JP2006166871A - Combine-regulating device for regulating harvesting implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a combine-regulating device for regulating a harvesting implement capable of starting harvesting works efficiently by reducing the operating load of an operator in entering a machine body into a field from a furrow passage for initiating reaping works. <P>SOLUTION: This combine-regulating device 1 for regulating a harvesting implement is constituted by being equipped with a regulating part 12 for regulating the initiation and stop of a harvesting implement mounted on the machine body of a combine capable of traveling, transferring and performing the harvesting works, and the regulating part 12 is equipped with a zone-judging means 11 for receiving the location data of the machine body obtained based on a position-measuring satellite electric wave from a GPS (Global Positioning System) device installed at the machine body, comparing the machine position based on the location data with a topographical map of the field, outputting an approaching decision on approaching to a prescribed distance to a field zone and initiation-regulating the harvesting implement in response to the approaching decision made by the zone-judging means 11. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a combine control device for performing harvesting operations such as harvesting and threshing by controlling the start and stop of a harvesting work machine mounted on a movable body.

  The combine described in Patent Document 1 includes a harvesting machine such as mowing and threshing on a machine body that can be moved and moved by a crawler and the like, and a control device that controls the start and stop of the harvesting machine. The harvesting operation can be advanced by controlling the start and stop of the work machine. In addition, by providing the aircraft with a GPS device that detects the position of the aircraft by receiving positioning satellite radio waves, it is possible to obtain a weather forecast for the work area and perform harvesting work with maximum efficiency.

However, even when a work plan is formulated based on the latest weather forecast, when starting harvesting work, after shifting from road traveling to work traveling, the aircraft enters the field from the dredging path, and then the engine output is used for the work. There is a problem that the burden on the operator is unavoidable due to a complicated and troublesome series of operations such as harvesting, threshing, etc. by operating the harvesting machine while adjusting.
JP 2002-209421 A

  The problem to be solved is a combine control for harvesting machine control that can reduce the operational burden on the operator when entering the harvesting work by entering the field from the dredging path and start harvesting work efficiently To provide an apparatus.

  The invention according to claim 1 is directed to a harvesting work machine control combine control apparatus including a control unit that controls a start and a stop of a harvesting work machine that is mounted on a traveling body of a combine that can be moved to perform harvesting work. The unit receives the position data of the airframe obtained from the GPS device provided on the airframe based on the positioning satellite radio wave, and compares the position of the airframe based on the position data with the topographical map of the field to obtain a predetermined distance from the field area. It is characterized by comprising an area determining means for outputting an approach determination when approaching up to, and starting-controlling the harvesting work machine according to the approach determination of the area determining means.

  The above-mentioned combine control device outputs the position data of the airframe obtained based on the received positioning satellite radio waves from the GPS device provided on the combine airframe, and the combine is transmitted to the field by the area determination means that receives this position data. When approaching a predetermined distance to the region, an approach determination is output, and the harvesting work machine is controlled to start according to the approach determination.

  According to a second aspect of the present invention, in the configuration of the first aspect, the control unit controls the start of the harvesting work machine according to the start operation signal received from the manual operator, and the predetermined notification operation according to the approach determination. And a start-up control of the harvesting machine when a predetermined time elapses thereafter. By the combine control device, the notification device performs a predetermined notification operation when the machine body approaches the field area up to a predetermined distance, and the harvesting work device is activated when a predetermined time has elapsed from the approach determination.

  According to a third aspect of the present invention, in the configuration of the first aspect, the control unit performs stop control of the harvesting work machine in accordance with a stop operation signal received from the manual operator, and after the stop operation of the manual operator, The activation control based on the approach determination is regulated. In the combine control device, when the operator stops the manual operation device, the harvesting work machine is stopped, and thereafter, the automatic start control of the harvesting work machine is restricted.

The present invention has the following effects.
According to the first aspect of the present invention, the harvesting machine is activated when the combine approaches the predetermined field when the combine enters the field area to be worked by the area judging means and the control unit for outputting the approach judgment, so that the operator is troublesome. The harvesting operation can be carried out efficiently by starting the harvesting machine in advance without any operation.

  According to the configuration of the second aspect, when the body approaches the field area up to a predetermined distance, the notification device performs a predetermined notification operation so that the operator can recognize the activation of the device in advance. Even when no special operation is performed, the harvesting work machine is activated under the recognition of the operator by the notification device when a predetermined time has elapsed since the approach determination.

  According to the third aspect of the present invention, when the operator stops the manual operation device, the harvesting work machine stops, and thereafter, the start control of the harvesting work machine based on the approach determination is restricted, and the handling according to the operator's intention becomes possible.

Embodiments of the present invention will be described below in detail with reference to the drawings.
FIG. 1 is a left side view of a combine to which the present invention is applied. As shown in FIG. 1, the combine includes a working machine such as a cutting part a, a threshing part b, a grain storage part c, a grain carrying part d, left and right crawlers e and e for traveling, and a front part of the fuselage And a driving operation unit f for operating the work machine and the traveling of the machine body. The various devices are controlled in operation via the control device 1 described later by operating the lever, switch, and the like of the driving operation unit f.

  FIG. 2 is a bird's-eye view of the device arrangement of the operation panel of the driving operation unit f. As shown in FIG. 2, the driving operation unit f is composed of an operation panel with front and side panel blocks of the operator, and the front panel is provided with a so-called power steering lever p that can be operated with one lever for turning the body and raising and lowering the cutting. The side panel includes an HST lever q for forward / reverse continuously variable transmission, a turning mode switching lever (mode switching means) r for switching between slow, standard and sudden turns, a cutting lever s for cutting and threshing, and an auxiliary transmission lever By arranging various switches centering on t and the like, the monitor display unit u, and the like, it is possible to operate the machine and operate the work machine through the control device 1 by a single operator operation.

  FIG. 3 is a functional block diagram showing a main part of a control device related to harvesting machine control. As shown in FIG. 3, the control device 1 inputs signals from the GPS unit 3, the cutting / removing monolever switch 4 t, the cutting / removing clutch sensor 4, the discharge clutch sensor 6, the left and right cereal sensors 5 a and 5 b, and the vehicle speed sensor 2. Then, the target device is controlled by the notification monitor output 7 and the cutting / clutching clutch output 8. The internal configuration of the control device 1 is composed of functional blocks such as an agricultural field passage position detection means 11 and a mowing / detaching clutch on / off determination means 12.

  Specifically, the GPS unit 3 is a GPS device attached to the combine body, detects the body position by receiving positioning satellite radio waves, and sends the body position data to the control device 1. The mowing / detaching clutch sensor 4 detects the operation of starting and stopping the mowing portion a and the threshing portion b by detecting the lever operation of the mowing / detaching lever s. The mowing monolever switch 4t is a changeover switch provided in the grip of the mowing lever s, and is a changeover switch that limits lever operation input to the threshing part. The left and right cereal sensors 5a and 5b detect left and right uncut cereals at the tip position of the cutting part a, respectively. The discharge clutch sensor 6 detects a lever operation for discharging the soot in the Glen tank. The vehicle speed sensor 2 detects the rotational speed of the shafts of the crawlers e and e through a speed pulse or the like.

  The field passage position detection means 11 of the control device 1 is an area determination means for determining the positional relationship of the machine body with respect to the field. Specifically, as shown in the functional block diagram of FIG. 4, a field position database 11 m that records a field topographic map of a specific area range, and a current position detection unit 11 p that converts the body position received from the GPS unit 3 into field section data. The field path determination unit 11c is provided as an area determination unit that determines the position of the current position relative to the field area based on the field position database 11m. When the vehicle body is moved by the traveling of the combine by the field passage position detection means 11 configured in this way, the GPS unit 3 detects the vehicle body position, and when the vehicle body approaches the predetermined distance range at the periphery of the field region, the field passage determination unit 11c outputs an approach determination.

  The mowing / detaching clutch on / off determining means 12 is a control unit that determines the control mode of the harvesting machine according to the state of the equipment such as the mowing monolever switch 4t and the determination result by the field passage position detecting means 11, The notification monitor output 7 and the cutting / clutching clutch output 8 are controlled via the notification data transmitting unit 13 and the cutting / clutching motor control output unit 14. For example, when the agricultural field passage position detection means 11 outputs an approach determination, the cutting / clutching motor control output unit 14 outputs the switching operation of the cutting / clutching clutch to the connection side, and harvesting machines such as the cutting unit a and the threshing unit b are output. Start up. In this way, the control device 1 controls the start of the harvesting work machine in accordance with the approach determination by the field path position detection means 11, so that the combine approaches a predetermined distance when entering the field area to be worked. Since the harvesting machine is activated, the operator can proceed with the harvesting work without any troublesome operations.

  Further, as another control configuration example of the control unit, the cutting / removal notification data transmission unit 13 is controlled in response to the approach determination, the start warning of the harvesting work machine is output to the notification monitor, and within a predetermined time thereafter When the operator does not perform the cutting / clutching / clutch disengaging operation, the harvesting work machine is activated via the cutting / clutching / clutch motor control output unit 14. With this configuration, the harvesting work machine responds and starts up when a predetermined time elapses with the operator's recognition based on the notice output, so even if the operator does not operate it, the operator can respond with prior recognition. can do.

  As still another control configuration example, the control of on / off control based on the approach determination is restricted during or after the output of the cutting / clutching control, and after the manual cutting operation of the cutting / clutching clutch is limited to the manual operation, Therefore, it is possible to drive in accordance with the operator's intention after that. Specifically, as shown in the flowchart of the manual discrimination processing of the mowing / detaching clutch as shown in FIG. If it corresponds to the cutting / removing monolever turning determination (S2), the cutting / removing monolever turning determination and the cutting / removing monolever turning determination release (S2a) are performed. Except for the cutting / removing mono-lever switch on (S1), the cutting / removing mono-lever entering determination (S2), and the cutting / removing mono-lever turning determination (S3) (S4) and control processing is performed so as to restrict the automatic activation of the work machine.

  In addition, as another processing example that reflects the intervention of the operator, by restricting the notification operation by the monitor when detecting the stop of the aircraft, and by controlling the control output operation except during the control output of the mowing clutch, Similarly to the above, it is possible to operate according to the operator's intention. Specifically, as shown in the flowchart of the vehicle stop determination process in FIG. 6, when the vehicle speed is compared with a predetermined value (S11) and the operation of the detachment clutch (S12) is not under control in the low speed range, the automatic detachment clutch output By performing the control process so as to restrict the operation of the means (S13), it is possible to avoid the start-up control of the harvesting work machine that is contrary to the operator's intention.

  Next, a control example in the case of leaving the farm area will be described. In the control device configured as described above, when the aircraft moves due to the traveling of the combine, the GPS unit 3 detects the vehicle location, and approaches the predetermined distance range in front of the field area outer circumference line when leaving the field area. The area determination means is set so as to output the determination, and the field passage position detection means 11 is configured. Further, the cutting / clutching clutch on / off determining means 12 is configured to control the cutting / clutching clutch to be disconnected on the condition that the grain culm sensors 5a and 5b have traveled more than a predetermined amount without detecting the uncropped corn millet. As a result, the operator's incidental work when leaving the field can be reduced.

  Further, after the approach determination is output by the field passage position detection means 11, the cutting proceeds to the boundary line side and the combine is located on the passage or in the vicinity of the passage, and the cutting / clipping clutch is left as it is under the condition that the auger is discharged. By configuring the cutting / clutching clutch on / off judging means 12 so as to be maintained, it is possible to cope with a handling operation at an end of the field or the like.

Next, the control of the accelerator lever for adjusting and holding the engine rotation will be described. In the following description, the same members as those described above are denoted by the same reference numerals, and description thereof is omitted.
FIG. 7 is a functional block diagram showing the main part of the control device related to accelerator control. As shown in FIG. 7, in addition to the GPS unit 3, the control device 1a inputs signals from an accelerator control switch 21, an accelerator lever sensor 22, an engine rotation sensor 23, and the like, and controls an accelerator opening / closing output 24. Adjust the engine speed. The internal configuration of the control device 1 a includes functional blocks such as an accelerator lever opening / closing determination unit 25 connected to the field passage position detection unit 11.

  The accelerator control switch 21 is a switch for accelerator automatic control, and the accelerator lever sensor 22 is a position sensor for detecting the accelerator lever position. The accelerator lever opening / closing determination means 25 is a control unit that determines the control mode of the accelerator lever according to the state of the devices such as the accelerator control switch 21 and the vehicle speed sensor 2 and the determination result by the field passage position detection means 11. An accelerator opening / closing output 24 is controlled via an accelerator lever motor control output unit 26.

  The control device 1a configured as described above performs region determination regarding the field area with respect to the body position accompanying movement, and if the combine approaches a coordinate range of the boundary position between the field and the path from the path coordinate position by a predetermined amount or more, based on the approach determination. Thus, the engine speed can be controlled to be a set speed suitable for work. Therefore, the operator's work can be reduced when entering the farm field, and the farm work can be started efficiently.

  In this case, when the current position of the aircraft is at the boundary between the field and the passage, control is performed to stop the accelerator lever opening output, thereby preventing instability of travel due to sudden acceleration near the boundary. can do. Further, when the main speed change lever is operated in a low speed range, it is possible to prevent the instability of the running similarly to the above by performing the control process so that the accelerator lever opening output is not performed. In addition to the above, when the vehicle is stopped, a control process for closing the accelerator lever so as to drop the engine to a low rotation equivalent to idling can be performed to avoid an operation contrary to the operator's intention.

Next, a control example regarding the relationship with the Glen tank will be described.
FIG. 8 is a functional block diagram showing the main part of a control device that performs alarm control based on the filling state of the Glen tank. As shown in FIG. 8, in addition to the GPS unit 3, the control device 1b receives the filling amount sensor 31 of the glen tank and controls an alarm device such as a horn output 33. The internal configuration of the control device 1b includes functional blocks such as a field passage position detection unit 11 and a pod full warning output determination unit 34.

  The filling amount sensor 31 detects the soot level including the full state of the Glen tank. The fullness warning output determination means 34 is a control unit that determines the control mode of the alarm device such as the horn output 33 according to the determination result by the connected farm path position detection means 11, and the filling amount sensor 31 detects the full state. It is configured to output an alarm on the condition of

  The controller 1b makes an area determination regarding the field area with respect to the body position associated with the movement, and approaches when the combine approaches the coordinate range of the boundary position between the field and the path from the path coordinate position when the grain tank is full. An alarm is output based on the determination. Previously, it was a condition that work such as threshing was entered so that an alarm would not be sounded unnecessarily, but even when entering the next work, it was returned by notifying that the Glen tank was full. Can be prevented.

Next, a control example of the overhanging storage control of the narrow guide will be described.
FIG. 9 is a functional block diagram showing the main part of the control device related to the control of the narrow guide. As shown in FIG. 9, in addition to the GPS unit 3, the control device 1c inputs signals from a narrow guide overhanging storage switch 41 and a narrow guide overhanging storage position sensor 42 to output a narrow guide overhanging storage. 43 is controlled. The internal configuration of the control device 1c includes functional blocks such as the agricultural field passage position detection means 11 and the narrow guide storage output determination means 44.

  The field path position detection means 11 is configured to determine that the combine has moved from the boundary position to the path side by a predetermined amount or more as the area determination means when the combine leaves the field area. The narrow guide storage output determination means 44 is configured to perform the narrow guide storage output via the narrow guide motor output control unit 45 in accordance with the determination result by the connected agricultural field passage position detection means 11, so that the operator's work Can be reduced, and a contact accident due to forgetting to store the narrow guide can be prevented.

It is a left view of the combine of the application object of this invention. It is an apparatus arrangement | positioning bird's-eye view of the operation panel of a driving | operation operation part. It is a functional block system diagram which shows the principal part of a control apparatus. It is a detailed functional block diagram. It is a flowchart of the manual discrimination | determination process of a cutting / clipping clutch. It is a flowchart of a stop determination process. It is a functional block system diagram which shows the principal part of the control apparatus regarding accelerator control. It is a functional block system diagram which shows the principal part of the control apparatus regarding alarm control. It is a functional block system diagram which shows the principal part of the control apparatus for narrow guide control.

Explanation of symbols

1 Combine control device 3 GPS unit (GPS device)
4 Mowing / Clutch Sensor 4t Mowing Monolever Switch 7 Notification Monitor Output 8 Mowing / Clutch Output 11 Field Path Position Detection Unit (Region Determination Unit)
11m Agricultural field position database 11c Agricultural field passage determining unit 12 Cutting / detaching clutch on / off determining means (control unit)
13 Cutting / Removal Notification Data Transmitting Unit 14 Motor Control Output Unit a Harvesting Unit b Threshing Unit e Crawler f Operation Unit s Cutting / Levering Lever u Monitor Display Unit

Claims (3)

  In the combine control device for harvesting work machine control provided with a control unit that controls the start and stop of the harvesting work machine that is mounted on the traveling body of the combine and that performs the harvesting work, the control unit includes a GPS provided on the airframe. By receiving the position data of the airframe obtained from the device based on positioning satellite radio waves and comparing the position of the airframe based on this position data with the topographic map of the field, the approach determination is made when approaching a predetermined distance to the field area. A combine control device for harvesting work machine control, comprising an area determination means for outputting, and starting-controlling the harvesting work machine according to the approach determination of the area determination means.   The control unit controls the start of the harvesting work machine according to the start operation signal received from the manual operating device, controls the start of the notification device that performs a predetermined notification operation according to the approach determination, and then performs the predetermined time 2. The combine control device for harvesting work machine control according to claim 1, wherein the harvesting work machine is activated and controlled when it elapses.   The control unit performs stop control of the harvesting work machine in accordance with a stop operation signal received from a manual operating device, and restricts start control based on the approach determination after the stop operation of the manual operating device. Item 2. A combine control device for controlling a harvesting machine according to Item 1.

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