JP3214115B2 - Driving direction control device in combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine, and more particularly to an improvement in a traveling direction control device.

[0002]

2. Description of the Related Art Conventionally, in this type of traveling direction control device,
A pair of sensors mounted near the tip of the divider (herbinger) detect the presence or absence of crop plants, and actuate the side clutch with a hydraulic cylinder according to the detection result to move the combine in the running direction of the crop. It is controlled along.

[0003]

However, in such a conventional traveling control, since the distance between the strips is not taken into consideration, hunting occurs when the strips are narrow. There was a problem that the operator was shaken and the ride comfort was poor. Therefore, there is a problem in that the conventional automatic traveling direction control is inferior to manual direction control by a skilled operator.

Therefore, the present invention solves the above-mentioned problem,
It is an object of the present invention to automatically perform traveling control at the same level as manual direction control by a skilled worker.

[0005]

In order to achieve the above object, the present invention is configured as follows.

That is, in the present invention, in a combine traveling by a pair of right and left crawlers of a traveling section, two cutting direction sensors each having a detection piece to be brought into contact with an uncut culm; Based on the output of the direction sensor, traveling direction control means for controlling the braking of the pair of right and left crawlers so that the combine follows the direction of the stripe, a traveling speed sensor for detecting the traveling speed of the combine, and a distance between the stripes. Distance detecting means for detecting the distance to the uncut culm from the inter-strip distance detecting means to be detected, the contact state of each detecting piece of the two cutting direction sensors, and the detected running speed of the running speed detecting means. Means, the running distance in accordance with the correction time determined by a fuzzy control rule from the distance between the strips detected by the distance detecting means, and the distance from the uncut kernels detected by the distance detecting means. Braking time correction means for control means for correcting the braking time of the crawler should brake control, a traveling direction control device including a.

[0007]

According to the present invention, the traveling direction control means controls the pair of left and right crawlers based on the outputs of the two cutting direction sensors so that the combine moves along the direction of the striation.

On the other hand, the traveling speed sensor detects the traveling speed of the combine, and the inter-strip distance detecting means detects the distance between the strips. Further, the distance detecting means detects a distance from the cutting direction sensor to the uncut kernel based on a contact state of each detection piece of the two cutting direction sensors and a detected traveling speed of the traveling speed detecting means. .

[0009] The braking time correcting means is adapted to calculate a braking time according to a fuzzy control rule based on the inter-strip distance detected by the inter-strip distance detecting means and the uncut kernels detected by the distance detecting means.
The traveling direction control means corrects the braking time of the crawler to be subjected to the braking control.

As described above, according to the present invention, based on the output of the direction sensor for cutting, the braking control of the pair of right and left crawlers is performed so that the combine is along the direction of the cutting, and the braking time at the time of the control is controlled by the uncut kernel. The correction is made in consideration of the distance between the head and the distance between the strips. Therefore, when the strip is narrow, directional control can be slowed to prevent hunting, and when the strip is wide, the direction change distance can be increased and the direction can be corrected quickly, so that the combine body does not swing. The ride comfort of the worker is improved, and appropriate direction control can be performed.

[0011]

Next, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows the arrangement of sensors according to an embodiment of the present invention. A pair of left and right cutting direction sensors 2 used for controlling the running direction during cutting is mounted on a combine weeder 1A.
3 is installed. In addition, the weeder 1B and its weeder 1B
A pair of side-cutting direction sensors 4 and 5 used for controlling the running direction at the time of side-cutting are attached to the rear. The cutting direction sensors 2 and 3 have detection pieces 2A and 3A that can be tilted backward to come into contact with the root of the uncut grain culm (crop) at the time of cutting and detect the presence or absence thereof. The direction sensors 4 and 5 for side mowing are
Detectable pieces 4A and 5A that can be tilted backward to come into contact with the outermost uncut culm culm of the uncut culm group at the time of side-cutting and detect the presence or absence thereof.
Having. These sensors, when the detection piece contacts the grain stem,
As the fuselage advances, the detection piece tilts backward and the sensor reads "O
N "state. Further, cereal stalk sensors 6, 7 for detecting the presence or absence of cereal stalks are arranged at predetermined positions. In the figure, 8 is a raising device, 9 is a scraping device, and 10 is a cutter.

Next, the power transmission mechanism of this embodiment will be described with reference to FIG.

In FIG. 2, reference numeral 11 denotes an engine, and pulleys 13, 14, 1 are provided on an output shaft 12 of the engine 11.
5 are attached respectively. The pulley 13 is connected to the threshing unit 16 via a belt, and the pulley 14 is connected to the cutting unit 17 via a belt. The pulley 15 is connected to a pulley 19 of an input shaft of a hydraulic transmission 18 via a belt. The output side of the hydraulic transmission 18 is connected to the left and right crawlers 21R and 21L via braking mechanisms 20R and 20L including a clutch and a brake. In the braking mechanisms 20R and 20L, the braking force does not change once the brake is actuated. However, the braking mechanism may be a type that can adjust the braking force, and the type of the braking mechanism is not limited.

The braking mechanisms 20R and 20L have hydraulic cylinders 22 for individually driving the braking mechanisms 20R and 20L.
R and 22L are provided. And the braking mechanism 20
A traveling unit is constituted by R, 20L, crawlers 21R, 21L and the like. In order to detect the traveling speed of the crawlers 21R and 21L, a traveling speed sensor 23 composed of a photocoupler or the like is provided at an end of the intermediate shaft of the transmission mechanism of the traveling unit.

Next, an example of the control system of this embodiment will be described with reference to FIG.

In FIG. 1, a microcomputer 30 includes a CPU, a memory, and the like, and controls each unit according to an input signal as described later. On the input side of the microcomputer 30, via the input interface 31, the above-mentioned direction-cutting direction sensors 2, 3, side-cutting direction sensors 4, 5, grain kernel sensors 6, 7, and running speed sensor 23 are respectively provided. Make an electrical connection. An output side of the microcomputer 30 is electrically connected via an output interface 32 to a right solenoid 33 for driving the hydraulic cylinder 22R, a left solenoid 34 for driving the hydraulic cylinder 22L, and the like.

Next, an example of the operation of the embodiment of the present invention thus configured will be described below.

Now, when the engine 11 starts, its power is transmitted to the input shaft of the hydraulic transmission 15 via the output shaft 12 and the pulleys 15 and 19. Next, when the driving clutch lever (not shown) in the driver's seat is set to the connection position, the braking mechanisms 20R and 20L are connected and the engine 1
1 is transmitted to the crawlers 21R and 21L to start traveling. Next, when the reaping and threshing clutch lever (not shown) in the driver's seat is set to the "reaping and threshing" position, the power of the engine 11 is transmitted to the threshing unit 16 and the reaping unit 17 to start the reaping and threshing operation.

In the embodiment of the present invention, in conjunction with such a traveling operation, the traveling for traveling along the crop is carried out so that the combine does not leave the uncut portion of the crop and can perform the full-width cutting operation. The direction control is performed by the following control (see FIG. 4).

First, the detection values of the cutting direction sensors 2 and 3 are input (step S1), the detection value of the traveling speed sensor 23 is read, and the traveling speed V of the traveling unit (combine) is calculated from the detected value. I do.

Next, the distance traveled in the "ON" state is calculated from the "ON" state time of the cutting direction sensor 2 or 3 and the detected traveling speed V. The calculated distance corresponds to the degree of approach to either the left or right uncut kernel, and the larger the calculated distance is, the closer the uncut kernel is, so the distance traveled in this “ON” state Then, the distance L1 to the uncut culm is calculated for each sensor 2 or 3 (step S2). Further, a larger value of the distances calculated for each of the sensors 2 or 3 is determined as the ON distance S2.

Subsequently, the "ON" start of the detection value of the cutting direction sensor 2 (start of contact of the detection piece 2A with the uncut culm).
From the time T1 and the detected traveling speed V until the start of the “ON” of the detection value of the cutting sensor 3 (start of contact of the detecting piece 3A with the uncut kernel), or “ From the time T2 from the start of “ON” to the start of “ON” of the mowing direction sensor 2 and the detected traveling speed V, the distance traveled during the time T1 or the time T2 (hereinafter, the on-distance S1
Is calculated. The distance S between ON calculated in this way
The magnitude of 1 corresponds to the magnitude of the distance between the strips.

Next, a distance L2 between strips is determined from the distances S1 and S2 calculated as described above according to a fuzzy control rule (step S3). In carrying out such fuzzy control, a fuzzy control rule as shown in the table of FIG. 6 is adopted, and as is apparent from the above, the antecedent thereof has an inter-on distance S1 and an on-distance S
After that, the distance is set to L2 between the strips. In the figure, the vertical column shows the value of the ON distance S2, the horizontal row shows the value of the ON distance S1, and the table shows the value corresponding to the distance L2 between strips.

Here, the label of the ON distance S1 means ZO: standard NS: somewhat short NB: short.

The label of the on distance S2 means NB: short NS: slightly short ZO: standard PS: slightly long PB: long.

Further, the label of the distance L2 between the strips means ZO: standard NS: slightly short NB: short.

The control rule shown in FIG. 6 is expressed in the following form. For example, “the distance S1 between ON is ZO (standard),
If the ON distance S2 is NB (short), the distance L2 between strips should be ZO (standard). "become that way.

FIG. 7A shows the membership function of the on-distance S1, FIG. 7B shows the membership function of the on-distance S2, and FIG. Are shown below.

Next, a fuzzy inference method is used in the process of obtaining the distance L2 between the strips. That is, the ON distance S1
And the control rule to which the current state value of the ON distance S2 belongs, and selecting it from the rules in FIG. 6, for example, the following is obtained. ｛R1: ON distance S1 is ZO (standard) and ON distance S
If 2 is ZO (standard), the distance L2 between strips is ZO (standard). ｝ ｛R2: If the ON distance S1 is NS (slightly short) and the ON distance S2 is ZO (standard), the distance L2 between the strips is NS
(Somewhat short). ｛｛R3: ON distance S1 is ZO (standard) and ON distance S
If 2 is NS (slightly shorter), the distance L2 between strips is ZO
(Standard). ｝ ｛R4: If the ON distance S1 is NS (slightly short) and the ON distance S2 is NS (slightly short), the distance L2 between strips is N
S (slightly shorter).メ ン バ ー The membership functions of these control rules R1 to R4 are shown in FIG. 8, and the degree to which these control rules are satisfied is evaluated in the figure.

Therefore, assuming that the current value of the on-distance S1 is S1 'as shown in FIG. 8A and the value of the on-distance S2 is S2' as shown in FIG. R1
Is the value S1 'of the on-distance S1 and the value S of the on-distance S2
The degree of satisfying 2 ′ is 0.3 and 0.7, and the inference result as shown in FIG. 8C is obtained, where 0.3 is the degree of conformity in the control rule R1.

When the control rule R2 is the value S1 'of the distance S1 between the on-states,
And the degree of satisfying the value S2 ′ of the ON distance S2 is 0.8.
And 0.7, where 0.7 is the degree of conformity in the control rule R2, and an inference result as shown in FIG. 8C is obtained. The degree to which the control rule R3 satisfies the value S1 'of the inter-on distance S1 and the value S2' of the on distance S2 is 0.3 and 0.2.
An inference result as shown in (C) is obtained. Control rule R4
Is the value S1 'of the on-distance S1 and the value S of the on-distance S2
The degree of satisfying 2 ′ is 0.8 and 0.2, and an inference result as shown in FIG. 8C is obtained with 0.2 as the degree of conformity in the control rule R4.

Then, by summing up these four inference results,
From the set of membership functions of the distance L2 between the strips obtained in this way, the position of the center of gravity is obtained as shown in the figure, and this is defined as the final distance L2 between the strips. Such an operation is performed by the microcomputer 30.

As described above, the ON distance S1 is calculated from the contact state of the detection pieces of the two cutting direction sensors 2 and 3 and the traveling speed of the combine, and the ON distance S1 is calculated.
The magnitude of 1 corresponds to the magnitude of the distance between the strips when the cutting direction sensors 2 and 3 are substantially at the center between the rows, and thus the distance between the strips is obtained from the ON distance S1. However, when the direction sensors 2 and 3 are displaced from the center between the strips, the distance between the strips cannot be properly obtained from the ON distance S1 alone. Therefore, the distance between the strips is determined in consideration of the degree of closeness of the detection pieces of the two cutting direction sensors 2 and 3 to the uncut kernels from the on-distance S1. By utilizing the sensors 2 and 3, the distance between the strips can be accurately obtained.

Subsequently, returning to step S4 shown in FIG. 4, the left and right solenoids 33 are determined by the fuzzy control rule from the distance L1 to the uncut culm obtained in step S2 and the distance L2 between the strips obtained in step S3. , 34, that is, the correction time M of the braking output of the left and right crawlers 21R and 21L is determined (steps S4 and S4).
5).

In implementing such fuzzy control,
A fuzzy control rule as shown in the table of FIG. 9 is adopted, and as is clear from the above, the antecedent part is set to the distance L1 to the uncut culm and the distance L2 between the strips, and to the subsequent part Is the correction time M of the braking output of the left and right crawlers 21R and 21L. In the figure, the vertical column indicates the distance L from the uncut culm.
The value of 1, the horizontal row shows the value of the distance L2 between the strips, and the table shows the value corresponding to the correction time M of the braking output.

Here, the label of the distance L1 from the uncut culm means NB: short NS: slightly short ZO: standard PS: slightly long PB: long.

The label of the distance L2 between strips means NB: narrow NS: slightly narrow ZO: standard PS: somewhat wide PB: wide.

The label of the correction time M of the braking output of the left and right crawlers 21R and 21L means NB: negatively long NS: negatively short ZO: almost zero PS: positively short PB: positively long

The control rule shown in FIG. 9 is expressed in the following form. For example, if the distance L1 to the uncut culm is NB (short) and the distance L2 between strips is ZO (standard), And make the correction time M of the braking output PB (just longer). "

FIG. 10A shows the membership function of the distance L1 to the uncut grain culm, FIG. 10B shows the membership function of the distance L2 between the strips, and the left and right crawlers 21R and 2R.
FIG. 10C shows the membership function of the correction time M of the braking output of 1 L, respectively.

Next, a fuzzy inference method is used in the process of obtaining the correction time M of the braking output of the left and right crawlers 21R and 21L. That is, considering a control rule to which the current state value of the distance L1 to the uncut kernel and the distance L2 between the strips belongs, and selecting it from the rules in FIG. 9, for example, the following is obtained. ｛R1: If the distance L1 to the uncut culm is ZO (standard) and the distance L2 between the strips is PS (somewhat wide), make the correction time M of the braking output ZO (almost zero). ｛｛R2: If the distance L1 from the uncut culm is ZO (standard) and the distance L2 between strips is PB (wide), make the correction time M of the braking output ZO (almost zero). ｝ ｛R3: The distance L1 to the uncut culm is PS (somewhat long),
If the distance L2 between the stripes is PS (somewhat wide), the correction time M of the braking output should be ZO (almost zero). ｝ ｛R4: If the distance L1 to the uncut kernels is PS (slightly long) and the distance L2 between strips is PB (wide), the braking output correction time M is Z
Set it to O (almost zero).メ ン バ ー The membership functions of these control rules R1 to R4 are shown in FIG.

Therefore, the distance L1 from the currently uncut kernels is
Is L1 'as shown in FIG. 11 (A) and L2' as shown in FIG. 11 (B).
The degree to which the control rule R1 satisfies the value L1 'of the distance L1' to the uncut kernel and the value L2 'of the distance L2 between the streaks is 0.2 and 0.9, and 0.2 is the degree of conformity in the control rule R1. As a result, an inference result as shown in FIG. The degree to which the control rule R2 satisfies the value L1 ′ of the distance L1 ′ to the uncut kernel and the value L2 ′ of the distance L2 between the streaks is 0.2 to 0.
1 and 0.1 as the degree of conformity in the control rule R2, and an inference result as shown in FIG. 11C is obtained. The degree to which the control rule R3 satisfies the value L1 'of the distance L1 to the uncut kernel and the value L2' of the distance L2 between the streaks is 0.8 and 0.9. As a degree, an inference result as shown in FIG. 11C is obtained. The degree to which the control rule R4 satisfies the value L1 ′ of the distance L1 to the uncut kernel and the value L2 ′ of the distance L2 between the streaks is 0.8 and 0.1. As a degree, an inference result as shown in FIG. 11C is obtained.

Then, by integrating these four inference results,
From the set of membership functions of the correction times M of the braking outputs of the left and right crawlers 21R and 21L obtained in this way, the center of gravity position is obtained as shown in the figure, and this is set as the final correction time M of the braking output.

Such calculations are performed by the microcomputer 30 as described above, and control is performed as shown in steps S6 to S12 in the figure according to the calculated brake output correction time M.

That is, it is determined whether the correction time M calculated in step S5 is positive or negative (step S5).
6) When it is positive, it is determined whether or not the detection pieces of the direction sensors 2 and 3 for cutting are in contact with the uncut kernels and the output is ON (step S7). As a result, when it is ON, the left solenoid 34 or the right solenoid 33 is excited to brake the left and right crawlers 21R and 21L during the ON period as shown in FIG.
Even after the sensor ON period ends, the excitation is continued until the correction time M ends (steps S8 and S9).

On the other hand, when the correction time M calculated in step S5 is negative, the left solenoid 34 or the right solenoid 34 or the right The excitation of the solenoid 33 is not performed (see FIG. 5D), and the excitation is performed only after the time M has elapsed. Then, the excitation of the solenoid is performed only during the period when the outputs of the direction sensors 2 and 3 are ON (steps S10 to S12).

As described above, when the left solenoid 34 or the right solenoid 33 is excited, the hydraulic cylinder 22R
Alternatively, the braking mechanism 20R is driven by driving the hydraulic cylinder 22L.
Alternatively, the braking mechanism 20L is activated, and the left and right crawlers 21 are actuated.
Either R or 21L is braked, and the aircraft changes direction.

As described above, in this embodiment, the direction sensors 2 and 3 are used on the basis of the outputs of the direction sensors 2 and 3 for cutting.
A pair of left and right crawlers 21 so that 3 is in the center of the strip
Since the R and 21L are brake-controlled so that the body follows the line direction, the braking output time during the control is corrected in consideration of the distance L1 to the uncut kernel and the distance L2 between the lines. When the clearance is narrow, the direction control is slow and hunting can be prevented. Conversely, when the clearance is wide, the direction change distance is lengthened and the direction is corrected quickly.

Next, another embodiment of the present invention will be described.

In this embodiment, the distance between strips L2 is not determined by fuzzy control as in the above embodiment, but is determined as shown in FIG. 12 (A) or FIG. 12 (B). For this purpose, a special strip detection sensor is added.

12 (A), the base of a pair of left and right actuators 42, 43 which come into contact with uncut kernels is rotatably mounted on a weeder 44. By detecting the rotation angle of 43 by a potentiometer, the distance between the strips is obtained. The strip detection sensor 45 shown in FIG. 12 (B) is a pair of left and right ultrasonic sensors 46 and 47 which emit ultrasonic waves toward the left and right uncut kernels and receive reflected waves thereof.
Is attached to the weeder 44, and the ultrasonic sensors 46, 47
The distance between strips is obtained from the output of Other configurations of this embodiment and an operation example thereof are basically the same as those of the above-described embodiment, and a description thereof will be omitted.

[0053]

As described above, according to the present invention, the pair of right and left crawlers are brake-controlled based on the output of the direction sensor for cutting, so that the combine is along the direction of the striation.
The braking output at the time of the control is corrected in consideration of not only the distance from the uncut kernels but also the distance between the strips. Therefore, the present invention has the effect of slowing down the direction control when the strip is narrow to prevent hunting, and conversely increasing the direction change distance when the strip is wide to quickly correct the direction.

[Brief description of the drawings]

FIG. 1 is a diagram showing an arrangement configuration of a sensor according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a power transmission system according to an embodiment of the present invention.

FIG. 3 is a block diagram illustrating an example of a control system according to the embodiment of the present invention.

FIG. 4 is a flowchart showing an example of the operation of the embodiment of the present invention.

FIG. 5 is a timing chart showing a relationship between an output of a cutting direction sensor and a braking output.

FIG. 6 is a diagram showing an example of a fuzzy control rule for obtaining a distance between strips.

7A is a diagram illustrating a membership function of an on-distance S1, FIG. 7B is a diagram illustrating a membership function of an on-distance S2, and FIG. 7C is a diagram illustrating a membership function of a distance L between strips. FIG.

FIG. 8 is an explanatory diagram illustrating an example of fuzzy inference from a control rule.

FIG. 9 is a diagram illustrating an example of a fuzzy control rule for determining a correction time of a braking output of right and left crawlers.

10A is a diagram showing a membership function of a distance from an uncut culm, FIG. 10B is a diagram showing a membership function of a distance between streaks, and FIG. 10C is a diagram showing a braking output of left and right crawlers. It is a figure showing the membership function of a correction time.

FIG. 11 is an explanatory diagram illustrating an example of fuzzy inference from a control rule.

FIG. 12 is a diagram showing an example of a gap detection sensor applied to another embodiment of the present invention.

[Explanation of symbols]

 2.3 Direction cutting direction sensor 4, 5 Side cutting direction sensor 11 Engine 20R, 20L Brake mechanism 21R, 21L Crawler 22R, 22L Hydraulic cylinder 23 Running speed sensor 30 Microcomputer 41, 45 Spacing detection sensor

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A01B 69/00

Claims (1)

(57) [Claims] 1. A combine traveling by a pair of left and right crawlers of a traveling section, two cutting direction sensors each having a detection piece to be brought into contact with an uncut culm, and outputs of the two cutting direction sensors. Traveling direction control means for controlling braking of a pair of right and left crawlers so that the combine follows the direction of the line, a traveling speed sensor for detecting a traveling speed of the combine, and a distance between the lines for detecting a distance between the lines. Distance detection means, distance detection means for detecting the distance to the uncut kernels from the contact state of each detection piece of the two cutting direction sensors, and the traveling speed detected by the traveling speed detection means, According to the correction time obtained by the fuzzy control rule from the inter-strip distance detected by the inter-strip distance detecting means and the distance from the uncut kernels detected by the distance detecting means, the traveling direction control means controls the braking control. A travel direction control device comprising: braking time correction means for correcting a braking time of a crawler to be controlled.