JP3720553B2 - Cutting height control device for combine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention attaches a cutting pretreatment device to the front part of a combine traveling machine so as to be able to move up and down, and cuts the cutting height of the cereal from the field scene so that it approaches the preset target cutting height setting value. The present invention relates to a cutting height control device for raising and lowering a pretreatment device.
[0002]
[Prior art]
Conventionally, for example, in Japanese Patent Laid-Open No. 63-56763 and Japanese Patent Laid-Open No. 6-303817, the pre-cutting processing device includes a non-contact type cutting height for detecting the height to the ground (cutting height). An ultrasonic sensor as a sensor is provided, and the cutting pretreatment device is controlled to move up and down so that the detected value approaches a target cutting height setting value set in advance by a cutting height setting device. .
[0003]
By the way, in the ultrasonic sensor, the ultrasonic wave is emitted toward the ground at short time intervals, and the time length from when the ultrasonic wave is transmitted until the reflected wave is received by the receiver is measured. Since the height to the ground (cutting height) is detected, if the lifting / lowering control of the pre-cutting processing device is executed with only one reception result (detection result), malfunctions are likely to occur. The moving average value of the average values of the detection results is used. That is, when calculating the average value, a method is employed in which old detection results are removed by the number of detection results newly input.
[0004]
[Problems to be solved by the invention]
However, if the target cutting height setting value is set high, the ground height position of the ultrasonic sensor will inevitably increase, and the irregular reflection of the ultrasonic wave from the ground will become severe, and the reflected wave will be received by the receiver. It becomes difficult (the voltage value of the signal of the received wave is low), the reception result (detection result) becomes unstable, and in severe cases, the reflected wave cannot be received. Even so, there is a problem that the degree of fluctuation of the cutting height becomes large and accurate cutting height control cannot be performed.
[0005]
The present invention has been made to solve this problem, and an object of the present invention is to provide a cutting height control device for a combine that can perform stable cutting height control.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the cutting height control device for a combine according to the first aspect of the present invention is configured such that the cutting pretreatment device is driven to move up and down with respect to the traveling machine body via a hydraulic cylinder. Elevation position sensor for detecting the machine elevation position of the device and the traveling machine, a non-contact type cutting height sensor for detecting the ground height of the pre-cutting device, and a cutting height by the non-contact type cutting height sensor Stability determination means for height detection and a cutting height setting device for presetting a target cutting height setting value, and approaching the target cutting height setting value based on a detection value of a non-contact cutting height sensor As described above, during the process of moving up and down the cutting pretreatment device, the target cutting height setting value is larger than a predetermined value, and the detection result of the non-contact cutting height sensor is unstable by the stability determination means. When determined, before cutting Together to stop the elevation control of the management unit for a certain time, in which maintaining a mowing height position just before become unstable, and controls to actuate the informing means for informing a stop of the elevator control.
[0007]
[0008]
The invention described in claim 2, calculated in mowing height control apparatus in the combine of claim 1, the moving average value of the detection result of the non-contact type cutting height sensor to extract each plurality And a moving average that increases the number of detection results to be extracted as the target cutting height setting value is increased. It controls to calculate the value.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment embodying the present invention will be described. FIG. 1 is a side view of a traveling machine body 1 of a combine, FIG. 2 is a plan view of the traveling machine body 1, FIG. 3 is a front view of the combine, and FIG. FIG. 5 is a plan view of a lift position sensor, FIG. 6 is a skeleton diagram of power transmission, and FIG. 7 is a functional block diagram of a hydraulic circuit and a control device.
[0010]
A threshing device 3 is mounted on the left side of the traveling body 1 of the combine having a pair of left and right traveling devices 2 provided with a traveling crawler 2 a, and a single-acting hydraulic cylinder is disposed at the front of the traveling body 1. The cutting pretreatment device 4 that can be moved up and down by 9 is arranged. A clipper-type cutting blade device 5 is arranged on the lower side of the lower frame of the pre-cutting processing device 4, and a cereal groin raising device 6 for six strips is arranged on the front side. Between the two, a cereal haul conveying device 8 is arranged, and a weed body 10 protrudes in front of the lower portion of the cereal haul raising device 6. A cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged on the rear side thereof.
[0011]
As shown in FIGS. 4 and 5, the base end of the forward and downward inclined lifting cylinder frame 14 with the tip attached to the pre-cutting processing device 4 is fixed to the horizontal cylinder 15, and the horizontal cylinder 15 is attached to the front of the traveling machine body 1. A plurality of bearing brackets 16 (one of which is not shown) is pivotally supported by the shaft, and power from the engine 35 on the traveling machine body 1 is applied to the inner diameter portions of the horizontal cylinder 15 and the lifting cylinder frame 14. Power is transmitted to each part of the pre-cutting processing device 4 through the disposed transmission shafts 17 and 19, the bevel gear pair 18 and the like. The cutting pre-treatment device 4 is driven up and down by a lifting hydraulic cylinder 9 mounted between the middle part of the lifting cylinder frame 14 and the traveling machine body 1.
[0012]
As shown in the skeleton diagram (FIG. 6) showing the power transmission system of the combine, one of the outputs from the engine 35 is transmitted to the bottom conveyor 37 and the vertical conveyor 38 in the grain tank 12 via the clutch 36, Then, it is transmitted to a screw conveyor (not shown) in the discharge auger 28.
Other outputs from the engine 35 are a power handling shaft 40, a sorting drive shaft 41, a driving hydraulic pump hydraulic motor type (HST type) driving drive unit 42 to a driving drive unit 42, Power is transmitted to the constant speed rotation drive shaft 44 to the pre-cutting processing device 4. Then, the handling cylinder 13 and the processing cylinder 29, the first receiving screw conveyor 26a, the tang fan, the second receiving screw conveyor 26b, and the second reducing conveyor 25, via the handling cylinder driving shaft 40 or the sorting driving shaft 41, It is transmitted to the waste chain 31, the suction fan 30, and the waste cutter 33.
[0013]
On the other hand, power is transmitted from the harvesting drive shaft 45 output from the (HST type) travel drive unit 42 to the harvesting shaft 47 via the one-way clutch 45a and the synchronization clutch 46 (which can be transmitted only during forward rotation of the travel drive unit). And transmit directly to the feed chain 7. In addition, the power transmission to the pre-cutting processing device 4 is turned on and off via a pre-cutting processing unit clutch 49 provided on the cutting shaft 47. In order to turn on / off each of the tuning clutch 46, the cutting clutch 48, and the pre-cutting processing section clutch 49, a clutch actuator such as an electromagnetic solenoid corresponding to each clutch is turned on / off. The synchronization clutch 46 may be a tension clutch that cuts power by tensioning / relaxing the belt tension. Therefore, as will be described later, when prohibiting (stopping) the vehicle speed synchronization control, power is transmitted to the cutting shaft 47 via the constant speed rotation drive shaft 44 of the power branching mission 39, and from the HST traveling drive unit 42. The one-way clutch 45a idles when the rotational speed of the reaping synchronized driving shaft 45 to be output is lower than the rotational speed from the constant speed rotational driving shaft 44 or when the reaping synchronized driving shaft 45 rotates in the reverse direction of the combine. .
[0014]
The vehicle speed is steplessly changed by adjusting the swash plate of each hydraulic pump or the like of the travel drive unit 42, which is of the HST type (a mechanical transmission mechanism incorporated in a stepless transmission mechanism using two hydraulic motors and two hydraulic pumps). Therefore, the main transmission lever 85 rotates back and forth, and when it is tilted forward with respect to the neutral position (stop position) in a substantially vertical posture, it is the forward movement position, and the vehicle speed increases as the inclination angle with respect to the vertical increases. When the vehicle is tilted backward, the vehicle moves backward, and the vehicle speed increases as the tilt angle increases.
[0015]
The auxiliary transmission lever 86 is for controlling an actuator such as a transmission motor for operating a mechanical transmission mechanism (not shown) provided in the HST type traveling drive unit 42. When switching to each position of the standard work mode and the low-speed work mode, the output (horsepower) of the traveling drive unit 42 adapted to each work mode and the command of the microcomputer type control device (controller unit) 70 mounted on the combiner and The number of revolutions can be set and held within a predetermined range.
[0016]
When the normal cutting and threshing operation is performed while the traveling machine body 1 is traveling forward (during the low speed operation mode and the standard operation mode), the cutting clutch 48 in the power branching mission 39 is turned off (power cut off), The vehicle speed tuning clutch 46 and the pre-cutting processing section clutch 49 are in an ON (power connection) state, and while monitoring the detected values of the fuel injection amount sensor and the vehicle speed sensor, the rotation speed synchronized with the output of the traveling drive section 42 is adjusted. The cutting shaft 47 is driven via the cutting tuning drive shaft 45 to drive the cutting pretreatment device 4 and the feed chain 7 synchronously, while the barrel driving shaft 40 and the sorting driving shaft 41 are driven to handle the barrel 13 and the processing barrel. 29, the fan, the fan 20, the swing selection mechanism and the like are driven.
[0017]
In addition, when the traveling machine body 1 is stopped or retracted when the traveling machine body is turned in the middle of the harvesting and threshing operation in the field, when the driving of the cutting pretreatment device 4 and the feed chain 7 is stopped, the synchronization clutch 46 and the cutting clutch 48 are turned off. In order to drive only the feed chain 7, the pre-cutting section clutch 49 is turned off. In this case, there is no power transmission to the pre-cutting processing device 4, and power is transmitted only from the power branching mission 39 to the feed chain 7 via the cutting shaft 47.
[0018]
In the field, with the traveling machine body 1 stopped, the pre-cutting processing device 4 and the feed chain 7 are driven, and the cereals harvested by hand are inserted into the culm transporting portion of the pre-cutting processing device 4. In order to carry out the operation of bringing into the threshing unit 3 via the feed chain 7 and threshing, the tuning clutch 46 is turned off so that the output from the travel drive unit 42 is not synchronized, and the power from the engine 35 is split into power. The threshing clutch 48a, the cutting clutch 48, and the pre-cutting processing section clutch 49 in the transmission 39 are electrically turned on. When the power is transmitted from the cutting shaft 47 to the feed chain clutch and the pre-cutting processing section clutch and transmitted to the feed chain 7 and the pre-cutting processing device 4, the ON circuit of the pre-cutting processing section clutch motor and the feed chain clutch are transmitted. By providing a delay circuit such as a delay relay in each of the motor OFF circuits, the feed chain 7 is started earlier than the pre-cutting processing device 4 by turning it on slightly earlier than the pre-cutting process clutch. On the contrary, when the work is finished, the pre-cutting processing device 4 is stopped quickly and the feed chain 7 is stopped slowly, so that the flow of the cereal can be made smooth.
[0019]
The ultrasonic sensor 20 as a non-contact type cutting height sensor for detecting the cutting height by detecting the height between the pre-cutting processing device 4 and the field scene is the grain culm near the cab 11. It arrange | positions to the bracket (not shown) provided in the back surface side of the pulling-up apparatus 6, and as shown in FIG. 6, the transmission part (horn part) of the transmitter 20a in the ultrasonic sensor 20 and the receiving part of the receiver 20b are comprised. Arrange it so that it faces the field. When the installation height of the ultrasonic sensor 20 and the installation height of the cutting blade 5 are different, the cutting height detection value is obtained from the detection value of the ultrasonic sensor 20 by a predetermined conversion.
[0020]
The elevation position sensor 22 is for detecting the relative height between the traveling machine body 1 and the pre-cutting processing device 4. In this embodiment, the elevation position sensor 22 is fixed to the bearing bracket 16 as shown in FIGS. 4 and 5. By detecting the rotation angle θ of the horizontal cylinder 15 by bringing the sensing rotation arm 23 of the rotation potentiometer type lift position sensor 22 into contact with the sensor shaft 24 fixed to the outer surface of the horizontal cylinder 15, the lift cylinder The rotation angle of the frame 14, and hence the lifting / lowering position of the pre-cutting processing device 4 with respect to the traveling machine body 1 (to the machine lifting position) can be detected.
[0021]
FIG. 7 shows a functional block diagram of a control device 70 for executing cutting height control and the like. The control device 70 is an electronic control device such as a microcomputer, and performs various arithmetic processes and controls although not shown. A central processing unit (CPU) for execution, a read-only memory (ROM) storing a control program, a read / write readable memory (RAM) for temporarily storing various detection values, data, etc., a power supply for the control unit Includes a non-volatile memory for holding stored data even when turned off, a clock as a timer function, an interface, a bus, and the like.
[0022]
An ultrasonic wave is transmitted to the transmitter 20a in the ultrasonic sensor 20 at an appropriate time interval T1 via a transmission drive circuit 71 according to a command from the control device 70, and the reflected wave reflected by the detected object is received by the receiver. 20b, and the detection signal is input to the control device 70 via the reception amplification circuit 72. The detection signal of the elevation position sensor 22 is also input to the control device 70 via the A / D converter at each time interval T1.
[0023]
Further, the cutting height setting device 73, the manual switch 74 when performing the cutting and threshing operation in the manual mode, the automatic switch 75 when setting the same operation to the automatic control mode, and further when performing the manual operation, the pre-cutting processing device 4 Each signal of the joystick 76 for finely moving up and down manually is also input to the control device 70. The operation lever of the joystick 76 can be tilted back and forth and is energized so as to automatically return to the neutral position, and continues to descend at the minimum speed while the operation lever is tilted forward, and the minimum speed while it is tilted backward. Continue to rise.
[0024]
Further, the control device 70 outputs a predetermined raising / lowering command signal to the first drive circuit 77 and the second drive circuit 78 according to a predetermined calculation result to be described later, and according to an output from the first drive circuit 77. The electromagnetic solenoids 80a and 80b of the hydraulic switching valve 80 in the hydraulic circuit 79 are operated, while the electromagnetic solenoid 50a of the electromagnetic proportional pressure reducing valve 50, which is an example of a fast response electromagnetic valve, is operated in accordance with the output from the second drive circuit 78. Thus, the single-acting hydraulic cylinder 9 for raising and lowering the cutting pretreatment device 4 is operated.
[0025]
In the hydraulic circuit 79 shown in FIG. 7, a pair of left and right rolling control hydraulic cylinders (not shown) for controlling the single-acting lifting hydraulic cylinder 9 and the left and right relative vehicle heights of the left and right traveling devices 2 and the traveling machine body 1. Pressure oil is also supplied to the hydraulic control valve 51 and the like.
In this case, as shown in FIG. 7, a relief valve 54 is inserted in the oil supply path 53 from the hydraulic pump 52 of the hydraulic circuit 79 to the hydraulic switching valve 49. A check valve 55 and a slow return check valve 56 are connected in the middle of the hydraulic pipe from the output port of the 4-port 3-position switching electromagnetic hydraulic switching valve 80 to the single-acting hydraulic cylinder 9. Note that the other hydraulic control valve 51 is configured to supply oil from the other output port of the hydraulic switching valve 80 at the same time.
[0026]
A return oil pipe 57 connected between the check valve 55 and the slow return check valve 56 of the hydraulic pipe is provided with a variable throttle valve 58 for lowering the piston rod of the single-acting hydraulic cylinder 9 and an emergency lowering valve 59 in parallel. Connecting. The variable throttle valve 58 is a 2-port 2-position switching type valve, and an output port of an electromagnetic proportional pressure reducing valve 50 as an example of the high-speed response solenoid valve is connected to the pilot port.
[0027]
Then, the operation control of the hydraulic cylinder 9 for raising and lowering the pre-cutting device is performed as follows. That is, when the electromagnetic hydraulic switching valve 80 is switched to extend the hydraulic cylinder 9, the electromagnetic proportional pressure reducing valve 50 adjusts the hydraulic pressure appropriately when the electromagnetic solenoid 80a is operated by pulse width modulation control (PWM). The pilot pressure acts on the variable throttle valve 58, the throttle degree of the variable throttle valve 58 is arbitrarily changed, and the oil is drained from the return oil pipe 57 to the oil tank 60. In that case, the operating speed of the hydraulic cylinder 9 is adjusted according to the throttle degree of the variable throttle valve 58. Further, when the hydraulic cylinder 9 is reduced, the hydraulic switching valve 80 is made neutral, the electromagnetic proportional pressure reducing valve 50 is operated by the pulse width modulation control (PWM) method as described above, and the pilot pressure is adjusted. The throttle opening of the variable throttle valve 58 is adjusted, thereby adjusting the operating speed of the hydraulic cylinder 9.
[0028]
Next, the cutting height control of the present invention will be described. The cutting height setting unit 73 for determining the target cutting height setting value Hsm may be an analog type such as a variable resistor or a digital type. In the first embodiment of the present invention, when the up-and-down cutting processing device 4 is controlled to move up and down so as to approach the target cutting height setting value Hsm based on the detection value of the ultrasonic sensor 20, the main flowchart shown in FIG. As described above, following the start of control, the target cutting height setting value Hsm is read in S1, and a plurality of cutting height detection values Hsx detected by the ultrasonic sensor 20 are read in S2 and stored in a memory (RAM). Next, in S3, cutting height control based on a so-called moving average value is executed. That is, as shown in FIG. 8, a plurality of cutting height detection values Hsx sampled by the ultrasonic sensor 20 sampled every ΔT1 are extracted (input / stored), and an average value is calculated by the calculation unit of the control device 70. Then, when obtaining the next average value, the moving average value is obtained in such a manner that a new extraction is performed and old detection values are sequentially removed by the number of additional input cutting height detection values. It is determined whether or not the moving average value fluctuates so as to deviate from the range of ± ΔHf (dead band width) with respect to a preset cutting height (target cutting height setting value Hsm), and the target cutting height is determined. When the set value Hsm is outside the range of the dead band of ± ΔHf, the cutting pretreatment device 4 is moved up and down. When the moving average value Him is within the dead band width, the cutting pretreatment device 4 is not moved up and down. The cutting height control based on the moving average value Him is executed (S3).
[0029]
During the cutting height control, it is determined whether the reflected wave is not received by the receiver although the ultrasonic wave is intermittently transmitted from the transmitter of the ultrasonic sensor 20 (S4). ). When the reflected wave is received by the receiver (S4: yes), next, it is determined whether or not the detection result of the ultrasonic sensor 20 is stable by the stability determination means described later (S5), and the ultrasonic sensor When the detection result of 20 is stable (S5: no), the process returns to S3 and the cutting height control based on the moving average value is executed.
[0030]
On the other hand, when the reflected wave is not received by the receiver (when a predetermined input voltage cannot be obtained and it is determined that there is no reflected wave) (S4: no), it is provided at the lower end of the pre-cutting processing device 4. Prioritizing the detection result of the ground contact type ground height sensor, the pre-cutting processing device 4 is controlled to move up and down (S6). If the detection result of the ground contact type ground height sensor is used, the lower end (tip) of the pre-cutting processing device 4 can be reliably prevented from being pushed into the ground.
[0031]
Further, when the detection result of the ultrasonic sensor 20 is unstable (S5: yes), the lifting control of the pre-cutting processing device 4 is executed based on the detection result of the lifting position sensor 22 (S7).
The stability determination means for determining whether the cutting height detection result of the ultrasonic sensor 20 is unstable or stable is based on a control program stored in the control device 70 in advance (see a subroutine flowchart shown in FIG. 10). Execute.
[0032]
In this subroutine flowchart, following the start, initial values of Lc = 0, tc = 0, and Z = 0 are set (S10). Here, Lc is the cutting height travel distance (in millimeters) of the combine, tc is the duration of a phenomenon described later (in milliseconds), and Z is the number of occurrences of the phenomenon described later. A plurality of cutting height detection values Hsx after the start of harvesting and threshing of the combine are read (S11). Next, a moving average value calculation is executed (S12). Then, the first of the calculated moving average values Him is stored in the memory (RAM) as the reference value Hstao (S13).
[0033]
Next, it is determined whether or not the moving average value Him calculated subsequently has increased or decreased by a predetermined fluctuation amount ΔHi or more with respect to the (initial) reference value Hstao (S14). When | Hsta−Him | ≧ ΔHi, that is, when the subsequent moving average value Him increases or decreases by a predetermined fluctuation amount ΔHi with respect to the reference value Hstao (S14: yes), the fluctuation state continues. Is determined for a predetermined time tco or longer (S15). This is shown in FIG.
[0034]
When the two conditions are satisfied (S14: yes and S15: yes), the reference value is updated and stored (S16). That is, the updated reference value Hsta is the cutting height detection value Hsx of the ultrasonic sensor 20 immediately after the two conditions are satisfied (S14: yes and S15: yes). Then, the updated reference value Hsta is compared with the target cutting height set value Hsm, and the cutting height control in S3 is executed (S17). Each time this state occurs, Z is incremented by one (S19). When the number of occurrences Z is greater than or equal to the predetermined number of times Zo (S20: yes), when the measurement distance Lc is within the range of the set value Lo (unit millimeter, 200 mm to 400 mm in the embodiment) (S21: yes), the ultrasonic sensor 20 It is determined that the detection result is unstable (flag P = 1) (S22). In other conditions, the detection result is stable (flag P = 0) (S23).
[0035]
That is, when the combine is traveling a predetermined distance (set value Lo) and the reference value Hsta is updated more than the number of times Zo, for example, when the moving average value as shown in FIG. The moving average value Him is set to the updated reference value Hsta, and if this deviation is large based on the deviation between the updated reference value Hsta and the target cutting height setting value Hsm, the lifting control speed of the pre-cutting processing device is set. When the cutting height control of increasing is executed, the descending speed of the pre-cutting processing device increases sequentially, and there is a high risk that the lower end of the pre-cutting processing device 4 will rush into the field scene. Therefore, the above state is defined as unstable, and the cutting height detection value Hsx of the ultrasonic sensor 20 immediately after the predetermined time tco is set as the updated reference value Hsta.
[0036]
When the variation state does not continue for the predetermined time tco or longer (S15: no), the later (latest calculated) moving average value Him is adopted as the updated reference value Hsta (S18).
When the height of the ultrasonic sensor 20 to be installed on the ground is high, the unevenness of the field, the undergrowth (weeds), the irregular reflection of the ultrasonic waves due to the sawdust, etc. increase, and the fluctuation of the moving average value increases. Such a state is called unstable detection result of the ultrasonic sensor 20.
[0037]
When it is determined that such an unstable state, as another embodiment, the automatic lifting control of the cutting pretreatment device 4 is interrupted, and the set position (cutting) immediately before becoming unstable for a certain period of time is interrupted. You may make it hold | maintain the height position of the pre-processing apparatus 4. FIG. In this case, in order to notify the operator of the interruption (stop) of the automatic elevating control, control is performed such that alarm means such as an alarm buzzer and alarm lamp blinking are operated.
[0038]
When the operator confirms the operation of the notification means and lowers the target cutting height set value Hsm of the cutting height setting unit 73, the ground installation height of the ultrasonic sensor 20 also decreases, and the detection result of the ultrasonic sensor 20 is The probability of stabilization increases. If the auto set button is pressed, automatic lifting control using the original target cutting height setting value Hsm as a reference value is performed again from the beginning.
[0039]
As yet another embodiment, when the detection result is determined to be unstable, the detection result of the ultrasonic sensor 20 is not adopted and the value set by the cutting height setting unit 73 (target cutting height). The raising / lowering position of the pre-cutting processing device 4 may be determined based on the setting value. In this case, when setting the predetermined value Hph of the machine lifting position of the pre-cutting processing device 4, a relational expression as shown in FIG. 12 is stored in the nonvolatile memory provided in the control device 70, and the target expression When the cutting height setting values Hsm1, Hsm2, and Hsm3 are determined, the corresponding predetermined values Hph1, Hph2, and Hph3 are obtained, and this data (predetermined value Hph) may be read and used during predetermined cutting height control. Instead of the relational expression, a map in which a predetermined value Hph is set in advance so as to correspond to each target cutting height setting value Hsm is stored in the non-volatile memory, and this data (predetermined value) is determined during predetermined cutting height control. The value Hph) may be read from the map and used.
[0040]
In any of these cases, it is preferable to continue to determine whether the detection result of the ultrasonic sensor 20 is stable or not, and when it is determined that the detection result is stable, it is preferable to return to normal automatic lifting control.
As another example, when it is determined that the detection result of the ultrasonic sensor 20 is unstable, the number of samples for the moving average (or time for sampling) increases as the target cutting height setting value increases. Alternatively, it may be controlled to increase the width of the dead zone for the lifting control of the cutting pretreatment device 4 described above. In this case, a relational expression or a map as shown in FIG. 13 or FIG. 14 may be stored in the non-volatile memory, and this data may be read from the map and used during predetermined cutting height control.
[0041]
【The invention's effect】
As described above, the cutting height control device for the combine according to the first aspect of the present invention is configured so that the cutting pretreatment device is driven to move up and down with respect to the traveling machine body via the hydraulic cylinder, and the cutting pretreatment processing is performed. Elevation position sensor for detecting the machine elevation position of the machine and the traveling machine, a non-contact type cutting height sensor for detecting the ground height of the pre-cutting device, and a cutting height by the non-contact type cutting height sensor Stability determination means for height detection and a cutting height setting device for presetting a target cutting height setting value, and approaching the target cutting height setting value based on a detection value of a non-contact cutting height sensor As described above, during the process of moving up and down the cutting pretreatment device, the target cutting height setting value is larger than a predetermined value, and the detection result of the non-contact cutting height sensor is unstable by the stability determination means. When it is determined, The elevator control apparatus with stops for a certain time, in which maintaining a mowing height position just before become unstable, and controls to actuate the informing means for informing a stop of the elevator control.
[0042]
[0043]
[0044]
By controlling in this way, it is possible to prevent a state in which the cut mark is greatly waved as in the case where the pre-cutting device is moved up and down while the detection result is unstable, and the target cutting height setting value is Since it is larger than the predetermined value, there is no possibility that the lower end of the pre-cutting processing device will enter the farm scene even if the lifting control of the pre-cutting processing device is stopped for a certain time. Furthermore, since the operator is notified of the suspension of the automatic lifting control by the notifying means, there is an effect that there is no misunderstanding that the operator is the automatic lifting control.
[0045]
The invention described in claim 2, calculated in mowing height control apparatus in the combine of claim 1, the moving average value of the detection result of the non-contact type cutting height sensor to extract each plurality And a moving average that increases the number of detection results to be extracted as the target cutting height setting value is increased. It controls to calculate the value.
[0046]
Therefore, when the detection result of the non-contact type cutting height sensor is unstable, the instability can be easily resolved by increasing the number of samples of the moving average value of the detected values.
[Brief description of the drawings]
FIG. 1 is a side view of a combine.
FIG. 2 is a plan view of the combine.
FIG. 3 is a front view of the combine.
FIG. 4 is a side view showing an attachment position of the position sensor.
FIG. 5 is a plan view showing a position sensor mounting position;
FIG. 6 is a skeleton diagram of a power transmission system.
FIG. 7 is a functional block diagram of a hydraulic circuit and control means.
FIG. 8 is a diagram showing a moving average of cutting height detection values obtained by an ultrasonic sensor.
FIG. 9 is a main flowchart of cutting height control.
FIG. 10 is a flowchart for determining whether the cutting height detection result is stable or unstable.
FIG. 11 is a diagram showing an unstable state of a cutting height detection result.
FIG. 12 is a diagram of a relational expression for obtaining a predetermined value for a lift position sensor from a target cutting height setting value.
FIG. 13 is a relational expression for obtaining the number of samples for moving average from a target cutting height setting value.
FIG. 14 is a diagram of a relational expression for obtaining the size of the dead zone from the target cutting height setting value.
[Explanation of symbols]
1 Airframe
2 Traveling devices 8 Cutting pretreatment device 9 Lifting hydraulic cylinder 20 Ultrasonic sensor 22 Lifting position sensor 49 Cutting cutting processing unit clutch 70 Control device 73 Cutting height setter

Claims (2)

The cutting pre-treatment device is configured to be driven up and down with respect to the traveling machine body via a hydraulic cylinder, and a lifting position sensor for detecting a machine lifting position between the cutting pre-treatment device and the traveling machine body, and a cutting pre-processing device. A non-contact type cutting height sensor for detecting the height of the ground, a stability determination means for detecting cutting height by the non-contact type cutting height sensor, and a cutting height setting device for presetting a target cutting height setting value; With
During the process of raising and lowering the cutting pretreatment device so as to approach the target cutting height setting value based on the detection value of the non-contact cutting height sensor,
When the target cutting height setting value is larger than a predetermined value and the stability determination means determines that the detection result of the non-contact type cutting height sensor is unstable, the lifting control of the pre-cutting processing device is fixed. Stop for only time and maintain the cutting height position just before it becomes unstable,
A cutting height control device for a combine, which controls to operate a notifying means for notifying the suspension of the lifting control . A calculation unit that extracts a plurality of detection results of the non-contact cutting height sensor and calculates a moving average value thereof; and a height determination unit that determines the level of the target cutting height setting value. as increasing the mowing height setting value, mowing height control apparatus in the combine of claim 1, wherein the controller controls so as to calculate a moving average value by increasing the number of detection result to be the extraction .

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