JPH0822162B2 - Combine automatic circulation control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to an automatic circulation control method for a combine.

(Prior Art) In a combine, move forward along one side of the field to mow, turn left when reaching the end, move forward for a predetermined distance,
It is publicly known to recede linearly, adjust the posture, and trim the other side.

(Problems to be Solved by the Invention) In the known method, a large amount of data is input to automatically control the direction. The present invention makes it possible to automatically turn around with a minimum of data.

(Means for Solving the Problems) Accordingly, the present invention provides an automatic traveling control method for a combine that cuts around a field, wherein one side 3 of the field is orthogonal to the one side 3 by a manual operation of an operator at the start of work. If the combine 2 that goes straight to the other side 4 and goes straight along the one side 3 then passes the one side 3 and the grain culm sensor is turned off, the starting point A is set, and if the starting point A is passed. The left brake is applied for traveling, but the point at which the left braking is started is defined as the left braking start point B, and the point at which the left brake is no longer required for the traveling and is no longer required is defined as the left braking end point C. The end point C due to traveling
The vehicle moves backward linearly, but the point at which the right brake is started after the backward movement is completed for the above-mentioned traveling is the right brake starting point D, and the end point of the right brake for the above traveling is the right brake ending point E. At this time, the starting point A, the distance from the starting point A to the left brake starting point B, and the outer wheel distance or bearing difference from the left brake starting point B to the left brake ending point C or the inner / outer wheel rotation ratio, and the left side Distance from the brake end point C to the right brake start point D, and the right brake start point D
To the right brake end point E to the outer wheel distance or azimuth difference or the inner / outer wheel rotation ratio, respectively, and thereafter, automatically rotate based on the stored information. It is what

(Embodiment) An embodiment of the present invention will be described with reference to the drawings. 1 is an uncut portion of a field, 2 is a combine, 3 is one side cut by the combine 2 and 4 is another side orthogonal to the one side 3. Is manually operated by an operator to move forward in a straight line while cutting one side 3. Then, as is known, the grain culm is cut by the cutting blade of the combine 2, and the grain culm is sent to the rear threshing device for threshing. At this time, the grain culm sensor detects the presence or absence of grain culm. However, when the combine 2 passes the side 3, the grain culm is lost, and thus the grain culm sensor detects that there is no grain culm. In other words, one side 3 is a translation of the end. If you set that point as the starting point A, the combine 2 will come out of the grain culm just after passing a little from the starting point A, so the left brake will be applied for turning and the left braking start point will be the left braking start point. Let B. Since the left brake is applied because it is turning, the left brake end is when the aircraft reaches about 45 degrees, and that point is defined as the left brake end point C. Then, because of the round trip, the vehicle will go backwards, but at this time, the backwards are directed to the other side 4, so go straight. After reversing, you have to start the right brake to turn around,
That point is set as the right brake start point D, and when the aircraft is turned sideways by 90 degrees, the right brake ends, and that point is set as the right brake end point E.

Next, the starting point A, the distance from the starting point A to the left brake start point B, and the outer wheel distance from the left brake start point B to the left brake end point C (or the bearing difference between B and C, or B-C inner / outer wheel rotation ratio), and the distance from the left brake end point C to the right brake start point D,
And the outer wheel distance from the right brake start point D to the right brake end point E (or the bearing difference between D-E, or D
The inner / outer wheel rotation ratio between E and E is stored respectively, and thereafter, the automatic rotation is performed based on the stored information.

The flowchart of FIG. 3 shows the method of calculating the braking force, and FIG. 4 shows the control circuit.

(Effect) The present invention relates to an automatic traveling control method for a combine that cuts around a field, and when the work is started, a manual operation is performed by an operator to manually travel from one side 3 of the field to another side 4 orthogonal to the one side 3. At that time, the point at which the combine 2 traveling straight along the side 3 passes the side 3 and the grain culm sensor is turned off is set as a starting point A, and when the starting point A is passed, the left brake is applied for turning. The point at which the left brake is started is the left brake start point B, and the point at which the left brake is no longer necessary for the above-mentioned traveling is left brake end point C, and the above end point C is for the above-mentioned traveling. The vehicle moves backward linearly, but the point at which the right brake is started after the backward movement is completed for the above-mentioned traveling is the right brake starting point D, and the end point of the right brake for the above traveling is the right brake ending point E. When the above Starting point A, and left braking start point B from starting point A
The distance from the left brake start point B to the left brake end point C, the outer wheel distance or bearing difference or the inner / outer wheel rotation ratio, and the distance from the left brake end point C to the right brake start point D. Also, the outer wheel distance or heading difference from the right brake start point D to the right brake end point E or the inner / outer wheel rotation ratio is stored, and thereafter, the vehicle automatically rotates based on the stored information. Since the combine automatic circulation control method is used, the starting point A at which the grain culm sensor is turned off, the left braking start point B, the left braking end point C, the right braking start point D, and the right braking end point E.
And the distance from the starting point A to the left brake starting point B, the outer wheel distance or bearing difference from the left brake starting point B to the left brake ending point C, or the inner / outer wheel rotation ratio, and the right braking start from the left braking end point C. The distance to the point D, the outer wheel distance from the right brake start point D to the right brake end point E, the bearing difference, or the inner / outer wheel rotation ratio may be stored respectively.
Since the vehicle can be automatically rotated based on the stored information, not only can it be automatically rotated with the minimum information, but especially from the left brake start point B to the left brake end point C, the outside wheel distance or the bearing difference or the inside / outside. Since the wheel rotation ratio is stored, it has the characteristic of being more accurate.

[Brief description of drawings]

FIG. 1 is a plan view showing a circular pattern and points to be stored, and FIG.
FIG. 3 is a diagram of information stored at each point, FIG. 3 is a brake calculation diagram, and FIG. 4 is a control circuit diagram. DESCRIPTION OF SYMBOLS 1 ... Uncut part, 2 ... Combine, 3 ... One side, 4 ... Other side, A
… The starting point when the grain culm sensor is turned off, B… Left brake starting point, C… Left brake ending point, D… Right brake starting point,
E ... The end point of the right brake.

Claims (1)

[Claims] 1. A method for automatically controlling a combine harvester for cutting around a field, in which a manual operation of an operator at the start of a work manually rotates from one side 3 of the field to another side 4 orthogonal to the one side 3, At that time, the point at which the combine 2 that goes straight along the side 3 passes the side 3 and the grain culm sensor is turned off is taken as the starting point A, and after passing the starting point A, the left brake is applied for turning, The point where the left brake is started is defined as the left brake start point B, and the point where the left brake is no longer required for the above-mentioned traveling and is no longer required as the left brake end point C, and a straight line is drawn from the end point C for the above-mentioned traveling. When the vehicle moves backward in a similar manner, but the point at which the reverse braking is completed and the right brake is started is the right brake start point D and the right brake end point is the right brake end point E, The starting point A Left brake start point B and from origin A
The distance from the left brake start point B to the left brake end point C, the outer wheel distance or bearing difference or the inner / outer wheel rotation ratio, and the distance from the left brake end point C to the right brake start point D. Also, the outer wheel distance or heading difference from the right brake start point D to the right brake end point E or the inner / outer wheel rotation ratio is stored, and thereafter, the vehicle automatically rotates based on the stored information. Combine automatic circulation control method.