JPS6115606A - Steering controller of moving harvester - Google Patents
Steering controller of moving harvesterInfo
- Publication number
- JPS6115606A JPS6115606A JP59133099A JP13309984A JPS6115606A JP S6115606 A JPS6115606 A JP S6115606A JP 59133099 A JP59133099 A JP 59133099A JP 13309984 A JP13309984 A JP 13309984A JP S6115606 A JPS6115606 A JP S6115606A
- Authority
- JP
- Japan
- Prior art keywords
- harvester
- movement direction
- grain culm
- grain
- steering control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 30
- 238000000034 method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 13
- 238000006243 chemical reaction Methods 0.000 description 9
- 238000003306 harvesting Methods 0.000 description 7
- 208000019300 CLIPPERS Diseases 0.000 description 2
- 241001124569 Lycaenidae Species 0.000 description 2
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 2
- 238000009333 weeding Methods 0.000 description 2
- 244000201986 Cassia tora Species 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- NCAIGTHBQTXTLR-UHFFFAOYSA-N phentermine hydrochloride Chemical compound [Cl-].CC(C)([NH3+])CC1=CC=CC=C1 NCAIGTHBQTXTLR-UHFFFAOYSA-N 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
［産業上の利用分野］
この発明は一般にコンバイン等の移動収穫機に関し、よ
り詳しくは移動収穫機の操向制御装置に朋する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention generally relates to a mobile harvester such as a combine harvester, and more specifically to a steering control device for a mobile harvester.
［従来技術及びその問題点］
コンバイン等の移動収穫機は、一般に圃場において穀稈
の刈取作業と併行して脱穀作業をも行なうもので、分草
杆、バリカン、穀稈搬送チェノ等からなる刈取部と、扱
室、唐箕、揚穀装置等からなる脱穀部と、クローラ走行
装置等からなる走行部等を有し、刈取作業に際して収穫
機を圃場内の成る地点から別の地点まで直進させる所謂
操向制御を行なう操向制御装置（ＡＣＤ装置）が設ｃノ
られている。[Prior art and its problems] Mobile harvesters such as combine harvesters generally perform threshing work at the same time as reaping grain culms in the field. A so-called threshing section consisting of a handling room, a winnowing machine, a grain lifting device, etc., and a traveling section consisting of a crawler traveling device, etc., to move the harvester straight from one point to another in the field during reaping work. A steering control device (ACD device) is provided to perform steering control.
上記のごとき構成の移動収穫機を使用して刈取作業と脱
穀作業を実施するに際し、穀稈の刈残し等がなく最も作
業能率のよい作業形態としては、まず圃場の外縁部から
順に条刈りと横刈りとを交互に繰り返しながら次第に圃
場内部へ移動していく回り刈りが一般的である。ところ
で上述のごときパターンの刈取作業を行なうに際しては
、前述した従来の操向制御装置は、例えば機体と穀稈と
の相対的位置関係を検出し、この検出情報に基づいて左
右のクローラ走行装置の回動を夫々に制御して穀稈の作
付状態に沿って自動操向を行なっていた。When carrying out reaping and threshing operations using a mobile harvester with the above configuration, the most efficient way of working without leaving any grain culms uncut is to start with row mowing starting from the outer edge of the field. Circular mowing, which involves alternating horizontal mowing and gradually moving into the field, is common. By the way, when performing reaping work in the pattern described above, the conventional steering control device described above detects, for example, the relative positional relationship between the aircraft body and the grain culm, and controls the left and right crawler traveling devices based on this detected information. The rotation was controlled individually to perform automatic operation according to the planting state of the grain culm.
しかしながら穀稈の作付状態が大きくカーブしているよ
うな場合には、機体の操向修正に遅れが生じ、このため
第５図に示すように、刈り残しが生じるという問題点が
あった。However, if the cropping condition of the grain culms is in a large curve, there is a delay in correcting the steering of the machine, which causes the problem that uncut parts are left as shown in FIG. 5.
そのため上記問題点を改善しようとして、機体の移動方
向が所定角度以上に傾いたときには、タイマーに設定し
た設定時間後に機体を操向修正を行なうように構成した
操向゛制御装置が提案されている。Therefore, in an attempt to improve the above-mentioned problems, a steering control device has been proposed that is configured to correct the steering of the aircraft after a set time period has elapsed when the moving direction of the aircraft tilts beyond a predetermined angle. .
しかしながら−Ｖ記のごとき構成のものでは、例えば圃
場が湿田のような場合には、クローラ走行装置がスリッ
プしたときに誤感知するという別の問題点があった。However, with the configuration as described in -V, for example, when the field is a wet field, there is another problem in that when the crawler traveling device slips, it is falsely detected.
［発明の目的］
従ってこの発明は従来の技術の上記問題点を改善するも
ので、その目的は、収穫機のクローラ走行装置がスリッ
プした場合でも穀稈の刈り残しを防止することができる
移動収穫機の操向制御装置を提供することにある。[Object of the Invention] Therefore, the present invention is intended to improve the above-mentioned problems of the conventional technology, and its purpose is to provide a mobile harvester that can prevent grain culms from being left uncut even when the crawler running device of a harvester slips. The purpose of this invention is to provide a steering control device for an aircraft.
［発明の構成］
上記目的を達成するためこの発明の特徴は、設定された
刈取作業のパターンに応じて該パターンを構成する各々
の作業行程にお（プる基準移動方向を記憶するとともに
、これら作業行程途中での機体の基準旋回角度を記憶す
る記憶手段と、収穫機の移動方向を検知する移動方向検
知手段と、圃場に植栽されている穀稈を検知する穀稈検
知手段と、収穫機を所望の旋回角度で回行させる駆動装
置とを有し、前記各々の作業行程途中における穀稈検知
手段から与えられた検出信号に基づく収穫機の移動方向
の修正に際して、移動方向検知手段によって検知された
収穫機の旋回角度が記憶手段に記憶されている基準旋回
角度を越えた場合に前記基準移動方向に移動方向を修正
するように駆動装置を制御づる制御手段を設けたごとき
移動収穫機の操向制御装置にある。[Structure of the Invention] In order to achieve the above object, the present invention is characterized by storing reference movement directions for each of the work steps that make up the set reaping work pattern, and A storage means for storing a reference rotation angle of the machine during the work process, a movement direction detection means for detecting the movement direction of the harvester, a grain culm detection means for detecting grain culms planted in a field, and a harvesting machine. and a drive device for rotating the harvester at a desired turning angle, and when correcting the moving direction of the harvester based on the detection signal given from the grain culm detecting means during each of the working steps, the moving direction detecting means A mobile harvester comprising a control means for controlling a drive device to correct the movement direction to the reference movement direction when the detected rotation angle of the harvester exceeds a reference rotation angle stored in the storage means. in the steering control system.
［発明の作用］
Ｊ−記のごとき構成において収穫機の指定移動方向に対
して実際の移動方向の偏位が予め設定した所定角度以下
の場合は、穀稈検出手段の出力信号に基づいて穀稈の作
付状態に沿って操向制御を行なうが、収ｆｉ機の移動方
向が前記所定角度以上に偏位した場合には、前記穀稈検
出手段の出力信号に基づく操向制御を行なわず指定移動
方向への回行直進制御を行なうので穀稈刈り残しが防止
される。[Operation of the invention] In the configuration as described in J-, if the deviation of the actual movement direction of the harvester from the specified movement direction is less than a predetermined angle, the grain detection means detects the grain based on the output signal of the grain culm detection means. Steering control is performed according to the cropping state of the grain culm, but if the moving direction of the grain harvester deviates by more than the predetermined angle, the steering control based on the output signal of the grain culm detection means is not performed and the specified Since rotation and straight movement control in the moving direction is performed, grain culms are prevented from being left uncut.
［実施例］ 以下、図面によりこの発明の詳細な説明する。[Example] Hereinafter, the present invention will be explained in detail with reference to the drawings.
第１図はこの発明の第１の実施例に従う移動収穫機の平
面図、第２図はこの発明の第１の実施例に従う移動収穫
機の側面図、第３図はこの発明の第１の実施例に従う移
動収穫機の操向制御装置のブロック図、第４図はこの発
明の第１の実施例に従う移動収穫機の操向制御装置によ
り刈取作業の作用説明図、第５図は従来例の移動収穫機
の操向制御装置により刈取作業の作用説明図である。FIG. 1 is a plan view of a mobile harvester according to a first embodiment of the invention, FIG. 2 is a side view of a mobile harvester according to a first embodiment of the invention, and FIG. 3 is a plan view of a mobile harvester according to a first embodiment of the invention. A block diagram of a steering control device for a mobile harvester according to an embodiment, FIG. 4 is an explanatory diagram of the operation of a reaping operation by a steering control device for a mobile harvester according to a first embodiment of the present invention, and FIG. 5 is a conventional example. FIG. 3 is an explanatory diagram of the operation of reaping work by the steering control device of the mobile harvester.
なお、第１図〜第４図において、参照番号が同符号のも
のは同一物を示す。In addition, in FIGS. 1 to 4, the same reference numbers indicate the same parts.
第１図、第２図において、移動収穫機１は、刈取部３、
脱穀部５、走行部７、操作部９等を有する。刈取部３は
圃場に植栽されている穀稈を所定の姿勢に引起す引起ラ
グ１１、分草杆１３、引起ラグ１１で引起されるととも
に分草杆１３で分草された穀稈の株元部を刈取るバリカ
ン、バリカン１５が刈り取った穀稈を掻込む挿込装置１
７、該掻込装置１７によって掻込まれた穀稈を挾持して
脱穀部５へと搬送する穂先搬送装置１９、株元搬送装置
２１等を備えている。脱穀部５は前記刈取部３から供給
された穀稈を挾扼して搬送する挾扼杆２３と脱穀チェノ
２５、これら２つの機構を介して搬送されてきた穀稈を
脱穀する扱胴（図示しない）を有する扱室２７、扱室２
７で脱穀された穀粒をオートホッパ２９へ供給する揚穀
装置３１を備えている。走行部７はホイルスプロケット
３３、アイドル［コーラ３５、トラックローラ３７およ
びり１」−ラ３９を備えている。操作部９は操作ボック
ス／１１、ハンドル４３、脱穀部５の扱室２７にａ３り
る穀稈の扱ぎ深ざを調節する扱き深さ調節ハンドル４５
等を備えている。In FIGS. 1 and 2, the mobile harvester 1 includes a reaping section 3,
It has a threshing section 5, a running section 7, an operation section 9, etc. The reaping section 3 includes a lifting lug 11 that pulls the grain culm planted in the field into a predetermined posture, a weeding rod 13, and a stock of the grain culm that is raised by the lifting lug 11 and separated by the weeding rod 13. A clipper that reaps the base, and an insertion device 1 that rakes in the grain culm that the clipper 15 has reaped.
7. Equipped with a head conveying device 19, a stock conveying device 21, etc., which pinch the grain culm scraped by the scraping device 17 and convey it to the threshing section 5. The threshing section 5 includes a pinning rod 23 that pinches and conveys the grain culm supplied from the reaping section 3, a threshing cheno 25, and a handling barrel (not shown) that threshes the grain culm conveyed via these two mechanisms. Handling room 27, handling room 2 with
A grain hoisting device 31 is provided for supplying grains threshed in step 7 to an automatic hopper 29. The running section 7 includes a wheel sprocket 33, an idle roller 35, a track roller 37, and a roller 39. The operation section 9 includes an operation box/11, a handle 43, and a handling depth adjustment handle 45 for adjusting the handling depth of the grain culm a3 located in the handling chamber 27 of the threshing section 5.
etc.
第３図は前記操作ボックス４１に内臓されている操向制
御装置のブロック図を示したもので、マイクロコンビミ
ータ４７は、ＣＰＵ１０１、メモリ１０３を有する。FIG. 3 shows a block diagram of a steering control device built into the operation box 41, and the microcombimeter 47 has a CPU 101 and a memory 103.
ＣＰＵｔｏｌは、算術論理演粋及び比較演算を行なう。CPUtol performs arithmetic logical operations and comparison operations.
ＣＰＵ１０１に与えられる入力情報には、穀稈検出セン
サ４９からＡ／Ｄ変換回路５１を介して与えられる穀稈
検出情報と、方位センサ５３からＡ／Ｄ変換回路５１を
介して与えられる移動収穫機１の移動方向情報とがある
。Input information given to the CPU 101 includes grain culm detection information given from the grain culm detection sensor 49 via the A/D conversion circuit 51, and grain culm detection information given from the orientation sensor 53 via the A/D conversion circuit 51. There is 1 moving direction information.
メモリ１０３は、制御プログラム等を内臓し、また、必
要データを記憶する。メモリ１０３は、予め設定された
移動収穫１１の指定移動方向に対する所定角度θを固定
データとして記憶する。The memory 103 contains a control program and the like, and also stores necessary data. The memory 103 stores a predetermined angle θ with respect to the specified moving direction of the movable harvester 11 as fixed data.
ＣＰＵ１０１は、前記穀稈検出センサ４９からＡ／、Ｄ
変換回路５１を介して与えられる検出信号に基づいて右
ソレノイド駆動回路５５又は左ソレノイド駆動回路５７
に駆動指令信号を出ツノする。The CPU 101 detects A/, D from the grain culm detection sensor 49.
Right solenoid drive circuit 55 or left solenoid drive circuit 57 based on the detection signal given via conversion circuit 51
Outputs a drive command signal.
右ソレノイド駆動回路５５は移動収穫機１を右方向へ旋
回するときに駆動されるものであり、又左ソレノイド駆
動回路５ンは移動収穫機１を左方向へ旋回するとぎに駆
動されるもので、いづれも図示しない自動方向制御装置
（’ＡＣＤ装置）に配設されている。The right solenoid drive circuit 55 is driven when the mobile harvester 1 is turned to the right, and the left solenoid drive circuit 5 is driven when the mobile harvester 1 is turned to the left. , both of which are installed in an automatic direction control device ('ACD device) (not shown).
ＣＰｔＪ １０１は、メモリ１０３に記憶されている移
動収穫機１の指定移動方向に対する所定角度θのデータ
を呼び出して、方位センｊ＋−５３からＡ・／Ｄ変換回
路５１を介して与えられる検出信号と比較演算し、該比
較演算の結果に基づいて移動収穫機１の実際の移動方向
が、指定移動方向に対して所定角度θ以上に偏位してい
ると認識したときには、前記穀稈検出センサ４９からＡ
／Ｄ変換回路５１を介して与えられる検出信号に基づく
操向制御を行なわず、移動収穫機１を指定移動方向へ回
行直進されるべく右ソレノイド駆動回路５５又は左ソレ
ノイド駆動回路５７に駆動指令信号を出力する。The CPtJ 101 reads the data of the predetermined angle θ with respect to the specified movement direction of the mobile harvester 1 stored in the memory 103, and converts it into a detection signal given from the azimuth sensor j+-53 via the A/D conversion circuit 51. When the comparison calculation is performed and it is recognized that the actual movement direction of the mobile harvester 1 deviates from the specified movement direction by a predetermined angle θ or more based on the result of the comparison calculation, the grain culm detection sensor 49 From A
A drive command is given to the right solenoid drive circuit 55 or the left solenoid drive circuit 57 so that the mobile harvester 1 is rotated straight in the specified movement direction without performing steering control based on the detection signal given through the /D conversion circuit 51. Output a signal.
上記構成の制御動作を以下に説明する。The control operation of the above configuration will be explained below.
収穫作業開始に先立ち指定移動方向に対する所定角度θ
を固定データとしてメモリ１０３に記憶させて収穫作業
に入る。A predetermined angle θ with respect to the designated movement direction prior to the start of harvesting work.
is stored in the memory 103 as fixed data and harvesting work begins.
ＣＰ ＬＪ １０１は収穫作業が行なわれている間、穀
稈検出センサ４９からＡ／Ｄ変換回路５１を介して与え
られる検出情報と方位センサ５３からＡ／Ｄ変換回路５
１を介して与えられる検出情報を取り込む。The CP LJ 101 receives detection information provided from the grain culm detection sensor 49 via the A/D conversion circuit 51 and the A/D conversion circuit 5 from the orientation sensor 53 while harvesting work is being performed.
The detection information given via 1 is taken in.
ＣＩ） Ｕ １０１は、方位センサ°５３から△／Ｄ変
換回路５１を介して与えられる検出情報とメモリ１０３
に格納しｌ〔指定移動方向に対する所定角度θとの比較
演算に早づいて移動収穫Ｉ！！１の移動方向を１１ツク
リ−る。該チェックの結果、例えば移動収穫機１の移動
方向が所定角度θ以下の場合は、穀稈検出セン１）４９
からＡ／Ｄ変換回路５１を介して与えられる検出情報に
基づいて、右ソレノイド駆動回路５５又は左ソレノイド
駆動回路５７に駆動指令信号を出力して、穀稈の作（＝
Ｊ状態に沿った移動経路で移動する。また、前記チェッ
クの結果、例えば移動収穫機１の移動方向が所定角瓜θ
以上に偏位している場合には、穀稈検出センサ４９の出
力信号に基づく操向制御を行なわず、第４図に示すよう
に、指定移動方向への回行直進制御を行なうべく、右ソ
レノイド駆動回路５５に駆動指令信号を出力して移動収
穫Ｉａ１を指定移動方向へ回行させた後、直進移動する
。CI) U 101 includes detection information given from the azimuth sensor ° 53 via the Δ/D conversion circuit 51 and the memory 103.
[Movement harvesting I! ! 11 in the moving direction of 1. As a result of this check, for example, if the moving direction of the mobile harvester 1 is below the predetermined angle θ, the grain culm detection sensor 1) 49
Based on the detection information given through the A/D conversion circuit 51 from
It moves along a movement path along the J state. Further, as a result of the above-mentioned check, for example, the moving direction of the mobile harvester 1 may be determined to be within a predetermined angle θ.
If the deviation is more than that, steering control is not performed based on the output signal of the grain culm detection sensor 49, and the steering control is not performed based on the output signal of the grain culm detection sensor 49. After outputting a drive command signal to the solenoid drive circuit 55 to rotate the movable harvester Ia1 in a designated movement direction, it moves straight.
なおこの発明は、前述した実施例に限定されるものでは
なく、本発明に従う伯の実施例としては、例えば第６図
〜第８図（ｂ）にて図示するごときものがある。第６図
において方位検出装置６７は、磁気方位センサ５３、ベ
アリング６３及びステッピングモータ６５を有する。該
装置６７は第７図にて図示するＣＰＵ１０１から駆動回
路５つに駆動指令信号が出力されることによって前記モ
ータ６５が駆動し、刈取作業を実施する前に収穫機を圃
場の外縁部に沿って１，２周させたときの各々の作業行
程毎の基準方位をセンサ５３が検出して該データをメモ
リ１０３に記１憶させるように構成されている。そして
刈取作業に際してはＣＰＵ １０１が該データに基づい
て機体駆動装＠６１を制御するにうになっているため、
第８図（ａ）にて示づように従来あった収穫機の蛇行に
よる穀稈の刈残しΔも、本実施例においては第８図（ｂ
）、Ｂにて図示ツるように解消出来るものである。Note that the present invention is not limited to the embodiments described above, and examples of embodiments according to the present invention include those illustrated in FIGS. 6 to 8(b), for example. In FIG. 6, the orientation detection device 67 includes a magnetic orientation sensor 53, a bearing 63, and a stepping motor 65. In this device 67, the motor 65 is driven by a drive command signal output from the CPU 101 shown in FIG. 7 to five drive circuits, and the harvester is moved along the outer edge of the field before reaping work. The sensor 53 is configured to detect the reference orientation for each work stroke when the robot is rotated once or twice, and the data is stored in the memory 103. During reaping work, the CPU 101 controls the machine drive unit @61 based on the data.
As shown in FIG. 8(a), the amount of uncut Δ of grain culms due to meandering of the conventional harvesting machine is also reduced in this embodiment as shown in FIG. 8(b).
), B can be solved as shown in the figure.
［発明の効果ｌ］
以し；ｉｊ２明したようにこの発明によれば、移動方向
検知手段に１１、って検知された収穫機の旋回角度が記
憶手段に記憶されている基準旋回角度を越えた場合に基
準移動方向に移動方向を修正づるように駆動装置を制御
することとしたので、収穫機のクローラ走行装置がスリ
ップした場合でも穀稈の刈り残しを防止することができ
る移動収穫機の操向制御装置を提ｆＪ１．りることがで
きる。[Effects of the Invention 1] As explained above, according to the present invention, the turning angle of the harvester detected by the moving direction detecting means 11 exceeds the reference turning angle stored in the storing means. The drive device is controlled to correct the movement direction to the reference movement direction when the harvester's crawler travel device slips, so the mobile harvester can prevent grain culms from being left uncut even if the harvester's crawler travel device slips. Provides a steering control device fJ1. You can do it.
第１図はこの発明の第１の実施例に従う移動収穫機の平
面図、第２図はこの発明の第１の実施例に従う移動収穫
機の側面図、第３図はこの発明の第１の実施例に従う移
動収穫機の操向制御装置のブロック図、第４図はこの発
明の第１の実施例に従う移動収穫機の操向制御装置によ
る刈取作業の作用説明図、第５図は従来例の移動収穫機
の操向制御装置による刈取作業の作用説明図、第６図は
この発明の第２の実施例に従う方位検出装置を示した図
、第７図はこの発明の第２の実施例に従う移動収穫機の
操向制御装置のブロック図、第８図（ａ ）は従来例に
従う刈残し穀稈を示した図、第８図（ｂ）はこの発明の
第２の実施例に従う穀稈の刈取状況を示した図である。
１・・・ 移動収穫機
４７・・・ マイクロコンピュータ
４９・・・ 穀稈検出センサ
５３・・・ 方位センサ
５５・・・ 右ソレノイド駆動回路
５７・・・ 左ソレノイド駆動回路
１０１・・・ ＣＰＵ
１０３・・・ メモリ
第６図
第７図
第８ 図 （イ） 第８
図（ロ）ニー￥′−続ン市正書（方式）
１．事１！１の表示
昭和５９年特訂願第１３３０９．９月
２、発明の名称
移動収獲機の操向制御装置
３、補正をする者
小作との関係 １：′１許出願人
住所（居所） 愛媛県松山市馬木町７００番地氏名（名
称＞（０１２）井関農機株式会社代表者 井 関
昌 孝
４、代理人
住 所 〒１０５東京都港［％、虎）門１丁目２
番３号虎ノ門第−ビル５階
電話 東京（５０４） ３０７５・３０７６・３０７７
吊氏名 弁即Ｊ、 ＜６８３４）三方 作男５、補正
命令のＩＩ何 昭和５９年９月 ５Ｆ１（方式）
（１）「願占の代理人」の欄
（２）［明細書の図面の簡単な説明Ｊの欄７、補正の内
容
（１）別紙のとおり
（２）明細書第１２頁第８行目から１０行目にか１２ノ
“Ｃ
［第８図（ａ）は従来例に従う刈残し穀稈を示した図、
第８図（ｂ）はこの発明の・・・」とあるのを
［第８図（イ）は従来例に従う刈残し穀稈を示した図、
第８図（ロ）はこの発明の・・・」と補正する。
８、添付書類の目録FIG. 1 is a plan view of a mobile harvester according to a first embodiment of the invention, FIG. 2 is a side view of a mobile harvester according to a first embodiment of the invention, and FIG. 3 is a plan view of a mobile harvester according to a first embodiment of the invention. A block diagram of the steering control device for a mobile harvester according to the embodiment, FIG. 4 is an explanatory diagram of the operation of the reaping operation by the steering control device for the mobile harvester according to the first embodiment of the present invention, and FIG. 5 is a conventional example. Fig. 6 is a diagram showing the direction detection device according to the second embodiment of the present invention, and Fig. 7 is a diagram illustrating the operation of the reaping operation by the steering control device of the mobile harvester according to the second embodiment of the present invention. FIG. 8(a) is a block diagram of a steering control device for a mobile harvester according to a conventional example, and FIG. 8(b) is a diagram showing an uncut grain culm according to a second embodiment of the present invention. It is a figure showing the reaping situation of. 1... Mobile harvester 47... Microcomputer 49... Grain culm detection sensor 53... Orientation sensor 55... Right solenoid drive circuit 57... Left solenoid drive circuit 101... CPU 103.・・Memory Figure 6 Figure 7 Figure 8 (A) 8th
Diagram (b) Ni ¥'-Zokun city official book (method) 1. Matter 1!1 Indication of Patent Application No. 13309 of 1982, September 2, Name of invention Steering control device for mobile harvesting machine 3, Relationship with tenancy of person making amendment 1:'1 Address of applicant (residence) ) 700 Umaki-cho, Matsuyama City, Ehime Prefecture Name (012) Iseki Agricultural Machinery Co., Ltd. Representative Iseki
Takashi Masa 4, Agent address: 1-2, 105 Tokyo Minato [%, Tora)mon
Number 3 Toranomon 5th floor, Building Telephone: Tokyo (504) 3075, 3076, 3077
Hanging name: Bensoku J, <6834) Mikata Sakuo 5, Amendment Order II What September 1980 5F1 (Method)
(1) Column for “Representative of Request” (2) [Brief Description of Drawings in the Specification, Column 7, Amendment Contents (1) As shown in the attached sheet (2) Line 8, page 12 of the specification [Figure 8 (a) is a diagram showing uncut grain culms according to the conventional example,
8(b) is a diagram showing the uncut grain culm according to the conventional example,
Figure 8 (b) is corrected to read "..." of this invention. 8. List of attached documents
Claims (1)
構成する各々の作業行程における基準移動方向を記憶す
るとともに、これら作業行程途中での機体の基準旋回角
度を記憶する記憶手段と、収穫機の移動方向を検知する
移動方向検知手段と、圃場に植栽されている穀稈を検知
する穀稈検知手段と、収穫機を所望の旋回角度で回行さ
せる駆動装置とを有し、前記各々の作業行程途中におけ
る穀稈検知手段から与えられた検出信号に基づく収穫機
の移動方向の修正に際して、移動方向検知手段によって
検知された収穫機の旋回角度が記憶手段に記憶されてい
る基準旋回角度を越えた場合に前記基準移動方向に移動
方向を修正するように駆動装置を制御する制御手段を設
けたことを特徴とする移動収穫機の操向制御装置。Storage means for storing a reference movement direction in each work stroke that constitutes a set reaping work pattern in accordance with the set reaping work pattern, and a storage means for storing a reference turning angle of the machine in the middle of these work steps, and movement of the harvester. It has a moving direction detection means for detecting the direction, a grain culm detection means for detecting the grain culms planted in the field, and a drive device for rotating the harvester at a desired turning angle, and each of the above operations When correcting the movement direction of the harvester based on the detection signal given from the grain culm detection means during the process, the rotation angle of the harvester detected by the movement direction detection means exceeds the reference rotation angle stored in the storage means. A steering control device for a mobile harvester, characterized in that a control means is provided for controlling a drive device so as to correct the movement direction to the reference movement direction when the movement direction is changed to the reference movement direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59133099A JPS6115606A (en) | 1984-06-29 | 1984-06-29 | Steering controller of moving harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59133099A JPS6115606A (en) | 1984-06-29 | 1984-06-29 | Steering controller of moving harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6115606A true JPS6115606A (en) | 1986-01-23 |
Family
ID=15096800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59133099A Pending JPS6115606A (en) | 1984-06-29 | 1984-06-29 | Steering controller of moving harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6115606A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8353324B2 (en) | 2006-10-11 | 2013-01-15 | Toyo Tire Rubber Co., Ltd. | Pneumatic tire |
| US8376005B2 (en) | 2006-09-27 | 2013-02-19 | Toyo Tire & Rubber Co., Ltd. | Pneumatic tire |
| US8424578B2 (en) | 2006-10-11 | 2013-04-23 | Toyo Tire & Rubber Co., Ltd. | Pneumatic tire |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59173003A (en) * | 1983-03-23 | 1984-09-29 | 株式会社クボタ | Automatic running working vehicle |
| JPS609403A (en) * | 1983-06-28 | 1985-01-18 | 株式会社クボタ | Self-propelling work vehicle |
-
1984
- 1984-06-29 JP JP59133099A patent/JPS6115606A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59173003A (en) * | 1983-03-23 | 1984-09-29 | 株式会社クボタ | Automatic running working vehicle |
| JPS609403A (en) * | 1983-06-28 | 1985-01-18 | 株式会社クボタ | Self-propelling work vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8376005B2 (en) | 2006-09-27 | 2013-02-19 | Toyo Tire & Rubber Co., Ltd. | Pneumatic tire |
| US8353324B2 (en) | 2006-10-11 | 2013-01-15 | Toyo Tire Rubber Co., Ltd. | Pneumatic tire |
| US8424578B2 (en) | 2006-10-11 | 2013-04-23 | Toyo Tire & Rubber Co., Ltd. | Pneumatic tire |
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