JPS625979Y2 - - Google Patents

Description

[Detailed description of the invention] This invention automatically and intermittently operates the left and right steering devices based on the detection results of the amount of lateral displacement of the aircraft relative to the rows of planted grain culms. , relates to an automatic steering control type power mobile vehicle, typified by a combine harvester, whose body is configured to automatically travel along a row of planted grain culms.

In such an automatic steering control powered mobile vehicle,
When the drive torque of the traveling system is large, such as when running uphill or in fields with hardness and properties that allow the crawler to grip firmly and strongly, and when running downhill or in soft fields where the crawler is likely to slip. When the drive torque of the drive system is small, such as when driving, there is a considerable difference in turning ability during a certain operation time, resulting in worsening of ride comfort due to excessive turning and deterioration of tracking ability due to instability of steering control. There are drawbacks such as

In view of this, the present invention focuses on the fact that the driving torque of the traveling system varies proportionally in response to changes in traveling conditions as described above, and it is possible to substantially improve turning ability regardless of changes in traveling conditions. The purpose is to stabilize the steering control performance by making it constant.

The automatic steering control type power mobile vehicle according to the present invention includes a sensor that detects lateral displacement of the vehicle body with respect to the grain culm to be harvested, a detector that detects the drive torque of the traveling system, and a sensor that detects the lateral displacement of the vehicle body with respect to the grain culm to be harvested, and a steering control mechanism that outputs a control signal to the steering device based on the detection by the sensor and adjusts the control period based on the detection result of the detector, in order to correct the displacement. It is characterized by

That is, according to the present invention, the drive torque of the running system that fluctuates in response to changes in running conditions is detected, and based on the detection result, for example, if the detected drive torque is large, in other words, there is less slip etc. Normally, under driving conditions where the steering wheel has excellent turning ability, the control time is shortened to perform appropriate steering control while suppressing deterioration of ride comfort such as excessive turning, but when the detected drive torque is small, that is, Under driving conditions where the vehicle is prone to slipping and has low turning ability, the control time may be lengthened to ensure proper steering control without causing insufficient turning. The control time is automatically corrected based on the detected drive torque, regardless of changes in driving conditions.
By exhibiting almost constant turning ability, it has become possible to stabilize the desired steering control and improve ride comfort.

Hereinafter, embodiments of the present invention will be described based on the drawings.

Figure 1 shows the travel drive system of the combine;
The figure shows the automatic steering control system of a combine harvester. The combine is a hydraulic pump P driven by an engine E.
A hydraulic motor M is rotated by the hydraulic pressure supplied from the hydraulic motor M, and the rotational force of the hydraulic motor M is used to drive the left and right traveling crawlers 3, 3'. In the power transmission system to the crawlers 3, 3', each crawler 3,
a steering clutch 4 interposed in a state corresponding to 3';
4' for steering. The automatic steering control system is provided with a detector 1 that detects the driving torque of the crawlers 3, 3' using the hydraulic pressure in the hydraulic circuit A between the hydraulic pump P and the hydraulic motor M, and detects and drives the crawlers 3 and 3'. The operating tool 4 of the steering clutches 4, 4' is operated based on the torque value and the detection signal of the sensor 5 that detects the lateral displacement of the machine body with respect to the grain culm to be harvested.
A steering control mechanism 2 is provided to control the operations of A and 4A'.

As shown in FIG. 3, the steering control mechanism 2 generates a pulse P according to the drive torque value t detected by the detector 1, and when the torque value t becomes large, the pulse width is made small and the torque value t is A pulse oscillator 2A is provided which intermittently oscillates with a large pulse width when P is small, and the pulse P is generated only when the sensor 5 outputs the detection signal a.
A controller 2B is provided which outputs the above-mentioned operating tools 4A, 4A' as a steering clutch engagement operation pulse _P0 , so that when the torque value t becomes large, that is,
When it is easy to steer, the control time is shortened, and when the torque value t is small, that is, when it is difficult to steer, the control time is increased and automatically adjusted to keep the steering amount per steering operation constant. It is configured to do so.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic steering control power mobile vehicle according to the present invention, in which Fig. 1 is a drive system diagram, Fig. 2 is a steering control system diagram, and Fig. 3 is a diagram showing detected drive torque and control pulses. This is the diaphragm shown. 1...Detector, 2...Steering control mechanism, 4...Steering device, 5...Sensor.

Claims (1)

[Claims for Utility Model Registration] A sensor 5 that detects the lateral displacement of the machine body with respect to the grain culm to be harvested, a detector 1 that detects the driving torque of the traveling system, and a correction for the lateral displacement. In order to do this, the steering control mechanism 2 outputs a control signal to the steering devices 4, 4' based on the detection by the sensor 5, and adjusts the control time based on the detection result of the detector 1. An automatic steering controlled power vehicle. The steering control mechanism 2 is configured to automatically adjust the control time to a small value when the detected drive torque value becomes large, and to increase the control time when the detected drive torque value becomes small. An automatic steering control powered mobile vehicle according to claim 1 of the utility model registration claim.