JPS619207A - Steering controller of moving harvester - Google Patents
Steering controller of moving harvesterInfo
- Publication number
- JPS619207A JPS619207A JP59130144A JP13014484A JPS619207A JP S619207 A JPS619207 A JP S619207A JP 59130144 A JP59130144 A JP 59130144A JP 13014484 A JP13014484 A JP 13014484A JP S619207 A JPS619207 A JP S619207A
- Authority
- JP
- Japan
- Prior art keywords
- harvester
- detection
- sensor
- grain
- section
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims description 35
- 235000013339 cereals Nutrition 0.000 description 32
- AHVPOAOWHRMOBY-UHFFFAOYSA-N 2-(diethylamino)-1-[6,7-dimethoxy-1-[1-(6-methoxynaphthalen-2-yl)ethyl]-3,4-dihydro-1h-isoquinolin-2-yl]ethanone Chemical compound C1=C(OC)C=CC2=CC(C(C)C3C4=CC(OC)=C(OC)C=C4CCN3C(=O)CN(CC)CC)=CC=C21 AHVPOAOWHRMOBY-UHFFFAOYSA-N 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 208000019300 CLIPPERS Diseases 0.000 description 3
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
- 238000012876 topography 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］
本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関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention generally relates to a mobile harvester such as a combine harvester, and more particularly to a steering control device for a mobile harvester.
［従来技術］
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、
チェノ等からなる走行部等を有し、機体の進行方向前側
に設けられている穀稈検知センサからの検出信号に基づ
いて刈取作業時の操向制御を行なうように構成されてい
る。[Prior Art] A mobile harvester such as a combine harvester generally performs threshing work at the same time as reaping grain culms in a field, and includes a reaping section consisting of a dividing rod, a clipper, a grain culm conveying cheno, etc.
A threshing section consisting of a handling room, a winnow, a grain lifting device, etc., a crawler,
The machine has a traveling section made of a chenette or the like, and is configured to perform steering control during reaping work based on a detection signal from a grain culm detection sensor provided on the front side in the direction of movement of the machine.
［従来技術における問題点ｊ
ところで昨今における苗の圃場への植付は作業は、例え
ば所定の植栽パターンで植付けをする田植え機のごとき
機械力を使用して行なわれるのが一般的である。しかし
ながら圃境内における苗の植栽位置は圃場全体としての
形状や地形、地質、或いは田植え機による所謂往復植え
に際しての往路から復路に移行するときに生ずる植栽パ
ターンの位置ズレ等に起因して全体的に整然とした植付
けを行なうのは困難である。そのため例えば一般に最も
能率がよくそのうえ穀稈の刈残しも少ないとされる所謂
廻り刈りのごとき作業形態（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
と移動して行く作業形態）を採用しても刈残しの発生を
防止できないという問題点がある。このような刈残しの
発生を防止するために、例えば条刈り、横刈り等の途中
で部分的な刈残しが発生するのを防止すべく未刈稈の植
栽パターンに沿って収穫機の移動方向を制御しようとす
ると穀稈を検知するセンサの検知領域が狭かったことと
、機体の構造や重量等に起因して旋回時に追従遅れを生
じ特に旋回角度を大きくとった場合はこの追従遅れが増
大するため未刈稈を増大させるのみならず、適確な操向
制御が不能になるという別の問題点を生ずる。[Problems with Prior Art] Nowadays, seedlings are generally planted in fields using mechanical power, such as a rice transplanter that plants seedlings in a predetermined planting pattern. However, the planting position of seedlings within the field may vary depending on the shape, topography, and geology of the field as a whole, or due to positional deviations in the planting pattern that occur when moving from the outward trip to the return trip during so-called reciprocating planting by a rice transplanter. It is difficult to plant in an orderly manner. For this reason, for example, the so-called circular mowing method, which is generally considered to be the most efficient and leaves less grain uncut (starting from the outer edge of the field and gradually moving into the interior of the field while alternating row mowing and horizontal mowing). There is a problem in that even if this method is adopted, the occurrence of uncut leaves cannot be prevented. In order to prevent such uncut areas from occurring, for example, the harvester should be moved along the planting pattern of uncut culms to prevent partial uncut areas from occurring during row cutting, horizontal cutting, etc. When trying to control the direction, the detection area of the sensor that detects the grain culm was narrow, and due to the structure and weight of the aircraft, there was a tracking delay when turning, especially when the turning angle was large. This not only increases the number of uncut culms, but also causes another problem in that appropriate steering control becomes impossible.
り
［目的］
従って本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、収穫機の移動方向の制御に際して生ず
る機体の追従遅れを防止することにより適確な操向制御
が可能で穀稈の刈残しを低減することが可能な移動収穫
機の操向制御装置を提供することにある。[Purpose] Therefore, the present invention is intended to improve the above-mentioned problems of the conventional technology.The purpose of the present invention is to achieve accurate steering control by preventing the follow-up delay of the harvester that occurs when controlling the moving direction of the harvester. An object of the present invention is to provide a steering control device for a mobile harvester that is capable of reducing uncut grain culms.
［本発明の概要］
上記目的を達成するための本発明の特徴は、圃場に植栽
されている穀稈を検知する手段と、収穫機を所望の方向
に旋回させる駆動装置とを有し、検知手段から与えられ
た検出信号に基づき検知した穀稈が該検知手段の全検知
領域中検知手段から近距離の領域に属するものか或いは
遠距離の領域に属するものかを識別する識別手段と、識
別手段による該識別の結果近距離領域に属するものであ
る場合には旋回角度を大きく設定して収穫機の移動方向
の修正を行なうべく、又遠距離領域に属するものである
場合には旋回角度を小さく設定して収穫機の移動方向の
修正を行なうべく夫々前記駆□□ｉｌＪ ＩＩ ｔ ６
□カ、□１□ヶ□、 □τとき移動収穫機の操向制
御装置にある。 “［実施例］
以下図面により本発明の詳細な説明する。[Summary of the present invention] The features of the present invention for achieving the above object include means for detecting grain culms planted in a field, and a drive device for rotating a harvester in a desired direction, Identification means for identifying whether the detected grain culm belongs to an area close to or far from the detection means in the entire detection area of the detection means, based on a detection signal given from the detection means; As a result of the identification by the identification means, if the harvester belongs to a short-distance area, the turning angle is set to a large value to correct the moving direction of the harvester, and if the harvester belongs to a long-distance area, the turning angle is changed. In order to correct the moving direction of the harvester by setting the
□F, □1□Ka□, □τ is in the steering control device of the mobile harvester. “[Examples] The present invention will be described in detail below with reference to the drawings.
第１図は本発明の一実施例に従う移動収穫機の平面図、
第２図は本発明の一実施例に従う移動収穫機の側面図、
第３図は本発明の一実施例に従うブロック図、第４図（
ａ）、第４図（ｂ）、第５図は本発明の一実施例に従う
要部拡大図、第６図は本発明の一実施例に従う制御部か
ら出力されるパルス信号を示した図、第７図は第３図の
構成のフローチャートを示す。FIG. 1 is a plan view of a mobile harvester according to an embodiment of the present invention;
FIG. 2 is a side view of a mobile harvester according to an embodiment of the present invention;
FIG. 3 is a block diagram according to an embodiment of the present invention, and FIG. 4 (
a), FIG. 4(b), and FIG. 5 are enlarged views of main parts according to an embodiment of the present invention, and FIG. 6 is a diagram showing a pulse signal output from a control section according to an embodiment of the present invention. FIG. 7 shows a flowchart of the configuration of FIG.
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
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、圃場に植栽されている穀稈を刈り取るバ
リカン１５、バリカン１５が刈り取った穀稈を掻込む掻
込装置１７、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へと搬送する穂先ラグ１９、穂先搬送
チェノ２１、根元搬送チェノ２３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 part 3 has a lifting lug 11 that pulls the planted grain culm into a predetermined posture.
, a grass cutting rod 13, a clipper 15 for cutting the grain culm planted in the field, a raking device 17 for scraping the grain culm cut by the clipper 15, and a raking device 17 for holding the grain culm scraped by the raking device 17. The grains are provided with a tip lug 19, a tip conveying chino 21, a root conveying chino 23, etc., for conveying the grains to the threshing section 5.
脱穀部５は前記刈取部３から供給された穀稈を挟扼して
搬送する挟扼杆２５と脱穀チェノ２７、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２９、扱室２９で脱穀された穀粒を
オートホッパ３１へ供給する揚穀装置３３を備えそいる
。走行部７はホイルスプロケッ１〜３５、アイドルロー
ラ３７、トラックローラ３９、クローラ４１を備えてい
る。The threshing section 5 includes a clamping rod 25 that pinches and conveys the grain culm supplied from the reaping section 3, a threshing cheno 27, and a handling barrel (not shown) that threshes the grain culm that is conveyed via these two mechanisms. The present invention is equipped with a handling room 29 having a processing room (not shown), and a grain lifting device 33 for supplying grains threshed in the handling room 29 to an automatic hopper 31. The running section 7 includes wheel sprockets 1 to 35, an idle roller 37, a track roller 39, and a crawler 41.
操作部９は、例えば第３図にて図示するごとき構成の操
作パネル／４３と、ハンドル４５、脱穀部５の扱室２９
における穀稈の扱ぎ深さを調節する扱き深さ調節ハンド
ル４７等を備えている。The operating section 9 includes an operating panel/43 configured as shown in FIG. 3, for example, a handle 45, and a handling chamber 29 of the threshing section 5.
A handling depth adjustment handle 47 for adjusting the handling depth of the grain culms is provided.
前記刈取部３には第１図、第２図にて図示するごとく例
えば超音波ヒンサのごとぎ非接触タイプの穀稈検知セン
サ４９（以下「超音波センサ４９」で示す）が設けられ
ている。該センサ４９には第１図の領域Ａにて図示する
ごとぎ水平指向特性と第２図の地表面からの高さで示さ
れる領域Ｂにて図示するごとき垂直指向特性を有する。As shown in FIGS. 1 and 2, the reaping section 3 is provided with a non-contact type grain culm detection sensor 49 (hereinafter referred to as "ultrasonic sensor 49"), such as an ultrasonic sensor. . The sensor 49 has a horizontal directivity characteristic as shown in area A in FIG. 1 and a vertical directivity characteristic as shown in area B shown in height from the ground surface in FIG.
第４図、（ａ）、第４図（ｂ）、第５図は刈取部３と前
記超音波センサ４９及び従来から刈取部３に設けられて
いる接触型センサ５１との位置関係を示す拡大図で本発
明の一実施例においては接触型センサ５１を分草杆１３
に取り付け、超音波センサ４９を機体の進行方向側面部
に取り付けた構成としている。超音波センサ＝４９には
前述したごとく第４図（ａ）の領域Ａにて示す水平指向
特性及び第４図（ｂ）の領域Ｂにて示す垂直指向特性を
有している。水平指向特性については第５図にて図示す
るごとく超音波センサ４９から発せられた超音波が検知
対象物１＝る穀稈（未刈稈Ｃ，Ｄ）に反射して戻って来
るまでの時間に応じて後述するＣＰｔＪ５７は刈り取る
べき穀稈の植栽位置がＨゾーンで示す近距離ゾーン或い
はＬゾーンで示す遠距離ゾーンのどちらに属するのか区
分する。接触型センサ５１は未刈稈Ｃ或いはＤが収穫機
の移動によって該センサ５１に設けられている検知部り
、Ｎ’、Ｒのいずれか１つと接触したときに該接１
触した検知部から所定の信号を出力するように
構成されている。本実施例において図示するごとく未刈
稈Ｃ或いはＤが検知部りに接触したときにはセンサ５１
からはＬ信号（進行方向左側へ機体を旋回すべき旨の信
号）が出力され、検知部Ｎに接触したときにはセンサ５
１からはＮ信号（そのまま機体を直進すべき旨の信号）
が出力され、検知部Ｒに接触したときにはヒ′ンサ５１
からはＲ信号（進行方向右側へ機体を旋回すべき旨の信
号）が夫々出力されるように設定している。前述した２
種類のセン勺から大々出力される検出信号は、第３図に
て図示する移動収穫機のコントロールユニット（図示し
ない）に内蔵されているＣＰＬＪ５７に与えられる。4, (a), 4(b), and 5 are enlarged views showing the positional relationship between the reaping section 3, the ultrasonic sensor 49, and the contact type sensor 51 conventionally provided in the reaping section 3. In the figure, in one embodiment of the present invention, a contact type sensor 51 is connected to a dividing rod 13.
The ultrasonic sensor 49 is attached to the side surface of the aircraft in the direction of movement. As described above, the ultrasonic sensor 49 has the horizontal directivity characteristic shown in area A of FIG. 4(a) and the vertical directivity characteristic shown in area B of FIG. 4(b). Regarding the horizontal directivity characteristics, as shown in FIG. 5, it is the time it takes for the ultrasonic waves emitted from the ultrasonic sensor 49 to reflect on the grain culms (uncut culms C, D) that are the detection target 1 and return. Accordingly, CPtJ57, which will be described later, determines whether the planting position of the grain culm to be harvested belongs to a short distance zone indicated by the H zone or a long distance zone indicated by the L zone. The contact type sensor 51 detects when the uncut culm C or D comes into contact with any one of the detection parts N' and R provided on the sensor 51 due to the movement of the harvester.
The sensor is configured to output a predetermined signal from the touched detection section. In this embodiment, when the uncut culm C or D comes into contact with the detection part as shown in the figure, the sensor 51
An L signal (a signal indicating that the aircraft should turn to the left in the direction of travel) is output from the sensor 5, and when it comes into contact with the detection part N,
From 1, there is an N signal (a signal indicating that the aircraft should continue straight ahead).
is output, and when it comes into contact with the detection part R, the hinge 51
The setting is such that an R signal (a signal indicating that the aircraft should turn to the right in the direction of travel) is output from each of them. 2 mentioned above
The detection signals outputted from the various harvesters are given to a CPLJ 57 built in a control unit (not shown) of the mobile harvester shown in FIG.
第３図において、ＣＰＵ５７は算術論理演算及び比較演
算を行なう。ＣＰＵ５７に与えられる入力情報は、Ａ／
Ｄ変換器５５．増幅器５３を介しセンサ５１）から与え
られるセンサ情報がある。In FIG. 3, CPU 57 performs arithmetic and logical operations and comparison operations. The input information given to the CPU 57 is A/
D converter 55. There is sensor information provided by a sensor 51) via an amplifier 53.
なお本実施例においては穀稈の植栽パターンが条
〜方向と異なって比較的雑然としている横方向に刈
取り作業を行なう所謂積別り作業に収穫機を使用すると
きの不具合改善を図ったものであるため、接触型センサ
Ｓ１５１を横刈りタッチセンサ５１５１とした。In this example, the planting pattern of grain culms is
This is intended to improve problems when the harvester is used for so-called stacking work in which reaping work is done in the horizontal direction, which is relatively messy compared to the direction of contact sensor S151. And so.
ＣＰＵ５７から出力される１ｍ体の旋回指令信号は、出
カポ−１へ５９を介してＡＣＤ装置（自動方向制御装置
、図示しない）のアクチュエータ６３を駆動する駆動回
路６１に与えられる。該旋回指令信号は例えば第６図に
て図示するごときオンタイム時間幅の異なった２種類の
パルス信号である。A turning command signal for the 1 m body outputted from the CPU 57 is sent to the output capo 1 via 59 to a drive circuit 61 that drives an actuator 63 of an ACD device (automatic direction control device, not shown). The turning command signal is, for example, two types of pulse signals having different on-time durations as shown in FIG.
ＣＰＵ５７は、前記２つのセンサのいずれか一方から与
えられた穀稈検知情報に基づいて機体を急旋回させる必
要があると認識したときにはｎにて図示するオンタイム
時間幅の短いパルス信号を出力し又徐々に旋回させれば
よいと認識したときにはｎ′にて図示するオンタイム時
間幅の長いパルス信号を出ノｊする。When the CPU 57 recognizes that it is necessary to make a sharp turn of the aircraft based on the grain culm detection information given from either of the two sensors, it outputs a pulse signal with a short on-time width shown by n. Further, when it is recognized that it is sufficient to turn the vehicle gradually, a pulse signal with a long on-time width shown at n' is outputted.
上記構成の制御動作を主に第７図のフローチャー１−を
併用して説明する。The control operation of the above configuration will be explained mainly using flowchart 1- in FIG. 7.
収穫機が駆動を開始し、圃場の形状に合せて所謂層別り
作業を行なうに当り、条刈りについては穀稈の植栽配列
の乱れは殆ど問題にならないほど小さいために植栽配列
のズレによって穀稈に刈残しを生ずることはない。とこ
ろで条刈りから横刈りに移行すると前述したように田植
え機による苗の植栽パターンにズレを生肇るため未刈稈
の植栽配列に沿って収穫機を旋回させる必要が生ずる。When the harvester starts driving and performs the so-called stratification work according to the shape of the field, the deviation in the planting arrangement of the grain culms is so small that it hardly becomes a problem for row cutting. Therefore, there will be no uncut residue on the grain culm. However, when shifting from row mowing to horizontal mowing, as mentioned above, it becomes necessary to rotate the harvester along the planting arrangement of uncut culms in order to create a misalignment in the planting pattern of seedlings by the rice transplanter.
ＣＰＵ５７は超音波センサ５２４９、タッチセンサ５１
の作動状況をチェ、ツクしくステップ７１）、ステップ
７３に移行する。超音波センサ８２４９から与えられた
検知信号に基づき例えば未刈稈が第５図りにて示Ｊごと
くセンサ５２４９のＨゾーン検出領域に存在づることを
認識すると（ステップ７３）、ＡＣＤ装置（図示しない
）のアクチュエータ６３を進行方向右側へ急旋回させる
べく第６図上段にて図示するパルス信号をｎ回出力する
（ステップ７５）。ＣＰＵ５７は、ステップ７５におい
て前記信号をｎ回出力した後、第６図下段にて図示する
パルス信号をｎ′回出ノＪＬ、（ステップ７７）、これ
ら２種類のパルス信号によって修正された移動方向に機
体を直進させる（ステツプ７９）。ＣＰＵ５７は、ステ
ップ７９において所定時間機体を直進させた後は駆動回
路６１にステップ７７において出力したのと同様なパル
ス信号をｎｌ ２回出力して機体を進行方向左側に徐
々に旋回させる（ステップ８１）。ステップ７３におい
て未刈稈が第５図Ｃにて示ずごとくセンサ５２４９の１
ゾーン検出領域に存在することを認識したときに直ちに
ステップ７７に移行する。ＣＰＵ５７は、ステップ７３
において超音波センサ５２４９から未刈稈Ｃ或いはＤに
関する検出情報が与えられていないことを認識するとス
テップ８３に移行し積別タッチレンサ５１から与えられ
る検出信号をチェックする。ステップ８３において検知
部Ｒから穀稈検出信号が与えられた場合は前記ステップ
７７に移行し、検知部Ｎから穀稈検出信号が与えられた
場合はそのまま機体を直進させ（ステップ８５）、検知
部りから穀稈検出信号が与えられた場合はステップ８７
に移行する。ＣＰＵ ５７は、第６図上段にて図示する
パルス信号をＮ回出力して機体を進行方向左側に急旋回
させる（ステップ８７）とともに、該信号によって修正
された移動方向に機体を直進させた後（ステップ８９）
、ステップ８７において出力した信号と同様の信号をＮ
７−２回出力して機体を進行方向右側に急旋回さゼる（
ステップ９１）。The CPU 57 includes an ultrasonic sensor 5249 and a touch sensor 51
After checking the operating status, the process moves to step 71) and step 73. When it is recognized based on the detection signal given from the ultrasonic sensor 8249 that an uncut culm exists in the H zone detection area of the sensor 5249 as shown in the fifth diagram (step 73), the actuator of the ACD device (not shown) is activated. The pulse signal shown in the upper part of FIG. 6 is outputted n times in order to cause the robot 63 to make a sudden turn to the right in the direction of travel (step 75). After outputting the signal n times in step 75, the CPU 57 outputs the pulse signal shown in the lower part of FIG. Make the aircraft go straight (step 79). After making the aircraft go straight for a predetermined time in step 79, the CPU 57 outputs to the drive circuit 61 a pulse signal similar to that output in step 77 twice to gradually turn the aircraft to the left in the direction of travel (step 81). ). In step 73, the uncut culm is detected by one of the sensors 5249 as shown in FIG. 5C.
When it is recognized that the object exists in the zone detection area, the process immediately moves to step 77. The CPU 57 performs step 73
When it is recognized that no detection information regarding uncut culms C or D is provided from the ultrasonic sensor 5249, the process moves to step 83 and the detection signal provided from the integral touch sensor 51 is checked. If the grain culm detection signal is given from the detection section R in step 83, the process moves to step 77, and if the grain culm detection signal is given from the detection section N, the aircraft is made to proceed straight (step 85), and the detection section If a grain culm detection signal is given from
to move to. The CPU 57 outputs the pulse signal shown in the upper part of FIG. 6 N times to make the aircraft make a sharp turn to the left in the traveling direction (step 87), and after making the aircraft go straight in the moving direction corrected by the signal, (Step 89)
, a signal similar to the signal output in step 87 is output to N
7-2 outputs and turns the aircraft sharply to the right in the direction of travel (
Step 91).
以上のようなプロセスでＣＰＵ５７は積別作業中、移動
収穫機の操向制御を行なう。なお上述した内容はあくま
で本発明に従う一実施例に関するものであり、本発明が
上記内容に限定されることを意味するものではない。Through the process described above, the CPU 57 controls the steering of the mobile harvester during the sorting work. It should be noted that the above-mentioned content is only related to one embodiment according to the present invention, and does not mean that the present invention is limited to the above-mentioned content.
［効果］
以上説明したように本発明によれば、検知手段によって
検知された穀稈と該検知手段との距離の遠近に応じて収
穫機の旋回角度の大小を設定し、該設定した旋回角度に
基づいて収穫機の移動方向の修正を行なうこととしたの
で、収穫機の移動方向の制御に際して生ずる機体の追従
遅れを防止することができ、適確な操向制御が可能で穀
稈の刈 ）、残しを大幅に低減することが可能な移
動収穫機の操向制御装置を提供することができる。[Effect] As explained above, according to the present invention, the magnitude of the turning angle of the harvester is set depending on the distance between the grain culm detected by the detection means and the detection means, and the set turning angle is Since we decided to correct the moving direction of the harvester based on the following, it is possible to prevent the following delay of the machine that occurs when controlling the moving direction of the harvester, and it is possible to perform accurate steering control and improve the harvesting speed of grain culms. ), it is possible to provide a steering control device for a mobile harvester that can significantly reduce residue.
第１図は本発明の一実施例に従う移動収穫機の平面図、
第２図は本発明の一実施例に従う移動収穫機の側面図、
第３図は本発明の一実施例に従うブロック図、第４図（
ａ）、第４図（ｂ）、第５図は本発明の一実施例に従う
要部拡大図、第６図は本発明の一実施例に従う制御部か
ら出力されるパルス信号を示した図、第７図は第３図の
構成のフローチャートを示す。
１・・・移動収穫１ ５１・・・積別タッヂレンサ５１
４９・・・超音波センサＳ２５７・・・ＣＰＵ６３・・
・アクチュエータ
（ソレノイドバルブ）
噴４図（ａ）
第５図
第６図
ｙｌ−ｙｌ′Ｉ（ｔ）
第７図FIG. 1 is a plan view of a mobile harvester according to an embodiment of the present invention;
FIG. 2 is a side view of a mobile harvester according to an embodiment of the present invention;
FIG. 3 is a block diagram according to an embodiment of the present invention, and FIG. 4 (
a), FIG. 4(b), and FIG. 5 are enlarged views of main parts according to an embodiment of the present invention, and FIG. 6 is a diagram showing a pulse signal output from a control section according to an embodiment of the present invention. FIG. 7 shows a flowchart of the configuration of FIG. 1... Mobile harvesting 1 51... Separate tadjilensa 51
49...Ultrasonic sensor S257...CPU63...
・Actuator (Solenoid Valve) Injection Figure 4 (a) Figure 5 Figure 6 yl-yl'I (t) Figure 7
Claims (1)
を所望の方向に旋回させる駆動装置とを有し、検知手段
から与えられた検出信号に基づき検知した穀稈が該検知
手段の全検知領域中検知手段から近距離の領域に属する
ものか或いは遠距離の領域に属するものかを識別する識
別手段と、識別手段による該識別の結果が近距離領域に
属するものであるか場合には旋回角度を大きく設定して
収穫機の移動方向の修正を行なうべく、又遠距離領域に
属するものである場合には旋回角度を小さく設定して収
穫機の移動方向の修正を行なうべく夫々前記駆動装置を
制御する移動方向修正手段とを設けたことを特徴とする
移動収穫機の操向制御装置。It has means for detecting grain culms planted in a field, and a drive device for rotating the harvester in a desired direction, and the grain culms detected based on the detection signal given from the detection means are detected by the detection means. an identification means for identifying whether the object belongs to an area close to or far from the detection means in the entire detection area; In order to correct the direction of movement of the harvester by setting a large turning angle, and for correcting the moving direction of the harvester by setting a small turning angle if the object belongs to a long-distance area, respectively. 1. A steering control device for a mobile harvester, comprising a movement direction correcting means for controlling a drive device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59130144A JPH0755083B2 (en) | 1984-06-26 | 1984-06-26 | Steering controller for mobile harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59130144A JPH0755083B2 (en) | 1984-06-26 | 1984-06-26 | Steering controller for mobile harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS619207A true JPS619207A (en) | 1986-01-16 |
| JPH0755083B2 JPH0755083B2 (en) | 1995-06-14 |
Family
ID=15027021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59130144A Expired - Lifetime JPH0755083B2 (en) | 1984-06-26 | 1984-06-26 | Steering controller for mobile harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0755083B2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5648801A (en) * | 1979-09-25 | 1981-05-02 | Kubota Ltd | Direction control device of reaper |
-
1984
- 1984-06-26 JP JP59130144A patent/JPH0755083B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5648801A (en) * | 1979-09-25 | 1981-05-02 | Kubota Ltd | Direction control device of reaper |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0755083B2 (en) | 1995-06-14 |
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