JP2517889B2 - Automatic cutting height control method for combine harvesters - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatic cutting height control method for combine harvesters.

(Prior Art) Japanese Patent Laid-Open No. 58-82315 discloses a traveling device such as a crawler below a machine frame, an automatic feeding threshing device on the machine frame, and a hydraulic device in front of the machine frame. A mowing unit that can be freely rotated up and down by expansion and contraction is provided, and the mowing unit has a sensor 12 capable of continuously measuring the mowing height, a mechanism 13 for automatically driving and controlling, and a mechanism for vertically moving based on a manual operation. 14 and when the cutting height detection value by the sensor 12 is abnormal, a switching mechanism 29 between the automatic drive control mechanism 13 and the manual lifting control mechanism 14 is provided, and the cutting height detection value by the sensor 12 detects footprints and straw waste. In case of abnormality, the cutting unit is unreasonably moved up and down. To prevent this, the automatic drive control mechanism 13
The technique for switching to and controlling the manual lifting control mechanism 14 is described in more detail.

Further, in the conventionally known Japanese Utility Model Laid-Open No. 59-159228, when the reaper is automatically moved up and down, if the raising is delayed, the reaper may thrust into the convex portion, but if the descending is delayed, there is no significant effect. Therefore, with the CR time constant of the variable resistor 66 and capacitor 67, the command switch 50
The charging of the capacitor 67 is started by the ON operation of
It is described that when the CR charging waveform determined by the values of the variable resistor 66 and the capacitor 67 reaches the trigger level of the UJT 64, the capacitor 67 is discharged and the pulse from the UJT 64 triggers the thyristor 65.

(Problems to be solved by the invention) Of the above-mentioned known examples, the former is only to switch the automatic drive control mechanism 13 to the manual elevating control mechanism 14 when the cutting height detection value by the sensor 12 is abnormal. It is not possible to prevent the mowing part from sticking into the convex part later.

The latter is operated with a delay by the CR time constant of the variable resistor 66 and the capacitor 67, the charging of the capacitor 67 is started by the ON operation of the command switch 50, and the CR determined by the values of the variable resistor 66 and the capacitor 67. Charge waveform
When the trigger level of UJT64 is reached, the capacitor 67 is discharged, and the pulse from UJT64 triggers the thyristor 65.Thus, it is possible to prevent the reaper from rising faster and to prevent it from plunging into the convex portion. CR time constant device with variable resistor and capacitor, command switch, UJ
Since it requires T and a thyristor triggered by a pulse from UJT, the device is very complicated and cannot be easily done.

However, there is a method that can realize the same operation only by software and is extremely inexpensive and easy.

(Means for Solving the Problem) Therefore, according to the present invention, a traveling device 2 such as a crawler is provided below the machine body frame 1, an automatic feeding threshing device 3 is provided on the machine body frame 1, and a hydraulic pressure is provided in front of the machine body frame 1. A mowing unit 4 which can be rotated up and down by expansion and contraction of the device 10 is provided respectively, and the mowing unit 4 is set to a desired mowing height H by a mowing height setting dial 6 provided in the driver's seat 5 on the front side of the machine body frame 1. An ultrasonic sensor 7 capable of measuring the actual cutting height S at a constant distance or at a constant time is provided on the lower surface of the tip of the mowing unit 4 so that the setting data of the set dial 6 and the ultrasonic wave can be obtained. When the actual measurement data is higher than the set data by comparing with the actual measurement data of the sensor 7, the solenoid valve 9 is turned on to reduce the hydraulic device 10 to adjust the cutting unit 4 low, and the actual measurement data is set. When it is lower than the motor, the controller 8 is provided to turn on the lift solenoid valve 11 to extend the hydraulic device 10 to adjust the mowing section 4 to a high level. When the measured data is higher than the set data continuously M times, it is adjusted low when the measured data is lower than the set data continuously N times, and the relation between the N times and the M times is automatically increased as M> N. This is an automatic cutting height control method for combine harvesters in which adjustment is prioritized.

(Example) With reference to the drawings, an example of a configuration that can implement a control method of the present invention will be described. FIG. 1 is a side view of a combine, 1 is a machine frame, 2 is a traveling device such as a crawler, and 3 is a machine body. An automatic feeding type threshing device provided on the frame 1, 4 is a vertically movable reaping unit attached to the front of the machine frame 1, and 5 is a driver's seat provided on the front side of the machine frame 1, and the reaping unit 4 is provided. Is formed so that it can be manually set to a desired cutting height H by a cutting height setting dial 6 provided on the driver's seat 5. An ultrasonic sensor 7 is provided on the lower surface of the tip of the mowing unit 4, and the ultrasonic sensor 7 is also configured to measure the actual cutting height S of the mowing unit 4. The measured data of the ultrasonic sensor 7 is compared with the controller 8, and when the cutting unit 4 is higher than the set data, the lowering solenoid valve 9 is turned on to reduce the hydraulic device 10,
When the mowing unit 4 is lower than the setting data, on the contrary, the raising solenoid valve 11 is turned on to extend the hydraulic device 10 to automatically raise the mowing unit 4, The cutting height of the mowing unit 4 is constantly kept constant.

Therefore, according to the present invention, as described above, when the mowing unit 4 is higher than the set data, the lowering solenoid valve 9 is turned on to automatically adjust the mowing unit 4 to a low level. On the contrary, the mowing unit 4 is lower than the set data. At this time, the raising solenoid valve 11 is turned on to automatically raise the mowing unit 4, but another condition is added to the ascent and descent of the mowing unit 4. That is, the measurement by the ultrasonic sensor 7 is performed at a constant distance or at a constant time, and since the downward adjustment of the mowing unit 4 is performed accurately, the mowing unit 4 continuously measures M higher than the set mowing height H. When the mowing unit 4 is set lower than the set mowing height H, the rising adjustment of the mowing unit 4 is performed N times in succession, and the M and N are such that M> N Configure to have a relationship.

The M and N vary depending on the field and conditions such as the measurement interval of the ultrasonic sensor 7, but are preferably M.
Is 3 times and N is 2 times.

(Operation) Next, the operation will be described.

Put the combine into the field, turn on the automatic cutting height control switch and threshing switch, set the cutting height of the cutting unit 4 to the desired cutting height with the cutting height set dial 6, and move the combine forward. Then, it is conveyed to the grain culm apparatus 3 that has been mowed and cut by the mowing unit 4 and threshing.

Then, during the mowing work, the actual cutting height of the mowing section 4 is measured by the ultrasonic sensor 7 at a constant distance or at a constant time, and the measured cutting height S is set twice, for example, continuously. When it becomes lower than H, since it is surely low, the raising solenoid valve 11 is turned on to extend the hydraulic device 10, and the cutting unit 4 is automatically adjusted to a high level. On the contrary, the measured cutting height S is, for example, When it becomes higher than the set cutting height H three times in succession, it is surely high, so the lowering solenoid valve 9
Is turned on to reduce the hydraulic device 10 to lower the mowing unit 4 and keep the mowing height of the mowing unit 4 constant at all times.

If the vertical adjustment is not performed when the abnormality is detected a plurality of times as described above, but the vertical adjustment is performed each time when the abnormality is detected, the adjustment may become too intense due to innumerable footprints, which may cause rattling. Also, M and N are M
The safety is ensured by giving priority to the higher output, such as 3 times and N times.

(Effect) Among the above-mentioned known examples, the former is only to switch the automatic drive control mechanism 13 to the manual elevating control mechanism 14 when the cutting height detection value by the sensor 12 is abnormal. It is not possible to prevent it from plunging into a part.

In the latter case, the CR time constant of the variable resistor 66 and the capacitor 67 is used to operate with a delay, and the charging of the capacitor 67 is started by the ON operation of the command switch 50, and the CR determined by the values of the variable resistor 66 and the capacitor 67 is set. Charge waveform
When the trigger level of UJT64 is reached, the capacitor 67 is discharged, and the pulse from UJT64 triggers the thyristor 65.Thus, it is possible to prevent the reaper from rising faster and to prevent it from plunging into the convex portion. The device is so complicated that it cannot be done easily.

However, according to the present invention, the traveling device 2 such as a crawler or the like is provided below the machine body frame 1, the automatic feeding type threshing device 3 is provided on the machine body frame 1, and the hydraulic device 10 is extendable and retractable in front of the machine body frame 1. Each of the mowing units 4 is provided so that the mowing unit 4 can be set to a desired mowing height H by a mowing height setting dial 6 provided in the driver's seat 5 on the front side of the machine body frame 1. An ultrasonic sensor 7 capable of measuring the actual cutting height S at a constant distance or at a constant time is provided on the lower surface of the tip of the, and the setting data of the set dial 6 and the actual measurement data of the ultrasonic sensor 7 are compared. When the measured data is higher than the set data, the lowering solenoid valve 9 is turned on to reduce the hydraulic device 10 to adjust the mowing unit 4 low. The controller 8 is provided to turn on the noid valve 11 and extend the hydraulic device 10 to adjust the mowing unit 4 to a high level. The automatic vertical adjustment of the mowing unit 4 is performed by continuously measuring the data N times. When the measured data is lower than the set data, the value is adjusted higher, and when the measured data is continuously higher than the set data, the value is adjusted lower. And the relationship between the N times and the M times is M> N, and the automatic adjustment is prioritized. Since the cutting height automatic control method for the combined harvester is used, it does not react to small recesses such as footprints, but it is possible to quickly avoid convex parts to prevent aircraft damage, and the actual measurement data is N times consecutive. When the measured data is lower than the set data, the value is adjusted to be higher, and when the measured data is continuously higher than the set data, the value is adjusted to be low.
As for the relation of times, since the automatic raising adjustment is prioritized with M> N, it can be implemented only by software. As in the known example, the CR time constant device with the variable resistor and the capacitor, the command switch, the UJT, and the UJT Since a thyristor or the like triggered by the pulse from is not required, it is extremely inexpensive, and the condition of M> N can be changed only by changing the program.

[Brief description of drawings]

1 is a side view of the whole, FIG. 2 is a block circuit diagram, and FIG.
The figure is a flow chart. Explanation of reference numerals 1 ... Machine frame, 2 ... Traveling device, 3 ... Threshing device, 4 ... Mowing section, 5 ... Driver's seat, 6 ... Cutting height set dial, 7 ... Ultrasonic sensor, 8 ...... Controller, 9 ...... Lower solenoid valve, 10 ...... Hydraulic device, 11
...... Lifting solenoid valve.

Claims (1)

(57) [Claims] 1. A traveling device 2 such as a crawler below the machine body frame 1, and an automatic feeding type threshing device 3 on the machine body frame 1.
In the front of the machine body frame 1, there are provided mowing sections 4 which can be rotated up and down by expansion and contraction of the hydraulic device 10, and the mowing sections 4 are provided on the driver's seat 5 on the front side of the machine body frame 1. The cutting height H can be set to a desired cutting height H by an ultrasonic sensor 7 that can measure the actual cutting height S at a fixed distance or at a fixed time on the lower surface of the tip of the cutting unit 4, The setting data of the dial 6 and the actual measurement data of the ultrasonic sensor 7 are compared, and when the actual measurement data is higher than the setting data, the lower solenoid valve 9 is turned on to reduce the hydraulic device 10 to lower the mowing unit 4. If, on the contrary, the measured data is lower than the set data, the solenoid valve 11 is turned on to turn on the hydraulic system.
A controller 8 is provided to extend 10 to adjust the mowing unit 4 high, and the automatic vertical adjustment of the mowing unit 4 is
When the measured data is lower than the set data for N consecutive times, the value is adjusted to be higher, and when the measured data is higher than the set data for M times, the value is adjusted to be lower.
The relation of times is an automatic cutting height control method in a combine in which M> N is set and automatic adjustment is prioritized.