JPS6337766Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to the improvement of an automatic steering device for a harvester.
More specifically, the dead zone of the steering sensor that detects the relative positional relationship between the grain culm rays to be harvested and the aircraft body is automatically changed and controlled according to the grain culm spacing, so that it can be adjusted according to the usage conditions. This paper proposes an automatic steering device that can perform reaping work automatically.

The automatic steering device of the harvester uses a steering sensor to detect the relative positional relationship between the grain culm to be harvested and the machine, and performs control based on the detection results so that the machine follows the grain culm. This is what I did. That is,
When the steering sensor detects that the aircraft is biased to the left (or right) with respect to the grain culm, the aircraft's running direction is corrected to the right (or left); If the direction of travel is corrected even if it is minute, this correction will be made excessively frequently, impairing the stability of the control, and will significantly worsen ride comfort, as well as requiring a large amount of effort due to frequent steering operations. Since energy is wasted, a dead zone is provided in this steering sensor, as in other control devices. That is, if the deviation to the left or right is so small as to be within this dead zone, detection result information indicating that steering is not required is issued, thereby preventing frequent correction of the direction of travel. By the way, this dead zone is generally set within an appropriate range at the time of designing the automatic steering system, and if the user wants to change the dead zone position, he or she can change the length of the sensor arm or change the mounting position of the steering sensor. I needed to. Some of them are configured so that the circuit constant of the electric circuit or the mounting position of the electrical components that make up the circuit can be changed, but in this case, the housing of the steering sensor attached to the divider of the reaping section is changed. You need to open it and make adjustments. This structure was not adopted with the assumption that the user would adjust the dead zone, but was adopted to enable the manufacturer to fine-tune the control system of the automatic steering system. .

In general, this dead zone has an appropriate area determined according to the grain culm distance, and since the grain culm row distance is also set to a roughly constant value depending on the region, it is difficult to reach the destination at the time of shipment. If the appropriate settings are made, there should be no need to change or adjust them later, but in reality, there is a demand to change or adjust these settings from time to time due to reasons such as the existence of fields with irregular row spacing.

The present invention was made in response to such demands, and includes a sensor for detecting the grain culm spacing,
The purpose of this invention is to provide an automatic steering device for a harvester configured to automatically change and control the dead zone position of a steering sensor based on the detection result. Explain in detail.

FIG. 1 schematically shows the divider part at the front of the harvester for four-row cutting, and the leftmost and rightmost dividers 1l and 1r have sensor arms 21l and 21, respectively.
Turn the steering sensor 20l, 2 toward the inside of the aircraft.
0r is installed. Steering sensor 20l, 2
0r consists of the sensor arms 21l, 21r and sensor boxes 22l, 22r, respectively. The sensor arm 21l or 21r is connected to the divider 1l or 1r.
and its right (or left) small divider 1l' or 1
When the aircraft moves forward, it is pressed by the grain culm 30l _{1 or} 30r ₁ and rotates backward, and the grain culm ray _{30l 1 or} 30r ₁ is present. If not, use sensor box 22l or 22
It is designed to rotate to a predetermined position in front by the action of a sprig in r.

On the other hand, three switches are housed in the sensor boxes 22l and 22r, which are operated depending on the rotational positions of the sensor arms 21l and 21r, respectively.

The central divider 1m is also rotatable in the front-back direction, and is equipped with a sensor arm 21m and a sensor box 22m, which are biased forward by a spring and rotate backwards when in contact with the grain culm.
The inter-row dimension sensor 20m consists of a sensor arm 21m and a grain culm row 30 located between the dividers 1m and 1l'.
The sensor arm _21m is mounted in such a way that it can come into contact with the sensor arm 21m, and one switch is housed in the sensor box 22m, which is operated depending on the rotational position of the sensor arm 21m. The combination of the open and closed states of these switches is logically determined to control the energization of the solenoid Vsl or Vsr of the electromagnetic directional control valve V, which will be described later.

Figure 2 is a hydraulic circuit diagram of the automatic steering system,
3 is a pump, V is a 4-port 3-position switching type electromagnetic directional control valve, 4l and 4r are respective piston rods 4
Side clutch 5l, 5r due to protrusion of la, 4ra
This is a hydraulic cylinder that can be turned off.

Therefore, this hydraulic circuit is a solenoid Vsl or
When the Vsr is energized, the solenoid directional control valve V
is switched in the direction of arrow l or r, pressure oil is supplied to the hydraulic cylinder 4l or 4r, the left side clutch 5l (or the right side clutch 5r) is cut off, and the left crawler 50l (or the right side The drive of the crawler 50r) is stopped so that the movement of the aircraft can be corrected to the left (or right).

Furthermore, when the side clutch 5l is disconnected by switching the electromagnetic directional control valve V, the left brake is also controlled, and when the side clutch 5r is disconnected, the right brake is also controlled, so that the steering control is controlled. Of course, it is also possible to improve the responsiveness.

By the way, the engagement and disconnection of the side clutches 5l and 5r are performed using the left and right side clutch levers 6l and 6r.
However, the normally open contact 60a (Fig. A limit switch 60 is provided near the side clutch levers 6l and 6r.
By connecting this contact 60a as shown in FIG. 3, the side clutch lever 6l or 6
It is possible to give priority to manual operation by towing the r.

Next, the electric circuit of the automatic steering system shown in FIG. 3 will be explained. The power supply from the battery 8 to this electric circuit is turned on and off by the main switch 7, and the positive electrode of the battery 8 is connected via the main switch 7 to one end of each of the solenoids Vsl and Vsr and to the sensor box 22l. ,22r,22
It is connected to the switch group in m, and the negative electrode of the battery 8 is grounded to the body. each solenoid
Power supply control to each of Vsl and Vsr is performed by switching circuits 9l and 9r interposed between the other ends of Vsl and Vsr and the body ground, and the switching circuits 9l and 9r are turned on and off, In other words, the on/off of energization to the solenoids Vsl and Vsr is controlled by the switch group and the logic circuit 10 at the subsequent stage.

Now, the relationship between the on/off states of the three switches 221, 222, 223 in the left sensor box 22l and the rotational position of the sensor arm 21l is as follows. That is, the sensor arm 21l
Based on the position where the sensor arm 21l contacts the grain culm 30l, the rotational position of the sensor arm 21l is changed from the divider 1l side to the 1l' side in areas 1, 2,
When classified as 3 and 4, the first switch 221 is on only in area 1 and off in the others, the second switch 222 is off in areas 1 and 2, and on in areas 3 and 4, and the third switch 223 is in area 3 and 4. 4 is turned off, and the others are turned on.

On the other hand, the relationship between the on/off states of the three switches 224, 225, and 226 in the right sensor box 22r and the rotational position of the sensor arm 21r is similar to that between the rotational position of the sensor arm 21r and the divider 1.
When classified into regions a, b, c, and d from the r side to the 1r' side, the fourth switch 224 is turned on only in the region d and turned off in the others. The fifth switch 225 has a normally open contact 225a and a normally closed contact 225b, and 225a is on in areas a and b and off in areas c and d.
b is designed to be the opposite. The sixth switch 226 is turned on only in area a and turned off in the other areas.

Switch 22 in the center sensor box 22m
The relationship between the on/off state of 7 and the rotational position of the sensor arm 21m is as follows:
If the area near the divider 1l' is B, the area A is turned on, and the area B is turned off.

The logic circuit 10 includes three inverters 10a,
10d, 10f, two NAND gates 10b,
10c and one NOR gate 10e, one
Consists of AND gate 10g etc.

The open/close states of the switch groups of the steering sensors 22l, 22r and the inter-row dimension sensor 22m, that is, the signals resulting from detecting the relative positional relationship between the grain culm and the aircraft body, are sent to the logic circuit 10 by the following wiring connections. will be communicated to. That is, the switch 221
NOR gate 10e via NAND gate 10b
, switches 222 and 223 are NAND gate 1
It is connected to the inverter 10f via 0c. The switch 224 is a three-pole, double-throw type switch 12 whose switching is controlled by the control circuit 13.
2b and further NAND gates 10b and 10c
NOR gate 10e and inverter 1 through each
0f, normally closed contact 2 of switch 225
25b is connected to the NOR gate 10e via the terminals 12c' and 12a' of the switch 12 and the inverter 10a. Normally open contact 225 of switch 225
A is connected to the inverter 10f through the terminals 12c'' and 12b'' of the switch 12, and the switch 226 and the inverter 10d.

Then, the output of the NOR gate 10e is “H”
When the output reaches the "H" level, the switching circuit 9l is turned on to energize the solenoid Vsl, and when the output reaches the "H" level, the inverter 10f turns on the switching circuit 9r to energize the solenoid Vsr. However, the anodes of diodes 14 and 15 are connected to the input terminals of each of the switching circuits 9l and 9r, and the cathodes of both diodes 14 and 15 are collectively connected to the normally open contact of the limit switch 60. 60a
The body is grounded through. This results in
When the side clutch levers 6l and/or 6r are towed, the input ends of both switching circuits 9l and 9r are set to "L" level, and the solenoid Vsl,
Power to VSR is prohibited, and manual steering is prioritized.

Switch 223 is also connected to one input terminal of AND gate 10g, and switch 227 is connected to one input terminal of AND gate 10g.
It is connected to the gate 10g and other input terminals.
The output terminal of the AND gate 10g is connected to the control circuit 13 via the switch 16, and when the output of the AND gate 10g is low level, the switch 12 is connected to the switching side terminals 12b, 12 as shown in the figure.
b', 12b'' is selected, and AND gate 10g
When the output of becomes high level and is given to the control circuit 13 by closing the switch 16,
The control circuit 13 latches this and controls the switch 12 to switch the switching side terminals 12a, 12a', 1.
2a'' is selected. When the control circuit 13 is set by means not shown, the switch 1 is set.
2 to the state in which the switching side terminals 12b, 12b', 12b'' are selected.

Note that the terminals 12a, 12b', and 12a'' are empty terminals.

Table 1 below shows the left and right sensor arms 21l, 2.
For each combination of rotation areas 1r, switches 221-
226 each on (○ mark), off (x mark), and energization to each solenoid Vsl, Vsr on (○ mark),
This is a list of off statuses (x marks) and the progress status of the aircraft.

In the table, the symbol "-" indicates that whether the switch is turned on or off is irrelevant to the control.

Now, in the present device, unless the switch 16 is turned on, the switch 12 is connected to the switching side terminals 12b, 12b', 12.
b'' side, the steering control is performed in the manner shown in columns 4 to 9 of Table 1. That is, the left steering sensor 2
When working in a manner in which steering control is performed based on the 0l standard, perform the operations in columns 6 to 9, and when working in a manner in which steering control is performed in accordance with the right steering sensor 20r standard, perform the operations in columns 6 to 9. Drive while performing the actions in columns 4 to 6. In the former case, the left steering sensor 20L
has a dead zone, and region 2 corresponds to this. On the other hand, in the latter case, the right steering sensor 20r
has a dead zone, and region c corresponds to this.

Now, the switch 16 is closed after the aircraft is in a stable straight-ahead running condition. If the vehicle is currently steering based on the right steering sensor 20r, the switch 223 is on unless the sensor arm 21l is in position 4. On the other hand, when looking at the 20m distance sensor, if the distance between rows l is narrow, the sensor arm 2
1 m comes into contact with the grain culm 30l ₂ in area RO, and the switch 227 remains open.
The switch 12 remains in the state where 12b, 12b', and 12b'' are selected.

That is, when the grain culm-row dimension l is narrower than a predetermined value, steering control is performed using the region c as a dead zone.
On the other hand, if the row spacing l is wide, the grain culm row 30
l ₂ is relatively close to the divider 1m, and the sensor arm 21m is connected to the grain culm 30 in area A.
When the switch 227 comes into contact with l ₂ , the switch 227 is turned on, and the switch 12 is turned
a, 12a', 12a'' side and then the first
Steering control is performed based on the right steering sensor 20r in the manner shown in columns 3 to 3. It goes without saying that this steering control uses region b as a dead zone.

Note that even if the switch 12 is changed and the dead zone is changed from area c to b, the aircraft corrects its direction of travel and the switches 223 and 227 are opened, the control circuit 13 has already been inputted.
Since the high level output from the AND gate 10g is latched, there is no risk that the dead zone will return to region c unless it is reset.

Note that when steering control is performed based on the left steering sensor 20l, opening and closing of the switch 16 does not affect the steering control in any way.

As described above, the automatic steering device according to the present invention is configured to include a sensor for detecting the grain culm spacing, and to change and control the dead zone position of the steering sensor based on the detection result of the sensor. In the case of the above-mentioned embodiment, the driver can automatically adjust the dead zone to the wideness or narrowness of the grain culm row dimension by simply closing the switch 16 once per stroke, providing flexibility in the row spacing. It is possible to realize a harvester with high performance. In addition, since an appropriate dead zone can be automatically set, there will be no inconveniences such as row misalignment or stock splitting.
In particular, the present invention has excellent effects, such as making it possible to improve the stability of steering control in multi-row harvesters.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic plan view of the divider portion of the harvester according to the present invention, FIG. 2 is a hydraulic circuit diagram of the proposed device, and FIG.
The figure is an electrical circuit diagram of the main part of the proposed device. 1l, 1m, 1r...divider, 12...switch, 20l, 20r...steering sensor, 20m...
...Strip dimension sensor, 221, 222, 227...
Switch.

【table】

【table】

Claims (1)

[Scope of utility model registration request] An automatic steering device for a harvester configured to detect the relative positional relationship between the grain culm to be harvested and the machine body using a steering sensor, and to make the machine travel along the grain culm through control based on the detection result. An automatic steering device according to the invention, characterized in that a sensor for detecting a grain culm-to-row dimension is provided, and the dead zone position of the steering sensor is controlled to change based on the detection result of the sensor.