JP3669126B2 - Cutting height control device for harvesting and harvesting machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention outputs a signal when one of the wheat straw sensors (row cutting direction sensors) attached to the left and right sides of the weed straw touches the wheat straw, and brakes the crawler on one side based on this signal to advance the aircraft. By changing the direction away from the culm row, the ground direction of the cutting part is detected by the automatic directional control that automatically follows the culm row and the cutting height sensor attached to the weed culm. The present invention relates to a harvesting harvester such as a combine harvester or a harvester that performs automatic cutting height control for automatically controlling a cutting unit to a target height, and more particularly to a cutting height control device thereof.
[0002]
[Problems to be solved by the invention]
As shown in FIG. 1, while the aircraft is in progress, the culm sensor 14 attached to the weed culm 11 is away from the culm row, and the cutting height sensor 15 reflects the ultrasonic waves transmitted toward the ground. A wave is received and the ground height of a cutting part is detected.
However, the combine may be uneven in the field, hard and soft, and the body suddenly tilts to the left and right, and the weed culm 11 may be too close to the stock.
In such a case, as shown in FIG. 2, the cutting height sensor 15 detects the stock height with one of the wheat straw sensors 14 touching the wheat straw, and erroneously makes the cutting height. .
For this reason, since automatic cutting height control operates and raises a cutting part, the position which cuts a grain cocoon becomes high and tends to become high cutting.
When high cutting occurs, the harvested cereals are shorter than regular ones and become so-called short culms. If this short rice bran is supplied as it is to the threshing section, the tip does not reach the handling cylinder, and therefore, it is processed as sawdust without being threshed.
[0003]
Therefore, the present invention corrects the value detected by the cutting height sensor in consideration of the height of the plant stock when the weeding straw of the harvesting part is too close to the cedar row more than a predetermined amount, and thereby high cutting is performed. It was made for the purpose of preventing.
[0004]
[Means for Solving the Problems]
In order to achieve this object, the present invention is configured as follows.
[0005]
That is, a pair of left and right culm sensors for detecting the presence or absence of a culm row on the weed culm and a cutting height sensor for detecting the ground height of the reaper are provided, and based on the output signal of the culm sensor, By applying braking to the left crawler to change the direction of the aircraft, the automatic direction control means for making the course of the aircraft follow the culm row, and the cutting unit is set to the target based on the output signal of the cutting height sensor. In a harvesting and harvesting machine equipped with an automatic cutting height control means for controlling the height,
A cutting height control device that determines an approaching degree to the culm based on a detection value of the cereal sensor, and corrects a detection value of the cutting height sensor according to the approaching degree.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0007]
FIG. 3 shows a side view of a combine in which the present invention is implemented.
The combine is a harvesting unit 1 that harvests corn straw, a conveyance unit 2 that conveys the harvested corn straw, a supply unit 3 that supplies the conveyed corn straw to a threshing machine, and a traveling unit 4 that has a pair of left and right crawlers. Constitute.
[0008]
The mowing unit 1 is composed of a weed pod 11 for weeding cereals at the tip, a pulling unit 12 for raising the shed cereals, and a cutting blade part 13 for mowing the raised cereals.
A pair of left and right corn straw sensors 14L and 14R that detect the presence or absence of corn straw and a cutting height sensor 15 that detects the ground height of the cutting unit 1 are attached to the weed pod 11.
[0009]
FIG. 4 shows a schematic diagram of the culm sensors 14L and 14R.
The grain basket sensors 14L and 14R are composed of potentiometers 14La and 14Ra and hook-shaped antennas 14Lb and 14Rb provided at the base, and are attached to the left and right sides of the weeding basket 11 at the tip of the cutting unit 1.
The cereal sensor 14L, 14R is configured as described above. When the left antenna 14Lb touches the cereal stock, the resistance value of the left potentiometer 14La changes, and conversely, the right antenna 14Rb is the cereal stock. Touching the source changes the resistance value of the right potentiometer 14Ra.
When the resistance value of the left potentiometer 14La changes, it is determined that there is cereal on the left side. Conversely, when the resistance value of the right potentiometer 14Ra changes, it is determined that there is cereal on the right side.
Further, the degree of proximity of the weed pod 11 to the cereal meal is determined by the magnitude of the change in the resistance values of the potentiometers 14La and 14Ra.
[0010]
FIG. 5 shows a block diagram of a cutting height control apparatus embodying the present invention.
The cutting height control device includes the culm sensors 14L and 14R, the chopping height sensor 15, the input interface 5 that converts signals from the culm sensors 14L and 14R and the cutting height sensor 15 into digital signals, and an input signal. A CPU 6 for outputting an operation signal for raising and lowering the cutting unit 1 based on the above, an output interface 7 for converting a signal from the CPU 6 into an analog signal, a raising solenoid 8 for driving the hydraulic cylinder to raise the cutting unit 1, and a cutting The lower solenoid 9 for lowering the part 1 is constituted.
[0011]
The processing block of the CPU 6 includes a control unit 61 that controls the whole, a target value setting unit 62 that sets the target height of the cutting unit 1 by operating a dial, and the detection value and target value setting of the cutting height sensor 15. The position control unit 63 is configured to output the operation amounts of the raising solenoid 8 and the lowering solenoid 9 from the target height set by the unit 62 and maintain the cutting unit 1 at the target ground height.
[0012]
The cutting height control device according to the present invention has the above-described configuration, determines the degree of culm approach from the detection data of the culm sensors 14L and 14R, and the detection data of the cutting height sensor 15 based on the degree of culm access. Correct.
With reference to the flowchart shown in FIG. 6, the process of the cutting height control apparatus of this invention is demonstrated.
When the process is started, the CPU 6 first reads the detection data of the culm sensors 14L and 14R (step 101), and then reads the detection data of the cutting height sensor 15 (step 102).
Here, it is determined from the detection data of the culm sensors 14L and 14R whether the weed culm 11 is too close to the culm (step 103), and when it is too close, the detection data of the cutting height sensor 15 is invalidated. Or, the detection data of the cutting height sensor 15 is corrected in accordance with the detection data of the grain sensor 14L, 14R, and the operation amount of the raising solenoid 8 and the lowering solenoid 9 is adjusted (step 104). When the weed culm 11 is not too close to the culm row, the operation amounts of the raising solenoid 8 and the lowering solenoid 9 are controlled according to the detection data of the cutting height sensor 15 (step 105).
[0013]
As shown in FIG. 7, the correction of the detection data of the cutting height sensor 15 is performed by measuring the relationship between the degree of access to the stock company and the height of the stock company in advance, and according to the degree of access to the stock company. The detection data of the cutting height sensor 15 is corrected by subtracting the stock height.
Alternatively, the detection data of the cutting height sensor 15 is corrected even when the value of the cutting height sensor 15 clearly changes as the culling sensors 14L and 14R approach the cereal.
In addition, a switch for suppressing the correction may be provided so that the correction can be made so that the correction is not performed.
[0014]
Next, a description will be given of a combine that performs obstacle detection control during reverse travel and that corrects the reference value of the distance to the obstacle based on back sonar detection data.
For example, in the case of securing a distance of 300 mm to the obstacle when moving backward, as shown in FIG. 8, this combine extends the rear by L mm when the working machine A such as a cutter or knotter is attached. Is stored in the non-volatile memory as an adjustment value, and during the obstacle detection control, the obstacle detection control is performed using the adjustment value and the calculation result of the detection data of the back sonar a as the distance to the obstacle.
That is, the distance to the obstacle is set to 300 mm + Lmm, and the reverse travel of the combine is stopped when the back sonar a detects this distance.
The adjustment value Lmm is stored in a non-volatile memory for each type of work implement A, and the type of work implement A is identified by a microswitch attached to a hook connected to the machine.
[0015]
With reference to the flowchart shown in FIG. 9, the obstacle detection distance correction process at the time of reverse travel of the combine will be described.
When the process is started, first, the distance to the obstacle at the rear of the aircraft is set to, for example, 300 mm (step 201).
Next, the detection data of the back sonar a is read (step 202), and the difference between the distance 300mm to the obstacle at the rear of the aircraft and the detection data of the back sonar a is stored in the nonvolatile memory (step 203).
[0016]
Conventionally, when performing obstacle detection control during reverse travel by back sonar, if various work machines are attached to the tail of the aircraft, it has been necessary to change the obstacle detection distance for each model.
This combine automatically identifies the connected work equipment, reads the adjustment value stored in the non-volatile memory, and corrects the obstacle detection distance by adding the adjustment value to the back sonar detection value. This saves you the trouble of changing the detection distance.
[0017]
Next, the combine which corrects the reference value of cutting height based on the detection data of a cutting height sensor in the combine which performs cutting height control is demonstrated.
This combine, for example, when securing the cutting height of 100 mm, as shown in FIG. 10, stores the difference from the detection value Hmm of the cutting height sensor attached to the weed pod as an adjustment value in the nonvolatile memory, At the time of cutting height control, cutting height control is performed using this adjustment value and the calculation result of the detection data of the cutting height sensor as the ground height.
[0018]
The combine cutting height correction process will be described with reference to the flowchart shown in FIG.
When the processing is started, first, the ground height reference value of the weed ridge 11 is set to 100 mm, for example (step 301).
Next, the detection data of the cutting height sensor 15 is read (step 302), and the difference between the ground height reference value 100 mm of the weed pod 11 and the detection data of the cutting height sensor 15 is stored in the nonvolatile memory (step 303). ).
[0019]
Adjusting the installation of the ultrasonic sensor, the ground contact height of the cutting height control may not be accurate due to the installation and variation of the ultrasonic sensor used for the cutting height sensor, as well as the detection variation (solid difference) of the sensor itself. Was also troublesome. This combiner reads the adjustment value stored in the non-volatile memory and automatically subtracts the adjustment value from the detection value of the cutting height sensor to automatically correct the cutting height. It also saves the trouble of sensor mounting and adjustment.
In addition, detection data in which ultrasonic waves reflect and protrude from a stone or the like may be picked up. In this case, the detection data of the ultrasonic sensor is replaced with the ground height reference value of the weed fence 11.
[0020]
Next, a description will be given of a combine that performs automatic direction control and that continuously outputs a direction correction output for a certain period of time after the sensor output for direction control is turned off. This combine stops the direction correction output after a certain period of time has elapsed from the culm sensor when the culm sensor detects the culm and changes the advancing direction of the machine away from the culm row. .
[0021]
The combine direction control process will be described with reference to the flowchart shown in FIG.
When the process is started, first, the detection data of the cereal sensor is read (step 401), and then it is determined whether or not the direction correction output is being performed (step 402). It is determined whether or not the opposite side has been displaced to a fixed amount off side (step 403), and if it has been displaced to a fixed amount off side, the direction correction output is stopped.
[0022]
The conventional combine stops the direction correction output immediately after the direction control sensor output is turned off.
For this reason, the direction correction output became frequent, the aircraft hunted, the operator was shaken, and the riding comfort was bad.
This combine stops the direction correction output after a certain time has elapsed after the sensor output is turned off and the aircraft is sufficiently separated from the culm row, so the direction correction output is not frequent and the ride comfort is improved. At the same time, the accuracy of direction control is improved.
[0023]
Next, in the combine that performs the vehicle body rolling and the automatic direction control, the combine that performs the direction correction output only in the right turn during the vehicle body rolling output will be described.
[0024]
The combine direction control processing will be described with reference to the flowchart shown in FIG.
When the process is started, it is first determined whether or not the direction control is in the automatic mode (step 501). If it is in the automatic mode, the sensor output of the direction control is read (step 502), and then whether or not the vehicle body rolling output is being performed. Determination is made (step 503). If the vehicle is rolling, the direction correction output is performed only in the right turn (step 504). If the vehicle body rolling output is not in progress, a normal direction correction output is performed by the direction control sensor output (step 505).
[0025]
The sensor output of the direction control is not stable during the vehicle body rolling output of the combine.
Also, the left side of the combine is uncut, so if the combine moves too far to the left, it will be left behind.
This combine does not turn to the left even if there is a sensor output to the left during the vehicle rolling output, thus preventing uncut crops from being left uncut and preventing malfunction in the direction control during the vehicle rolling output. Can be improved.
[0026]
Next, in the combine that performs the cutting height control, the combine that sets the lying trimming mode and automatically moves the cutting unit up and down will be described.
When this combine harvesting mode is set to fall mowing, if there is a lever lowering operation during cutting height control, the harvesting unit is moved up and down within a certain cutting height range until the next lever raising / lowering operation is performed. Mow.
[0027]
With reference to the flowchart shown in FIG. 14, the combine trimming control process of this combine is demonstrated.
When the processing is started, first, the lying trimming mode setting is read (step 601), and then the cutting height position is read (step 602). Here, it is determined whether or not the lodging trimming mode is set (step 603). If the lodging trimming mode is set, it is determined whether or not there is an lodging trimming operation (step 604). It is determined whether or not the withdrawal lever is on (step 605), and if the trimming lever is on, it is set that there is an overturning operation (step 606). If there is an overturning operation, it is determined whether or not the harvesting / lowering lever is on (step 607), and if the overcutting / lowering lever is on, the presence of an overturning operation is reset (step 608). If the cutting / lowering lever is not on, the cutting unit is moved up and down within a certain cutting height range.
[0028]
Conventionally, when laying down, the operator operates the lever to raise and lower the mowing unit in small increments, and the pestle is lifted up at the tip of the weed pod and cut well.
Since this combine sets the fall trimming mode and automatically raises and lowers the harvesting portion to trim the fall trap, the fall trimming that has been performed manually by the operator in the past is automated and facilitated.
[0029]
Next, in the combine that performs vehicle body rolling and saw depth control, the combine that performs the saw depth correction output only on the deep side during the vehicle body rolling output will be described.
[0030]
The combine saw depth control process will be described with reference to the flowchart shown in FIG.
When the process is started, it is first determined whether or not the depth control is in the automatic mode (step 701). If it is in the automatic mode, the sensor output of the depth control is read (step 702), and then the vehicle body rolling output is performed. It is determined whether it is in the middle (step 703). If the vehicle body rolling output is in progress, the correction output is performed only on the deep side (step 704). If the vehicle body rolling output is not in progress, a normal saw depth correction output is performed by the sensor output of the saw depth control (step 705).
[0031]
Since the height (length) of the harvested cereal cereal is not constant during the body rolling output of the combine, even if the length of the cereal cedar is judged by the sensor and the depth is adjusted to the shallower side, it is immediately shorter. A kite may come in and leave a saw.
Even if there is a sensor output to the shallow side during the rolling output of the vehicle body, this combine will only correct the output on the deep side, thus preventing leftovers and preventing malfunction of the depth control during the rolling vehicle output. Can be improved.
[0032]
Next, in the combine for performing the vehicle body rolling and the cutting height control, the combine for giving priority to the vehicle body rolling output over the cutting height control will be described.
When the vehicle body rolling output and the cutting height reduction correction output are output at the same timing, the combine performs the cutting height reduction correction output after performing the vehicle body rolling output.
[0033]
The combine cutting height control process will be described with reference to the flowchart shown in FIG.
When the process is started, it is first determined whether or not the cutting height control is in the automatic mode (step 801). If the cutting mode control is in the automatic mode, the sensor output of the cutting height control is read (step 802). Whether or not it is the vehicle body rolling output timing is determined (step 804). If it is the vehicle body rolling output timing, it is determined whether it is the cutting height lowering correction output timing (step 805). If it is the cutting height lowering correction output timing, the vehicle body rolling output is preferentially performed (step 806). .
If the cutting height is not less than the predetermined cutting height, a normal cutting height correction output is performed by the cutting height control sensor output (step 807).
[0034]
The conventional combine is programmed to prioritize the cutting height control over the vehicle body rolling output, so when the cutting height reduction correction output is performed in preference to the vehicle body rolling output at a constant cutting height (low cutting), There is a high possibility that the cutting part will rush.
Since this combine gives priority to the rolling output of the vehicle body over the cutting height control, it prevents the accident that the cutting portion rushes and damages it, and improves the workability of the combine.
[0035]
Next, in the combine that performs the spin turn by turning the automatic direction control and the power steering, the combine that suppresses the spin turn until the vehicle travels for a certain distance after the direction control sensor output is turned off will be described.
[0036]
With reference to the flowchart shown in FIG. 17, this combine spin-turn suppressing process will be described.
When the process is started, first, it is determined whether or not the power steering rotation angle is greatly inclined (step 901), then it is determined whether or not the grain sensor is off (step 902), and then whether or not a certain distance has been traveled is determined. Determination is made (step 903). Then, when the above conditions are satisfied, it is determined whether the power steering rotation angle is greatly inclined to the right or left (step 904), (step 906), and when the power steering rotation angle is inclined to the right, A spin turn to the right is performed (step 905), and if the power steering rotation angle is tilted to the left, a spin turn to the left is performed (step 907).
[0037]
As soon as the combine leaves the culm row, the power steering is strongly manipulated to cause a spin turn, and the cereal is defeated or pulled out, damaging the uncut area. Moreover, it is dangerous because the operator is swung.
This combine does not make a spin turn with a small turning radius until the vehicle travels a certain distance after the direction control sensor output turns off, so the power steering is strongly operated and the uncut area is damaged or the operator is shaken. Prevent dangers.
[0038]
【The invention's effect】
The cutting height control device according to the present invention is configured as described above, and when the cutting weeds of the cutting unit are too close to the culm row beyond a predetermined level, the cutting height sensor of the cutting height sensor is taken into consideration. Correct the detection value. Therefore, according to the present invention, it is possible to prevent an erroneous operation of cutting height control in which the height of the stock is detected and high cutting is performed.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of a culm sensor and a cutting height sensor along which a weed culm is along a colander line.
FIG. 2 is a schematic diagram of a grain culm sensor and a cutting height sensor in which the weed culm is too close to the stock.
FIG. 3 is a side view of a combine embodying the present invention.
FIG. 4 is a schematic view of a cereal sensor.
FIG. 5 is a block diagram of a combine cutting height control apparatus embodying the present invention.
FIG. 6 is a flowchart of combine cutting height control processing according to the present invention;
FIG. 7 is a graph showing the relationship between the degree of access to the stock market and the height of the stock market.
FIG. 8 is a schematic diagram of a combine that performs obstacle detection control during reverse travel.
FIG. 9 is a flowchart of obstacle detection distance correction processing during reverse travel.
FIG. 10 is a schematic diagram of a cutting height sensor attached to a weed pod.
FIG. 11 is a flowchart of a cutting height correction process.
FIG. 12 is a flowchart of a direction control process for continuously outputting a direction correction output.
FIG. 13 is a flowchart of a direction control process for performing a direction correction output only in a right turn.
FIG. 14 is a flowchart of a lodging trimming control process.
FIG. 15 is a flowchart of a saw depth control process.
FIG. 16 is a flowchart of a cutting height control process that prioritizes vehicle body rolling output.
FIG. 17 is a flowchart of spin turn suppression processing.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Cutting part 2 Conveying part 3 Supply part 4 Traveling part 5 Input interface 6 CPU
7 Output Interface 8 Raising Solenoid 9 Lowering Solenoid 11 Weeding Spear 12 Pulling-up Part 13 Cutting Blade Part 14 Grain Wheat Sensor 15 Cutting Height Sensor 61 Control Part 62 Target Value Setting Part 63 Position Control Part

Claims (1)

A pair of left and right culm sensors for detecting the presence or absence of a culm row in the weed culm and a cutting height sensor for detecting the ground height of the reaper are provided, and based on the output signal of the culm sensor, the right or left By applying braking to the crawler to change the advancing direction of the airframe, the automatic direction control means for moving the airframe's course along the culm row, and the cutting part is set to the target height based on the output signal of the cutting height sensor. In a harvesting and harvesting machine provided with an automatic cutting height control means for controlling
A cutting height control device that determines an approaching degree to the culm based on a detection value of the cereal sensor and corrects a detection value of the cutting height sensor according to the approaching degree.

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