JPH01136265A - Control sensor for mobile agricultural machinery - Google Patents

Abstract

PURPOSE:To easily assemble different kinds of machines corresponding to the connecting state of each sensor by providing respective sensor to control the travel of a mobile vehicle and a sensor presence/absence detection circuit on an electrical wiring to connect a controller. CONSTITUTION:The sensor 1 detects the road clearance of a mowing blade 8 in a mowing device 7. The sensor 2 performs the expansion control of a hydraulic cylinder 10 as comparing the detected value of the sensor 2 with a preset value so as to keep a voltage preset value equivalent to mow height set at a mow height setting apparatus 12 by a position sensor, and pulls up and down a mowing frame 9. The controller 4 performs the automatic control of the mow height. A connector 6 enables the sensor 1 to perform sensing by coupling connector parts 6A and 6B. The presence/absence detection circuit 5 is constituted in such a way that nothing is inputted to an input part A when no sensors 1 exists, and it makes the input part A judge the (presence) of the input sensor via a branch 5B and a presence/absence detector 5A when the sensor 1 exists.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a control sensor for mobile agricultural machinery, and can be used for mobile agricultural machinery such as combines and tractors.

BACKGROUND ART AND PROBLEMS TO BE SOLVED BY THE INVENTION Conventionally, when a large number of models of mobile agricultural machinery such as combine harvesters with slightly different specifications are available, each model has different parts, resulting in a large number of parts.

For example, if there are combine harvesters that are controlled by ultrasonic detection of cutting height and others that are controlled by other sensors, a separate switch may be provided, or a
When a controller with a PU is provided separately and the number of parts increases.

This has the disadvantage that parts management becomes complicated and mistakes in parts combination occur.

Means for Solving the Problems This invention provides a method for connecting a plurality of sensors (1), (2)... and a control device (4) for controlling the travel and work of a mobile vehicle body (3). Connect each sensor (11(
A control sensor for a mobile agricultural machine is provided with a connector (6) provided with a sensor presence/absence detection circuit (5) for causing the control device (4) to detect the presence or absence of connection of 21....

Effects and Effects of the Invention When the control device (4) controls the work performed by the moving vehicle body (3), this work control can be detected by the control device (4) using the sensor (11). If detected, the work can be controlled and carried out by the detection by the sensor (2).
If both sensor (11 and sensor (2) are detected as "present", the priority selection order of sensor (11 and sensor (2) is stored as, for example, sensor (1) in the control device @ (4), and sensor ( You can also perform control work using 1).Also, if both sensor (1) and sensor (2) are detected as "absent", it is possible that sensor (1) or sensor (2), or both, is malfunctioning or the connector is connected. It is possible to know abnormalities such as defects.Control by this sensor (11) and control by sensor (2).

When configured for different models, the control device (4) can be commonly applied to these different models, and even when assembling different models, it can be connected to the control device (4) side by a wire harness etc. For the connector (6) part that has been
There is a model in which the connector (6) is connected to the sensor (1) by means of insertion, and a model in which the connector (6) is connected to the sensor (2) by means of connection.
6) It is possible to easily assemble models with different specifications by inserting and connecting the parts. Therefore, since there are many common parts, management is easy, and assembly errors can be reduced.

Embodiment In the case of turning, the mobile agricultural machine is a combine harvester body (3), and the automatic reaping height control device of the combine harvester's reaping device (7) will be described as an example.

The sensor (1) is connected to the lower reciprocating mower blade (
The ultrasonic sensor (1) detects the ground height (H) of 8), and is provided on the rear side of the cutting blade (8), and has a downward transmitter and a receiver that receives reflected waves from the ground surface. It is something that you have.

The sensor (2) is a 1-position sensor (2), and the reaping device (7
The reaping frame (9) of the reaping frame (9) is pivotally installed with respect to the vehicle body (3) so as to be able to rise and lower vertically, and the reaping device (7) is pivoted relative to the vehicle body (3) by the expansion and contraction of the hydraulic cylinder (1). A potentiometer is installed at the pivot point (111) that moves the lower part up and down around , and the ground height (H
) and the rotation angle (A) around the pivot (11) are measured and set, and the height above the ground (H) is detected by the voltage value of the rotation angle (A), which is what is called position control. The cutting height set by the cutting height setting device (121)
The hydraulic cylinder (11) is adjusted to extend or contract while comparing the detected value of the sensor (2) and the set value so as to maintain the voltage set value of the sensor (2) corresponding to H).

The vehicle body (3) is equipped with a threshing device (19) mounted on a chassis (141) mounted on a crawler-type traveling device (131), and a control device (IGI) is disposed on the front side of the chassis (14). The engine is installed below the cockpit, and power is transmitted from the engine to the reaping device (7), the traveling device (1), and the threshing device (+9).The control power for the control device (4) is provided by the engine. The power source is a battery that is supplementally charged.

The control device (4) is an automatic cutting height control controller (4) having a microcomputer (CPU).

The input devices include the ultrasonic sensor (1), cutting height sensor (2), cutting height setting device 021. Presence detection circuit (5
).

In addition, there is an ACH switch (
1B, a threshing switch +19 that enables the drive of the threshing device (19), a ground sensor (20) that detects the grounding of the reaping device (7), a vehicle speed sensor G!11 of the vehicle body (3), etc. are provided.

On the output side, there are a raising solenoid valve (2a) that extends the hydraulic cylinder (1) to raise the reaping device (7), and a lowering solenoid valve (2a) that lowers the reaping device (7). GND) is the ground.

The connector (6), as shown in FIGS. 3 and 4,
Wire harness 24 with multiple wires for control device (4)
The connector part (6A) connected with 1 and the ultrasonic sensor (
1) and the connector (6B) connected to the connector (6B).
6) is connected separately and the connector parts (6A) and (6B) are connected to enable sensing by the sensor (11), and the same applies to other position sensors (2), vehicle speed sensors, etc. Connect the branch wire (5B) between the connector (6)
), wire it to the connector (6B), and connect it to the connector part (6B).
A) and the input part (A) of the control device (4) are provided with a presence/absence detection line (5A), and if there is no sensor (1), the input part (
There is no input to A), so it is determined that there is no input, and sensor (1) is installed and each connector part (6A) (6B) is connected.
-, -' (5B) The configuration is such that it is input to the input unit (A) through (5A) and is determined to be "present."

Is the selection action of selecting the control by sensor (2) based on the detection of the presence or absence of sensor (1) after starting the program shown in FIG. 5, turning on the ACH switch in step 1 (SL)? If YES, step 2 (S2)
Determine whether the threshing switch (190N?
) input (L)? If YES, the sensor (
11, and if No in step S3, position control is performed using the position sensor 2 in step 5 (S5). (S
If NO in L) or (S2), return to the start and press (S2).
1) and (S2) are repeated.

Like turning - control work with sensor (11 and sensor (2)
) and sensor (11 or (2)), the sensor (1) or (2) is installed in the control device (4) by utilizing the sensor presence/absence detection circuit (5).
) By providing a selection program, work can be automatically controlled using the sensor (1) or (2) that is installed.

In addition, in a model equipped with the sensor (1) or the sensor (2), a lamp may be provided to notify an abnormality when there is no detection input to the input section (A) by the sensor presence/absence detection circuit (5).

Furthermore, what is shown in FIGS. 6 to 9 is another embodiment, and when the combine harvester is mowed along the row direction of the row culm,
Reaping device (7) A culm sensor is used to control the progress of the dividing rod on either the left or right side of the dividing rod provided at the front part, along the interval that forms the boundary between the reaped row and the uncut row. The row cutting sensor 2e, which has an outward facing (26A) and an inward facing (26B) sensor actuator, for example, on the leftmost branching rod, moves the left and right crawler traveling devices (13) of the combine. Row mowing control that controls the cutting rod 125) to advance without being biased to either the left or right side within the row interval by applying a brake to and steering the crawler traveling device aOS on either the left or right side of the When mowing in a direction perpendicular to the culm planting row, for example, a short actuator culm sensor (27D) and a long actuator culm sensor (2
7C) and the separation sensor provided with each actuator protruding inward, inserts the dividing rod (C) into the row-planted culm with narrow plant spacing in the lateral direction into a narrow forest space. In a combine harvester that performs row control in which steering operations are performed to advance the mowing, there is a connection between the sensor (5) signal wire and the ground wire in the wiring between the row sensor (5) and the control device (4). In addition to the (GND) wire, a connector (6) is provided with wiring for the sensor (5) and the presence/absence detection circuit (5), and the control configuration is as shown in the control block diagram of FIG. The output side equipment (4) includes the right solenoid +21 of the solenoid valve that operates the hydraulic cylinder that applies the brake to the drive shaft of the crawler travel device (11) on the right side, and the right solenoid +21 of the solenoid valve that operates the hydraulic cylinder that applies the brake to the drive shaft of the crawler travel device (131) on the left side. The left solenoid of the solenoid valve that operates the hydraulic cylinder is connected to the input side, in addition to the row sensors (27C) and (27D) that perform row control, the vehicle speed sensor
1. The culm sensor switch Qll enables the culm detection of the row sensors (27C) (27D), and the ACD switch ■ enables row control by the row sensors (27C) (27D), and has the long actuator. The normal advancing position of the reaping device (7) is when the culm can be detected only by the row sensor (27G) that has a short actuator, and if the culm is also detected by the row sensor (27D) having the short actuator, the reaping device (7) Since this is a case where the vehicle body (11) is shifted to the left from the normal position, the control is performed by outputting an output to the right solenoid 121 to steer the vehicle body (11) to the right so that it returns to the normal position. Previously, as in the control program shown in Fig. 9, the presence/absence detection circuit (5) of the sensor (W) makes a judgment in the step of ``Is there a row sensor (5) present? (SL), and if YES, the row sensor is detected. The processing step of row control (S3) according to (5) is performed to perform the separation work by automatic control, but if (Sl) is No, the steering control output by the right solenoid 121 and the left solenoid c! Perform the process (82).

It does not have automatic control, so in the conventional stacking control mode, when the row sensor (5) has fallen or been removed, if the row control ACD switch (support) is turned on and it plunges into the culm. This eliminates the inconvenience of steering to the left and thrusting obliquely into the culm rays because the culm cannot be detected by the row sensor (27G) of the long actuator.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a control block diagram, Fig. 2 is a side view, Fig. 3 is a partial assembly diagram, Fig. 4 is an electrical wiring diagram, and Fig. 5 is a flowchart of the control program, FIG. 6 is a partial plan view of another embodiment, FIG. 7 is a partial plan view thereof, FIG. 8 is a control block diagram, and FIG. 9 is a flowchart of the control program. It is. In the figure, (1) is the sensor, (2) is the sensor, (3) is the vehicle body, (4) is the control device, (5) is the presence/absence detection circuit, and (6) is the vehicle body.
) indicates a connector.

Claims (1)

[Claims] Each sensor (1) (2)... is connected to the electrical wiring that connects each of the plurality of sensors (1) (2)... and the control device (4) for controlling the running and work of the mobile vehicle body (3). A control sensor for a mobile agricultural machine, comprising a connector (6) provided with a sensor presence/absence detection circuit (5) that allows the control device (4) to detect the presence or absence of a connection.