JPS6344326B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a control mechanism that detects the rotational speed by counting pulses from a pulse generator attached to a rotating member of a desired operating part, and brings the traveling speed closer to a set value based on the detection result. an automatic steering control mechanism that causes the machine to follow the row of grain culms based on detection of the position of the planted grain culms; and an automatic steering control mechanism that maintains the pre-harvesting section at a constant height above the ground based on the height detection of the pre-harvesting section. Equipped with an automatic positioning control mechanism for harvest processing, such as a cutting height control mechanism and an automatic handling depth control mechanism that maintains the threshing depth at a set value based on culm length detection, and the automatic traveling speed control mechanism and positioning control mechanism. The present invention relates to a combine harvester in which a control main loop is set in which a mechanism is connected to one control circuit, and these controls are set in a time-sharing manner and sequentially and repeatedly processed.

In the above control, each control process is performed in a relatively short time (for example, several ms), but the rotational speed detection process in running speed control requires a relatively long time (for example, several tens of ms) for pulse counting. Therefore, if this rotational speed detection process is entirely interrupted by the main loop, the speed control process and other positioning control processes will be interrupted for a relatively long time. There was a risk that trouble would occur.

The purpose of the present invention is to solve such problems, and in the combine harvester having the above configuration, a rotational speed measurement processing area is set at an appropriate cycle for a time that is sufficiently long compared to the control main loop cycle. At the same time, in this rotational speed measurement processing area, a rotational speed detection processing band for a minute time from the rise or fall of the speed pulse from the pulse generator is inserted into the main loop, and other control processing is interrupted only during this period. It is characterized by being configured as follows.

That is, the present invention provides the following effects due to the above features. In the present invention, even in the rotation speed detection processing area, other controls are actually interrupted only for a short time immediately after the rise or fall of the detection pulse. Even if speed pulse counting for running speed control is performed over a relatively long period of time (for example, several tens of milliseconds) to improve the accuracy of rotational speed detection,
Trouble caused by long-term suspension of speed control processing or positioning control processing can be prevented. In other words, by devising the program, the speed pulse counting device is not required, and while the overall configuration is simpler than in the past, it is possible to perform almost the same control as that using the counting device.

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

1 and 2 are a schematic side view and a plan view showing the overall structure of a combine harvester, in which a machine frame 2 equipped with a pair of left and right traveling crawlers 1, 1, a threshing device 3, an engine 4, and a driver's seat 5 are installed. At the same time, a reaping pre-processing section 10 equipped with a moving device 6, a reaping device 7, a reaped grain culm merging transport device 8, a reaped grain culm rear transport device 9, etc. is mounted on the front part of the machine stand 2 and swings up and down. freely connected. In addition, the threshing device 3 includes a feed chain 11, a straw removal chain 12,
and a straw ivy 13 are equipped.

The power from the engine 4 is branched into two systems, and one branched power is used to drive the threshing device 3 and its accompanying feed chain 11 and waste straw chain 1.
2. The waste straw cutter 13 is being driven. The other branched power of the engine power is input to a hydraulic continuously variable transmission (HST) 14 capable of forward and reverse transmission, and a part of the output from this transmission 14 is transmitted to the traveling transmission via a traveling transmission case 15. While being transmitted to the crawlers 1, 1, another part of the output from the transmission 14 is transmitted to each device of the reaping pre-processing section 10.

The combine harvester with the above configuration includes the following automatic control mechanism.

(A) Mowing height control AHC (see Fig. 6) The reaping pre-processing section 10 is configured to be movable up and down by a hydraulic cylinder 16, and a three-position electromagnetic control valve 17 controls the hydraulic cylinder 16. An automatic cutting height control mechanism operates based on a detection result from a ground height detection sensor 18 installed at the lower part of the pre-processing section 10 and maintains the height above the ground of the cutting pre-processing section 10 within a set range. It is configured.

Further, a variable resistor 19 for mowing height detection is installed at the swing fulcrum X of the reaping pre-processing section 10, and a variable resistor 20 for mowing height setting is provided near the operator's seat 5. The variable resistor 20 is configured to perform so-called position control in which the cutting height is raised or lowered to an arbitrarily selected value.
The automatic cutting height control mode and the cutting height position control mode can be selected using a separate switch 21. In addition, in the automatic mowing height control mode, when one stroke of mowing is completed and the machine reaches the headland, it is automatically controlled to rise to the set height, and after turning the machine on the headland, the next A manual lowering switch 22 is provided to issue a command to arbitrarily lower the pre-processing section 10 before proceeding to the reaping process. It should be noted that whether or not the reaping operation is in progress can be determined by a grain culm presence/absence detection switch 2 installed at the bottom of the lifting device 6.
5.

(B) Handling Depth Control AFC [See Figure 7] The rear conveyance device 9 that supplies the reaped grain culm to the starting end of the feed chain 11 is configured to be able to swing up and down about its rear fulcrum Y to control the handling depth. It is provided with a function as a height adjustment device and is driven to swing by a hydraulic cylinder 23. A three-position electromagnetic control valve 24 that controls the hydraulic cylinder 23 controls a plurality of culm length detection switches 25a, 25b, 25c installed along the lifting device 6.
The rear conveyance device 9 is actuated based on the detection results from the culm length, and is configured to swing up and down to a preset position according to the detected culm length. still,
The swinging position of the rear transport device 9 itself is detected by a variable resistor (potentiometer) 26 provided at the swing fulcrum Y of the transport device 9. Further, the handling depth can be adjusted to some extent by adjusting the variable resistor 27.

(C) Steering control ADC (see Fig. 8) The traveling crawlers 1, 1 are equipped with a steering clutch 2 operated by single-acting hydraulic cylinders 28, 28.
9 and 29, power is continuously supplied to the left and right sides separately, and the three-position electromagnetic control valve 30 that controls the hydraulic cylinders 28 and 28 connects the grains arranged on both sides of the grain culm introduction path on the most cut side. Culm detection sensor 31, 3
It is operated based on the detection result of No. 1, and is configured to control the steering of the aircraft so as to guide the planted grain culm row between both sensors 31, 31. The steering clutches 29, 29 are directly linked by wire to steering clutch pedals 32, 32 provided at the foot of the pilot's seat 5, and when steering is performed by operating the pedals,
The operation of the pedals 32, 32 is detected by switches 33, 33, so that the control valve 30 is maintained in a neutral state electrically.

Further, when two or more grain culms are introduced into the grain culm introduction path and both sensors 31, 31 detect the presence of grain culms, it is determined that the cutting is being done from the direction intersecting the grain culm row, so-called horizontal cutting. The vehicle is set to maintain a straight line. In addition, during horizontal cutting, the distance between plants in the direction of movement of the machine, that is, the distance between rows, is relatively large and the sensors 31, 31 will intermittently detect grain culms, so a timer is activated to perform continuous control. It is configured.

(D) Load control ALC (see Figure 5) This is a control that calculates a target traveling speed to keep the load constant. It is determined based on the detection results from the load detector 39 and the rotation speed detector 41 installed on the No. 2 screw shaft 40 of the threshing device 3. That is, the detected rotational speed n of the second screw 40 is the first
In a range larger than the reference value _n1 , the target traveling speed is automatically changed to maintain the handling cylinder torque within a certain range, and when the detected rotational speed n is less than the first reference value _n1 , a second reference value lower than this is set. In a range larger than _n2 (dangerous area), the target traveling speed is automatically changed to a preset low speed regardless of the handling cylinder torque, and furthermore, an abnormality is detected when the detected rotational speed n is less than the second standard value _n2 . When the vehicle reaches the range, abnormality processing control RST2, which will be described later, is executed to stop the vehicle from traveling.

The handling cylinder torque detection mechanism 39 detects the rotation of the handling cylinder shaft and the rotation of the input pulley connected to the shaft via a spring, respectively, using a pulse generating coil, and processes the rotation by calculating the phase difference between the two output pulses. The cylinder torque is configured to be detected.

(E) Traveling speed control AVC (see Fig. 10) The transmission 14 and the shift lever 34 are linked via a link mechanism, and this link mechanism and a forward/reverse electric motor 35 for automatic gear change perform worm deceleration. Device 36 and friction plate type rotation transmission mechanism 3
7, and the transmission mechanism 3
The shift lever 34 can be manually operated as desired against the frictional force of 7, and the shift lever 34 can also be automatically operated by the motor 35 which is controlled in forward and reverse directions.

The control of the traveling speed is performed by completing the measurement of the traveling speed at regular intervals, and compares the measured actual traveling speed with the target traveling speed calculated by the load control ALC, The drive of the motor 35 is controlled based on the comparison result.

Note that the actual traveling speed is configured to be detected by counting signals from a pulse generator 42 attached to the input shaft of the traveling mission case 15.

Further, a shift position detection device 43 is attached to the base of the shift lever 34, and has a contact point a for neutral position detection and a contact point b for backward detection. The traveling speed control described above is only possible in the following cases. Further, the engine starting motor is allowed to start only when the neutral position N is detected, and furthermore, the alarm buzzer 44 is activated in the reverse gear change range R.

(E) Abnormality handling control RST2 (see Fig. 9) At the end of the feed chain 11 and the end of the straw removal chain 12, there are limit switches 45 that sense the backward displacement of the clamping rail beyond a certain level and detect the occurrence of clogging of the removal straw. , 46, and the exhaust straw cutter 13 is also equipped with a limit switch 48 that detects the opening of the rear cover 47, and these switches 45, 46, 48 are operated or the load control ALC is used to control the limit switch 48. When abnormal rotation of the number screw shaft 40 is detected, the alarm buzzer 44 is activated, the speed change lever 34 is automatically operated to the neutral stop position N in priority to the automatic speed control, and the stop control of the engine 4 is performed. It is configured so that

The engine 4 is a diesel engine, and the accelerator lever 49, which is urged back toward the fuel cut position, is configured to be able to be held at any accelerator set position by a friction holding mechanism 50. Function solenoid 51
It is configured so that it can be canceled by When the switches 45 and 46 detect that the exhaust straw is clogged, the solenoid 51 is energized after a short period of time after the travel stop operation.
is stopped, and the cover 4 is stopped by the switch 48.
7 is detected, the engine stop control is immediately performed following the travel stop operation.

The combine harvester of the present invention is equipped with the above-mentioned automatic control mechanism, and these are connected to one control circuit 52, so that each control is time-divided and sequentially and repeatedly processed in a preset order. The overall flowchart is shown in FIG. 4, and the flowcharts of each control subroutine are shown in FIGS. 5 to 10.

In this case, travel speed control AVC, cutting height control
The main loop is a loop that processes AHC, handling depth control AFC, and steering control ADC in this order.The main loop is a loop that processes AHC, handling depth control AFC, and steering control ADC in this order. )
The load control ALC, which is determined according to
It is programmed to perform ALC and then return to the original main loop.

In addition, when an abnormal situation such as a clogged No. 2 screw shaft or a clogged waste straw is detected, the above-mentioned abnormality processing control that performs the travel stop and engine stop control immediately interrupts the main loop and the harvesting operation is stopped immediately. It will be done.

Automatic load control ALC and abnormality handling control are
An interrupt detection circuit 53 and an interrupt priority determination circuit 54 are interposed between the detection mechanism and the control circuit 52 so that abnormal processing is processed as an interrupt to the main loop with top priority.

Furthermore, the traveling speed detection is performed by counting the number of pulses from the pulse generator 42 within a relatively long fixed period of time (for example, several tens of milliseconds) to measure the rotational speed of the transmission case input shaft. , as shown in FIG. 11, the pulse generator 4 is
Interruption to the control main loop is permitted only during a certain short period of time (several ms) from the rising point of the speed pulse from 2 to the control main loop. It is set to be returned to . Incidentally, the time period B can also be set from the falling point of the speed pulse.

Furthermore, in the embodiment, the traveling speed detection by pulse counting has been explained, but it can be similarly applied to other processes that perform pulse counting. If so, it can be similarly incorporated into the load control ALC.

[Brief explanation of drawings]

The drawings show an embodiment of the combine harvester according to the present invention, in which Fig. 1 is a schematic side view of the overall configuration, Fig. 2 is a schematic plan view, Fig. 3 is a control circuit configuration diagram, and Fig. 4 is a schematic flow of the entire control. Chart, Figures 5 to 10
The figure is a flow chart of each control, and FIG. 11 is a time chart of control. 42... Pulse generator, 52... Control circuit, A
...Rotation speed measurement processing area, B...Rotation speed detection processing zone.

Claims (1)

[Claims] 1. A control mechanism that counts pulses from a pulse generator 42 attached to a rotating member of the desired operating part to detect the rotational speed, and approaches the running speed to a set value based on the detection result, and a control mechanism that controls the position of the planted grain culm. An automatic steering control mechanism that causes the machine to follow grain culm rows based on detection; an automatic cutting height control mechanism that maintains the pre-cutting section at a constant height above the ground based on height detection of the pre-cutting section; and culm length detection. It is equipped with an automatic positioning control mechanism for harvest processing such as an automatic handling depth control mechanism that maintains the threshing depth at a set value based on In a combine harvester in which a control main loop is set in which these controls are connected in a time-sharing manner and are sequentially and repeatedly processed, the rotational speed measurement processing region A is set at an appropriate period for a time that is sufficiently long compared to the control main loop period. At the same time, in this rotational speed measurement processing area A, a rotational speed detection processing band B of a minute time from the rise or fall of the speed pulse from the pulse generator is inserted into the main loop, and only during this time other A combine harvester with an automatic control mechanism, characterized in that the combine harvester is configured to interrupt control processing.