JPS5837801B2 - Automatic harvesting method of planted stem culms - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically and unmannedly performing the reaping work of planted stems and culms using a small-sized reaping and harvesting machine such as a binder.

In recent years, research has been conducted on automating reaping and harvesting machines, and the following methods have been proposed as an example.

In other words, the machine performs one-stroke forward reaping motion along the row of planted stalks, and based on the detection result of the end of the row of planted stalks, moves backward along the adjacent row of planted stalks, Automatic control is being considered in which, based on the detection result of the end (starting end) of a stem culm row, the machine is directed to the starting end of this adjacent planted stem culm row, and then continues to follow this row and perform forward travel.

Therefore, the present invention adds further ingenuity to the above-mentioned means,
While simplifying the steering control device by using a row of planted stalks or an adjacent row of planted stalks as a guide for orientation of the aircraft, it is possible to prevent unexpected damage or lodging of the planted stalks that serve as guides. The aim is to make it possible to prevent this problem and to orient the machine smoothly.The machine performs one-stroke forward reaping movement along the row of planted stalks and culms, and based on the result of detecting the end of the row of planted stalks, the machine Automatically controlling the aircraft to move backward along the adjacent planted stem culm row, and advance the aircraft toward the starting end of the adjacent planted stem culm row based on the detection result of the end of the adjacent planted stem culm row, When moving forward for follow-up reaping, the left and right traveling devices installed on the machine are driven at the same speed, and the machine moves forward along the planted stem culm row by selectively contacting the planted stem culm row with the adjacent planted stem culm row. At the same time, during the backward movement, the propulsion action of the traveling device is made different so that it has the property of turning in a certain direction with respect to the longitudinal direction of the aircraft, while following the adjacent planted stem row as a guide. It is characterized by making it move backward while letting it go.

In other words, when reaping advances, there is an alternative guiding action between the planted stem culm row and the adjacent planted stem culm row, i.e., when both the left and right planted stem culm rows meander towards the already cut field side, the adjacent planted stem culm rows During one stroke of forward reaping, such as in the stem culm row, or in the planted stem culm row when meandering toward the uncut field side, guide the guide by only one row, either the left or right, for that one stroke. Depending on the meandering state of the row in the row, the aircraft is orientated by a guiding action on either the right or left row at any given time, and when moving backward, it follows this adjacent row throughout the entire journey from the end to the beginning of the row of adjacent planted stems. Since the aircraft uses the planted stem culm row as a guide to orient the aircraft, it is less likely to damage or push the stem culm, compared to a case where one row of planted stem culms is used as a guide when moving forward and backward. There is little risk of causing an accident.

Therefore, it also has the advantage that smooth orientation of the aircraft body is possible.

Moreover, when moving backward, the aircraft follows the adjacent row of planted culms that are to be harvested next and returns to the starting end of the row, compared to, for example, a case where the aircraft moves backwards directly over the row of already cut culms. When the machine returns to the starting end of the row of adjacent planted culms that should be harvested next, it is difficult to turn the machine toward the starting end of the adjacent planted culm row that should be harvested next. The directional control has the advantage that it is not affected by the hardness or softness of the field, is easy, and is easy to control accurately.

Embodiments of the present invention will be described in detail below with reference to illustrative drawings.

1 and 2 show a side view and a schematic plan view of a reaping and binding machine (binder) as an example of the reaping and harvesting machine of the present invention,
A lifting device 1, a lifting frame 2, a reaping device 3,
A reaping section 6 consisting of a horizontal conveyance device 4, a binding device 5, etc. is provided, and behind the reaping section there is a transmission case 8 equipped with a pair of left and right running wheels (traveling devices) 7a, 7b, an engine 9, and a steering wheel. A handle 10 etc. are provided.

In addition, the front end of the pulling frame 2 enters between the planted stem culm rows located on both the left and right sides of the pulling frame 2, and the machine body is stemmed by selective contact with the left and right stem culms. A following guide 11 is fixedly installed to allow the culm row to follow the culm forward, and a guide rod 12 is provided from the front end of the pulling device 1 to prevent the stem culm from escaping to the right outside of the device 1. It is being extended towards.

The guide rod 12 is pivoted so as to swing up and down unstably around a fulcrum P, and is used in a downward swing biased state during reaping work, and when traveling on the road or when stored, it is pivoted to the point 12 in Fig. 1. It is held swinging upward as shown by '.

Further, on the left side of the rear part of the fuselage, a guide rod 13 that comes into contact with the planted stem culm row during backward movement is pivoted so that it can swing up and down unstably around the fulcrum Q, similarly to the guide rod 12.

Further, the running wheels 7a, 7b are operated by operating a speed change operating lever 14 provided on the control handle 10 to change the gear transmission in the mission case 8, so that the gears can be changed to three forward speeds and one reverse speed as shown in FIG. configured to be possible.

Also, the aforementioned running wheels? When moving forward, the left and right wheels a and 7b are driven at the same speed, and when moving backward, the wheel 7a on the binding device 5 side is driven faster than the other wheel 7b.

Then, the speed change lever 14 is moved forward 2 which is the reaping traveling speed.
At the speed position F2 and the reverse position R, the vehicle is configured to automatically switch between forward and reverse travel by control as described below.

That is, at the switching point between the second forward speed position F2 and the reverse speed position R, there is a U-shaped lever switching tool 15 with an interval L that allows the lever to move between the two positions F2 and R. Driveable electric motor 16 and rack and pinion mechanism 1
7 so as to be movable in both the position switching directions.

The electric motor 16 is configured to be driven in forward and reverse directions based on changes in the state of contact between the planted stem culm and a sensor 18 pivotally attached to the pulling frame 2 so as to be swingable back and forth. There is.

The sensor 18 is energized to a neutral posture n protruding laterally and laterally, and changes from a backward leaning posture r to a neutral posture n;
and a change from the forward leaning posture f to the neutral posture n are electrically detected and determined, and these detection results are transmitted to the control circuit 19 of the electric motor 16, as shown in the block diagram of FIG. has been done.

Further, the lever switching tool 15 includes a fixed brush 20...
A printed conductive plate 21 is attached that slides into contact with the brush 20 . ing.

This position detection result is also transmitted to the control circuit 19.

Further, the signal from the control circuit 19 is transmitted to the left running wheel 7b.
The signal is also transmitted to the operation circuit 25 of the renoid 24, which controls the clutch 23 for intermittent power transmission to The clutch 23 is disengaged and operated for a certain period of time.

Further, between the lifting device 1 and the lifting frame 2, there is a device for detecting the presence or absence of a stem culm, which is pressed and swung backward when it comes into contact with a planted culm, and returns to the front when the abutment is released. A sensor 26 for detecting the presence of a stem culm is provided, and power is transmitted to the reaping section 6 based on the operation of the sensor 26 to detect the presence of a stem culm.
The power transmission to the reaping section 6 is cut off based on the stem culm absence detection operation in step 6.

Next, the automatic reaping operation will be sequentially explained.

(A) Forward travel for reaping (see Figure 4 A) When the gear change operation lever 14 is set to the reaping speed (2nd forward speed) F2 and the machine is directed toward the outermost planted stem row A, the lower surface of the reaping section is While in sliding contact with the field, the following guide 11 provided at the front end of the pulling frame 2 is inserted between the stem culm row A and the adjacent planted stem culm row B, and both the stem culm rows A and B are connected. The guide 11
Due to the alternative contact guidance action, the machine body moves forward following the stem culm row A while introducing it between the lifting frame 2 and the lifting device 1.

Then, the reaping section 6 is driven by the operation of the stem culm presence/absence detection sensor 26, and dynamic reaping travel is performed.

Further, at the time of , the sensor 18 assumes a backward tilted posture r due to contact with the adjacent planted stem culm row B.

(Exit) Reverse return travel (see Figure 4) When the cutting of the stem culm row A is completed and the machine protrudes an appropriate distance forward from the end of the adjacent planted stem culm row B, the sensor 18 detects the stem culm. It comes off the final end stock b' of row B and swings back to the neutral position n, and this operation is detected and the control circuit 19 is activated to drive the electric motor 16 in the reverse direction, and accordingly, the lever switching tool 15 is moved to The shift operation lever 14 is switched from the second forward speed position F2 to the reverse position R.

Then, the position detection mechanism 22 of the lever switching tool 15 detects that the gear shift operating lever 14 has been switched to the reverse position R, and accordingly, the control circuit 19 is activated, and the lever switching tool 15 is switched to the reverse position R as shown in FIG. The electric motor 16 is driven in normal rotation until it returns to the neutral position shown by the solid line in the middle.

When the vehicle is switched to the reverse state as described above, the speed of the right running wheel 7a is set to be slightly larger than that of the left running wheel 7b, so the aircraft is given the ability to move toward the adjacent planted culm B side. However, the guide rod 1 installed on the left side of the rear of the aircraft
3 comes into contact with the stem culm row B, and the aircraft automatically moves backward and returns following this stem culm row B.

Also, at this time, the sensor 26 detects the absence of a stem culm, so the drive of the reaping unit 6 is cut off, and the sensor 18 detects the absence of a stem culm.
The contact with causes the forward leaning posture f.

(/→ Forward switching operation (see Figure 4 C)) When the machine crosses the end (starting end) of the stem culm row B, the sensor 18 comes off the rearmost plant b and swings back to the neutral attitude n, and this operation is detected, the control circuit 19 is activated, and the electric motor 16 is driven to rotate in the normal direction.
) direction, and the shift operation lever 14 is switched from the reverse position R to the forward second speed position F2.

Further, the movement of the lever switching tool 15 is detected by the position detection mechanism 22, and the electric motor 16 is driven in the reverse direction, so that the lever switching tool 15 returns to the neutral position again.

(→ Forward steering operation (see Figure 4, 2)) When switching from reverse to forward, the reaction force causes the aircraft to move to the first position.
As shown by the imaginary line in the figure, the reaping section 6 is tilted slightly backward and rises above the field.

Further, when the sensor 18 returns from the forward leaning position f to the neutral position n, a clutch disengagement signal is transmitted from the control circuit 19 to the operation circuit 25 of the clutch 23 for transmission to the left traveling wheel 7b, and the solenoid 24 is activated to close the clutch. 23 is turned off, and the aircraft is rotated forward to the left by driving only the right traveling wheels 7a.

As mentioned above, since the reaping section 6 is floating due to the reaction of the reversal of the direction of travel, there is no ground resistance on the reaping section 6 when moving forward to the left, and the aircraft is firmly positioned on the left side, that is. It is routed to the starting end side of stem culm row B.

In this case, even if the reaping section 6 floats up, the guide rod 12 maintains contact with the ground due to the downward biasing force as shown by 17 in FIG. B
The stem culm row B is introduced between the lifting frame 2 and the lifting device 1 by surely contacting from the outside.

Then, near the point when the aircraft entered the stem culm row B,
The clutch 23 is engaged and operated by the operation of a timer incorporated in the clutch operation circuit 25, and the left and right traveling wheels 7a, 7b are driven forward at the same speed, and the process returns to the above-mentioned forward reaping travel stroke A.

The one-cycle operations A to II explained above are repeated in sequence to perform unmanned reaping work.

In the example, the reaping force of the reaping unit was raised above the ground by swinging the machine backward around the ground contact portions of the running wheels 7a and 7b due to the reaction of switching from reverse to forward. It is also possible to separately equip a mechanism for driving the robot up and down to automatically drive it up for a certain period of time in accordance with the above-mentioned timing, and if such a mechanism is used, it is also possible to use a crawler-type traveling device. .

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic harvesting method for planted stems and culms according to the present invention, in which Fig. 1 is an overall side view of the binder, Fig. 2 is a schematic overall plan view of the binder, and Fig. 3 is an enlarged view of the speed change operation section. 4A, 4B, 2C are schematic plan views sequentially showing operating states, and FIG. 5 is a block diagram of the control mechanism. 6... Reaping section, 7a, 7b... Traveling device.

Claims (1)

[Claims] 1. Perform one-stroke follow-up reaping forward travel along the row of planted stalks, and based on the detection result of the end of the row of planted stalks, move the machine backwards along the adjacent row of planted stalks. The machine is automatically controlled to move forward toward the starting end of the adjacent planted culm row based on the detection result of the end of the culm row.During the following reaping forward travel, the left and right traveling devices 7a, 7 equipped on the machine are used.
b are driven at the same speed to selectively contact the planted stem culm row and the adjacent planted stem culm row to cause the aircraft to follow the planted stem culm row forward, and when moving backward, the said traveling device is propelled. Planting characterized by having a property of turning in a constant direction with respect to the front-back direction of the machine body with a difference in action, and moving backward while following the adjacent planted stem culm rows as a guide. Automatic harvesting method of stem culms.