the current vehicle speed is caused to drop to a predetermined set vehicle speed for the traveling direction changing operation.

One of the factors that indicates the efficiency of reaping work and the performance of combine harvesters is the loss rate, which is the amount of emissions relative to the amount of crops processed.This loss rate is greatly affected by the vehicle speed of the combine, and as the vehicle speed increases, the loss rate also increases. There is a tendency to increase. In conventional mobile agricultural machines with an automatic direction change function, the speed increase operation during the vehicle speed change operation before the direction change operation is performed in the same way as the deceleration operation during the reaping operation, so the vehicle speed increases during the reaping operation, resulting in loss. The disadvantage was that the rate increased.

(d) Purpose of the Invention In view of the above-mentioned drawbacks of the conventional art, the purpose of the present invention is to provide an automatic direction change function capable of accurately changing the direction of travel, performing the reaping operation in an optimal state, and reducing the increase in loss rate. Our objective is to provide mobile agricultural machinery with the following features.

(e) Structure and effect of the invention The mobile agricultural machine having an automatic direction change function of the present invention is equipped with a vehicle speed changing means for changing the current vehicle speed to match the set vehicle speed during the reaping operation before the direction change operation. The vehicle speed change operation timing delay means is provided to delay the start of operation of the vehicle speed change means by a preset time or distance when the current vehicle speed is lower than the set vehicle speed and the speed is increased by the vehicle speed change means. do.

With the above configuration, according to the present invention, when the vehicle speed set according to the harvesting environmental conditions is slower than the vehicle speed set for the traveling direction changing operation, the start of the speed increasing operation of the vehicle speed changing means is delayed by the vehicle speed changing operation timing delay means. be able to.

Therefore, the distance over which the vehicle speed is increased during the reaping operation is short (this makes it possible to reduce the increase in loss amount, and it is possible to perform the appropriate reaping work. Moreover, after the set time or distance has elapsed) Since the vehicle speed changing means is operated, the vehicle speed can be brought to approximately the predetermined set vehicle speed at the start of the traveling direction changing operation, and no inconvenience will occur in the traveling direction changing operation.

(F1 Embodiment FIG. 2 is a block diagram of the main parts of a mobile aircraft A having an automatic direction change function, which is an embodiment of the present invention.

The driving force of the engine 10, which is the power source, is led to the gear transmission 7 via the hydraulic l-transmission 4, and is transmitted to each of the axles 9a, 9b. This hydraulic transmission 4 and gear transmission 7
is the transmission means. A speed detection sensor 8 is provided on the first shaft 7a of the gear transmission 7. This speed detection sensor 8 is constituted by a photointrabutter, and a shutter attached to a rotating shaft (not shown) connected to the first shaft 7a detects a frequency at which light from the photointrabutter is blocked, and detects the 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 1, and direction of pressure oil are changed. This change results in a change in the rotational speed and rotational direction of the output shaft in the constant displacement motor 6 and is 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 a motor 11 is connected to the rotating shaft of the rotating plate 2 via a friction plate (not shown).

The motor 11 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 11 forward or reverse.

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 programs such as circular mowing and direction changing operations. A detection signal from the stock sensor 13 and a vehicle speed signal from the vehicle speed detection sensor 8 are input to the CPU 21 via the interface 22 . Further, the CPU 21 is connected to the motor drive section 12 via the I10 ink face 22, and drives the motor 11 by determining on/off and direction of the current supplied to the motor 11.

When the rotary plate 2 of the shift lever I FIMI is rotated by the drive of the motor 11, the movement is transmitted to the variable swash plate 5a of the variable displacement pump 5 via the link mechanism 3. Now, when the motor 11 rotates forward from the neutral state, the shift lever 1 moves in the forward high speed direction, and the amount of pressure oil discharged from the variable displacement pump 5 increases. As a result, the rotation speed of the output shaft of the constant displacement motor 6 increases, and the rotation speed of the axles 9a and 9b increases. When the motor 11 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 showing part of the operation of the combine harvester.

When the reaping operation in the direction of arrow A shown in FIG. 3 is started, measurement of the travel distance LX of the combine harvester 31 is started in step nl (hereinafter "step ni" is simply referred to as "ni"). At n2, when the value of the traveling distance L8 becomes equal to the preset vehicle speed change start distance, the process proceeds to n3.
Current vehicle speed ■.

and the set vehicle speed ■5 for the traveling direction changing operation. n
If the current vehicle speed V8 is greater than the set vehicle speed VS at step 3, the process proceeds to n4, where an operation is performed to decelerate the current vehicle speed Vi.

If the current vehicle speed (2) is smaller than the set vehicle speed (2) at n3, the timer T starts measuring a certain period of time at n5. The fixed time measured by the timer T is calculated from the vehicle speed change starting point S given as a constant, the distance L6 to the end of the crop, and the current vehicle speed V. When this timer T times out at n6, the process proceeds to 07, and an operation to increase the vehicle speed is performed. Above n5. The operation n5 corresponds to the vehicle speed change operation timing delay means of the present invention. n7
Specifically, the speed increasing operation performed in
This is done by instructing the motor drive section 12 to supply current in the normal rotation direction via the zero interface 22. As a result, the motor 11 moves the rotating plate 2 to the shift lever 1.
rotates so that it moves in the direction of increasing speed. This operation of the rotating plate 2 is transmitted to the variable swash plate 5a of the variable displacement pump 5 via the link mechanism 3, thereby increasing the rotational speed of the output shaft of the constant displacement motor 6.

When either the deceleration operation of n4 or the speed increase operation of n7, which constitute the vehicle speed changing means, is completed, the process proceeds to 08, and the stock senna 13
wait for it to turn off. When the combine 31 reaches the end of the crop and the stock sensor 13 is turned off, the process proceeds to n9.
Measurement of travel distance LX is stopped. After the stock sensor 13 turns off at n8, the combine harvester 31 moves to W shown in FIG.
The moving direction changing operations from 1 to W6 have started.

Next, twice the cutting width of the combine harvester 31 is subtracted from the traveling distance LX in nlO, and the next expected cutting distance is calculated as R.
It is stored in AM24. With this '&n11, the vehicle speed change operation distance is calculated from the expected reaping distance L8. is subtracted and recorded in the RAM 24 t1 as the next vehicle speed change start distance L5. When the combine harvester 31 goes around the farm and performs reaping work in the direction of the arrow next time, the vehicle speed change start distance L calculated by nil
s is compared with the travel path iiL at 02. n12
When the rotating operation is completed, the process returns to 01, and the above-mentioned operation is performed in the same manner for the reaping operation in the direction of arrow B.

As described above, the travel distance LX of the current reaping operation of the combine 31 in the direction of the arrow is measured, and based on this, the expected next reaping distance L8 is calculated. Based on this expected reaping distance L8, the next vehicle speed change start distance is determined.

is determined, and the current vehicle speed VX will be the set vehicle speed V for the traveling direction change operation during the next reaping operation in the direction of the arrow.

If it is less than n5. By enabling the n60 vehicle speed change operation timing delay means, the distance over which the vehicle speed change operation is started can be extended. The above-mentioned operation is performed in the same manner for each mowing operation in the direction of arrow B-D shown in FIG. 3, and the direction of movement of the combine harvester 31 during the circular mowing operation can be accurately controlled.

[Brief explanation of the drawing]

FIG. 1 is a flowchart showing a part of the operation of a mobile agricultural machine having an automatic direction change function, which is an embodiment of the present invention, FIG. 2 is a block diagram of the main parts of the mobile agricultural machine, and FIG. It is a schematic plan view which shows the operation|movement at the time of a reaping work, including a movement direction change operation. 4-hydraulic transmission, 11-motor, 12-motor drive.

Claims (1)

[Claims] (1) During mowing work before a predetermined direction change operation that combines a round stroke at a set angle and a straight forward step, when the vehicle has traveled a preset distance, the current vehicle speed is changed to the direction change operation. A mobile agricultural machine having an automatic direction change function that is equipped with a vehicle speed changing means to match a predetermined set vehicle speed, wherein the current vehicle speed is slower than the set vehicle speed and when the vehicle speed is increased by the vehicle speed changing means, the vehicle speed is set in advance. A mobile agricultural machine having an automatic direction change function, comprising a vehicle speed change operation timing delay means that delays the start of operation of the vehicle speed change means by a time or a distance.