JPS6320481B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a mechanism for controlling the direction of the aircraft and a gear shift lever for switching between forward and backward movement so that the direction change operation of the aircraft is automatically performed sequentially according to a plurality of pre-programmed strokes. This relates to a mobile agricultural machine equipped with an automatic direction change control mechanism that controls the automatic direction change, so that it can quickly respond to changes in field conditions, work conditions, or machine operating conditions during automatic direction change operation. It's a serious thing.

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

FIG. 1 shows a side view of a combine harvester, which is an example of a mobile agricultural machine, and FIG. 2 shows a schematic plan view of its front part and running part. In the figure, 1, 1 is a pair of left and right crawler traveling devices, 2... is a pulling device, 3 is a reaping device, 4 is a horizontal conveying device that conveys multiple rows of harvested grain culms horizontally to the center and joins them, 5 is a horizontal conveying device Merged grain culm device, 7
8 is a feed chain, and 8 is a waste straw processing device.

The crawler traveling devices 1, 1 are arranged on both sides of the mission case 9 as shown in FIG. The steering clutches 10, 10 are configured to be driven by a pair of single acting hydraulic cylinders 12, 12 which are controlled by an electromagnetic control valve 11. The electromagnetic control valve 11 is connected via a control circuit 13 to stem culm contact sensors S ₁ , S ₂ , S ₃ provided at the front of the machine, and is used for row mowing (reaping along grain culm rows).
When traveling, the valve 11 is activated in response to the detection of the rocking displacement of the sensor S ₁ S ₂ so as to guide the planted grain culm between a pair of sensors S ₁ and S ₂ that are arranged opposite to each other at the uncut end of the cutting width. The machine is controlled and steered, and during horizontal cutting (cutting in a direction crossing the rows of grain culms), the sensor S ₃ installed at the end of the mowing width on the already cut side is used to It is configured to control the valve 11 in accordance with the detection of the amount of rocking displacement of this sensor _S3 so as to follow and contact the plants at the end of the cut side. It is configured to perform automatic steering that follows the vehicle.

Further, the transmission case 9 is connected to a hydraulic continuously variable transmission (HST) 14 connected to the engine E and capable of forward and reverse rotation, and its input shaft 15 is equipped with a rotation speed detector 16. .
Further, the shift lever 17 of the transmission device 14 is equipped with a detection mechanism 18 for detecting the shift position, and the lever 17 is interlocked and connected to a shift drive motor 20 via a friction mechanism 19. In addition to being able to perform gear shifting operations, the gear shifting drive circuit 2
The motor 20 is also configured to be automatically operated by the motor 20, which is drive-controlled via the motor 1.

In the present invention, the automatic steerable combine harvester as described above is further equipped with the following automatic turning mechanism.

The aircraft has a compass 2 that detects the absolute direction of the aircraft.
2 is installed via a support 23. As shown in FIGS. 3 and 4, the structure of this compass 22 is based on a vertical output shaft 25 of a motor 24 driven at a constant speed.
A disk 26 made of a non-magnetic material is attached to the disk 26, and a geomagnetic intensity detection mechanism 27 equipped with a magnetic flux lens and a Hall element is attached horizontally to the disk 26. Furthermore, near the periphery of the disk 26, a fixed rotational phase angle pitch is installed. A small hole 28 . A photoelectric pulse generating mechanism 31 (hereinafter referred to as a position pulse generating mechanism) facing the small hole 30 is provided, thereby forming a compass using geomagnetism. Incidentally, both the pulse generating mechanisms 29 and 31
is arranged at the position shown in FIG. 4 with respect to the forward position F of the fuselage in plan view.

FIG. 5 is a block diagram showing the outline of the automatic turning control mechanism, and part A in the diagram is the magnetic compass 2.
2, the angle pulse generation mechanism 29, position pulse generation mechanism 31, and geomagnetic strength detection mechanism 27 are integrated into a counting circuit 32, a counting circuit gate control circuit 33, an azimuth detection pulse generation circuit 34, and an azimuth conversion circuit 35. Connected as shown.

The angular pulse generating mechanism 29 always generates a constant periodic pulse as shown in FIG. 6A, which is used as a clock pulse. An output signal shown in FIG. 6B is obtained from the geomagnetic strength detection mechanism 27. In this embodiment, since the disk 26 is rotated clockwise, the positive peak point N is northward, the negative peak point S is southward, and the turning point E from positive to negative is
is determined as east position, and the turning point W from negative to positive is determined as west position. . The direction detection pulse generation mechanism 34 outputs a sixth signal based on the output change of the geomagnetic strength detection mechanism.
The signal shown in Figure C is being output, with the signal rising at the east position E and falling at the west position W.
As shown in FIG. 6D, the position detection pulse generation mechanism 31 emits one pulse only at a fixed position with respect to the aircraft body. The gate control circuit 33 includes a J-K flip-flop, and its J terminal input signal and K terminal input signal are shown in FIG. 6 (E) and (F). As is clear from the figure, the J terminal input signal E is based on the rising edge of the direction detection pulse C, and the K terminal input signal H is based on the rising edge of the position detection pulse D. As a result, the output signal shown in FIG. 6G is obtained from the JK slip-flop, and the inverted signal shown in FIG. 6H is transmitted to the counting circuit 32 as a gate control signal.

The counting circuit 32 operates in the 0 range of the gate control signal H, and counts the number of clock pulses (8 pulses in the embodiment) during which the aircraft position detection pulse is emitted from the east position E every time the disk 26 rotates once. . Further, the azimuth conversion circuit 5 is configured to calculate the absolute azimuth of the aircraft relative to the ground from the pulse count value of the counting circuit 32.

Next, an automatic rotation control mechanism using the magnetic compass 22 will be explained.

The orientation conversion circuit 35 is connected to a storage circuit 36 and a deviation calculation circuit 37, and uses the detected orientation stored in the storage circuit 36 as a reference orientation, and uses this circuit 37 to calculate the deviation between this reference orientation and the actual detected orientation. It is configured like this. And this arithmetic circuit 37
However, the program control circuit 3 for rotation at the desired angle
8 are connected, and the valve control circuit 13 and the speed change drive circuit 21 are configured to be operated by commands from the program control circuit 38. Further, the memory circuit 36 is connected to a grain culm presence/absence detection sensor _S4 provided near the end of the horizontal conveyance device 9,
When the absence of grain culms is detected, the detection direction at that time is memorized. Further, the rotation speed detector 16 of the mission case input shaft 15 is also connected to the program control circuit 38.

Next, the automatic direction change operation with the above configuration will be explained.

Figure 7 shows the process of cutting the planted grain culm group B along its outer periphery, so-called circular cutting.At this time, the direction of the machine is changed by the straight traveling process, a, c, and the set angle. It is set in advance in the program control circuit 34 as a combination of the rotation strokes b and d.

(n) Reaping travel process Automatic follow-up travel using sensors S ₁ , S ₂ , and S ₃ is performed.

(a) First step of machine direction change When the machine leaves the planted grain culm group B, sensor S ₄ detects the absence of grain culms, and from this point on, the input shaft 15
When the gear shift lever 17 is driven a preset number of times, the gear shift lever 17 is automatically operated to neutral. In other words, when the mowing operation is completed, the machine moves straight for a certain distance and then automatically stops. Also, based on the detection of the absence of grain culms by the sensor _S4 , the detected orientation of the aircraft at this point in time is stored.

(b) Second stroke of aircraft direction change Next, the shift drive circuit 21 operates and the shift lever 1
7 is automatically operated to a preset forward rotation position, the valve control circuit 13 is activated, and only the left steering clutch 12 is disengaged, and the aircraft rotates to the left and moves forward. In this round trip, the deviation between the azimuth detected moment by moment by the compass 22 and the memorized reference azimuth is calculated by the deviation calculation circuit 37.
It is compared with a preset desired turning angle. Then, set the angle (for example, 45°) to the left from the reference direction.
When the direction is changed, the gear shift lever 17 is automatically operated to the neutral stop position.

(c) 3rd stroke of aircraft direction change When a certain period of time has passed after the aircraft has stopped, the gear shift lever 17 is automatically operated to the preset reverse gear position for rotation, and then the gear shift lever 17 is automatically operated to the preset reverse gear position for rotation, and the gear shift lever 17 is automatically operated to the preset reverse gear position for rotation. A straight-line retreat is performed while maintaining the predetermined aircraft attitude. In addition, from the start of reverse movement, the input shaft 1
Counting of the number of rotations of 5 is started, and the straight-ahead/backward movement is maintained until the preset value of counting is completed.

(d) 4th stroke of aircraft direction change When the counting is completed, the right steering clutch 12 is released and the aircraft moves backward to the right. Also, at the same time, the desired rotation angle for reverse clockwise rotation is newly set,
The deviation between the reference azimuth and the actual detected azimuth is compared from time to time, and when the direction is changed by a set angle (for example, 90 degrees), the speed change lever 17 is automatically operated to the neutral stop position.

This completes one automatic rotation. Then, the operator manually operates the speed change lever 17 to switch to forward movement and move on to the next automatic follow-up reaping travel stroke e.

The configuration and operation described above are the basic automatic direction control mechanism and its operation, and the present invention further incorporates the following means for emergency response.

In other words, a reset circuit 40 activated by a reset button 39 provided on the steering section is connected to the program control circuit 38 and the speed change drive circuit 21, and this circuit 40 is activated during automatic direction change operation.
0 is activated, the speed change drive circuit 21 issues a command to return the speed change lever 17 to the neutral stop position preferentially.
is issued for a certain period of time, and the program control circuit 38 is cleared. As a result, the gear shift lever 17 is held in a freely operable state at the neutral stop position, and from now on, the gear shift lever 17 can be manually operated to perform the desired manual operation. It can be operated.

Therefore, if the machine body tilts due to local weakness due to irregularities in the field during automatic direction change operation, or if trouble occurs with the grain culm conveyance or threshing device 6,
By turning on the switch 39 of the reset circuit 40, the aircraft is stopped immediately and a state is brought about in which the aircraft can be operated manually.

In addition, after the automatic direction change has been interrupted and cleared as described above, the automatic direction change operation will start from the first stroke a from the time when the end of the next mowing run is detected by the sensor _S4 . Become.

As described in detail in the embodiments above, the mobile agricultural machine with an automatic direction change control mechanism of the present invention incorporates a reset circuit that preferentially returns the gear shift lever to the neutral stop position by manual operation during automatic direction change operation. This has made it possible to easily and quickly stop the aircraft in the event of trouble during automatic direction rotation, thereby avoiding overturning of the aircraft or damage to the mounted work equipment.

In particular, as shown in the example, if the gear shift lever is made freely operable after the aircraft is stopped by a reset operation, it is convenient because after an emergency stop, the aircraft can be operated as desired by manual gear shifting operation. be.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of a mobile agricultural machine according to the present invention,
Figure 1 is an overall side view of the combine harvester, Figure 2 is a schematic plan view showing the front part of the machine and the running section, Figure 3 is a longitudinal sectional front view of the magnetic compass, Figure 4 is a plan view of the magnetic compass, Figure 5 6 is a block diagram of the automatic direction change control mechanism, FIGS. 6-1 are signal waveform diagrams of various parts of the control circuit, and FIG. 7 is a schematic plan view showing the automatic direction change path. 10... Mechanism for steering, 17... Gear shift lever, 40... Reset circuit.

Claims (1)

[Scope of Claims] 1. Mechanisms 10, 10 for aircraft direction and a gear shift lever 17 for switching between forward and backward movement so that the aircraft direction change operation is automatically performed sequentially according to a plurality of pre-programmed strokes. In a mobile agricultural machine equipped with an automatic direction change control mechanism that controls
1. A mobile agricultural machine with an automatic direction change control mechanism, characterized in that a reset circuit 40 for preferentially returning and holding the agricultural machine to a neutral stop position is incorporated in the automatic direction change control circuit. 2. The shift lever 17 returned to the neutral stop position by activation of the reset circuit 40 is disengaged from the automatic direction change control mechanism and is maintained in a freely operable state. A mobile agricultural machine with an automatic direction change control mechanism according to claim 1.