JPH0156723B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention provides a culm length detection sensor capable of detecting the length of the harvested grain culm divided into a plurality of stages, and the culm length is set corresponding to the plurality of stages based on the culm length detection result of the sensor. Reaping equipment equipped with an automatic handling depth control device that automatically adjusts the handling depth by selecting one of multiple reference stopping target positions as the target stopping position and driving and controlling the handling depth adjustment device. Regarding harvesting machines. For machines like this type of reaping harvester that automatically adjust the handling depth based on information from a sensor that detects the grain culm length in stages, conventionally, the average handling depth for each stage was basically Assuming the average grain culm length, a reference stop target position of the handling depth adjusting device is selected according to the average grain culm length, and a control means is used to adjust the handling depth based on the culm length information from the sensor. There is. However, in the case of conventional reaping and harvesting machines that adjust the handling depth using such means, in order to adjust the handling depth in accordance with the grain culm length at any given time,
Since the handling depth adjustment device was configured to immediately follow the reference stop target position corresponding to the culm length information from the sensor that is output from time to time, it can be quickly adjusted even if there is an abnormally high or low grain culm that happens to be present. In response to this, there was a drawback that the handling depth was often adjusted in a manner that deviated from the average grain culm length. This also tends to cause the inconvenience that the bundles of the bundled waste straw become uneven. The present invention has been made in view of the above circumstances, and its purpose is to prevent sudden and abnormal culm length changes that should be ignored, and to maintain the original culm length within a non-negligible range. The object is to respond quickly to changes and to always be able to perform good handling depth adjustment. In order to achieve the above object, the reaping and harvesting machine according to the present invention has the automatic handling depth control device set to the highest rank standard that should be originally selected when the sensor detects the longest ranked culm length. Prior to selecting the stop target position, a provisional stop target position, which is preset to a slightly deeper position than the reference stop target position of the highest rank, is selected as the stop target position for a certain period of time. ,
In addition, when the sensor detects the shortest rank culm length, prior to selecting the lowest rank reference stop target position that should be originally selected, the sensor detects the lowest rank reference stop target position for a certain period of time. The present invention is characterized in that the handling depth is adjusted by selecting a temporary stop target position preset on the hazy or shallow handling side as the stop target position. Because of this characteristic configuration, even if an abnormally high or low culm length is suddenly detected due to the presence of weeds, the handling depth adjustment device will suddenly adjust the reference stop target position of the highest or lowest rank corresponding to the abnormally high or low culm length. It is not controlled as a target, and until a certain period of time elapses, it is controlled with a provisional stop target position up to the reference stop target position as a target, so the abnormal culm length change is shorter than the certain period of time. If it is temporary, the amount of displacement of the handling depth adjustment device can be kept as small as possible,
On the other hand, if the change in culm length continues for longer than the certain period of time and it is determined that the change is not due to weeds, etc., the original reference stop target position is set as the new target position. The handling depth control continues and can be performed with as little response delay as possible. In addition, for changes in culm length in the range between the reference stop target position of the highest rank and the reference stop target position of the lowest rank, that is, for an inherent change in culm length that cannot be ignored, the respective reference stop target positions are immediately adjusted. Once selected, processing depth can be controlled quickly. Therefore, it is possible to effectively eliminate the conventional drawbacks such as deterioration of the control condition due to abnormal disturbances caused by the presence of weeds, etc., and poor bundling of waste straw, and yet We were able to achieve good control over changes in culm length within a range. Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows the front part of a combine harvester as a reaping harvester. A reaping part 1 is provided at the front part of the machine body, and this reaping part 1 includes a raising device 2 for raising grain culms, and a reaping device 2 for raising grain culms. cutting blade 3 for cutting the culm;
Threshing section 5 at the rear of the machine collects the harvested grain culms.
In order to convey the material to a location, a gripping and conveying device 4 is provided behind the lifting device 2. This clamping and conveying device 4 is composed of a front stage that scrapes the cut grain culms, and a rear stage that clamps and transports the scraped grain culms to the rear, where it is delivered to the feed chain 6 of the threshing section, as will be described later. In addition, it is also configured to serve as a handling depth adjustment device. The handling depth of the grain culms is determined by the distance between the clamping position of the feed chain 6 and the ear position, and the longer the distance between these points, the more deeply the grain can be handled. Therefore, since the handling depth is basically adjusted so that the distance between the clamping position of the feed chain 6 and the ears remains constant, the higher the grain culm is, the closer the feed chain 6 is to the grain culm. Constructed to hold high places. In this embodiment, in order to perform this adjustment by the rear stage of the conveying device 4, the front end of the rear stage of the conveying device 4 is swung up and down by an actuator to collect the scraped grain. The position where the grain culm is clamped is changed, and the rear end that transfers the transported grain culm to the feed chain 6 does not move, and the grain culm clamping position at the rear stage of the conveyor 4 and the clamping position of the feed chain 6 are always changed. The rear stage of the transport device 4 is rotatably mounted around a fulcrum Y at the rear so that the positional relationship is constant. As an actuator for vertically moving the front end of the rear stage of this conveying device 4, a structure is adopted in which a link mechanism 8 is driven by a DC electric motor 7, but instead of the motor 7, A hydraulic cylinder may also be used. Information on grain culm length, which serves as a reference for adjusting the handling depth, is obtained by culm length detection sensors 9, 10, and 11 provided on the upper part of the pulling device 2. Although optical switches or the like may be used as these sensors 9, 10, 11, in this embodiment, mechanical contact sensors 9, 10, 1 arranged above and below are used.
1 is used, and the structure is such that a detection signal is emitted when the grain culm can come into contact with the protruding bars provided on each of them. That is, the raising device 2
The grain culm is raised by the upward movement of the raising claw, and when the grain culm comes into contact with the bar, a signal is emitted from the sensors 9, 10, 11.
Therefore, the longer the grain culm length is, the more signals are emitted from the sensors arranged above, and these sensors 9, 10, and 11 detect the grain culm length in a plurality of stages. On the other hand, the stock sensor 12, which is provided below the lifting device 2 and one space apart, detects whether or not there is a grain culm that has been raised at the lifting device 2. Since the grain culm raised by the device 2 is intermittently raised and enters the device 2 due to the gap between the plants, when the grain culm length is sampled by the grain culm length sensors 9, 10, and 11, used to identify FIG. 2 is a block diagram of the automatic depth control system, in which the control device 15 includes the sensors 9, 10,
11 and the stock sensor 12 are input, and the control device 15 controls these sensors 9, 10, 1.
Based on the information from 1 and 12, select the target value of treatment depth, and in order to realize this target value,
The downstream stage of the conveyance device 4, that is, the handling depth adjustment device 4
The output of the handling depth detector 16, which detects the handling depth from the attitude of Control. As the handling depth detector 16, a poransiometer or a rotary encoder is used, and it is attached to the rotation fulcrum of the handling depth adjustment device 4 or the actuator 7. FIG. 3 is a flowchart of a control program for the control device 15 consisting of a microcomputer. This program starts the reaping section 1 at the start of reaping work.
The process starts when the reaping section 1 is dropped downward, and ends when the reaping section 1 is pulled upward at the end of the reaping operation. This program basically samples the grain culm length, sets the target stop position of the handling depth adjustment device 4 based on the sample value and the change in the sample value, and compares the target position with the output of the handling depth detector 16. The stopping position of the handling depth adjusting device 4 is controlled so that the handling depth is maintained at the set value. Step (i) is a step for initializing the handling depth setting and the like at the start of the reaping operation. In steps (ii) to (iv), the presence or absence of a grain culm is checked using the stock sensor 12, and if there is a grain culm, the culm length is sampled using the culm length detection sensors 9, 10, 11, and the previous and previous steps are performed. This is the step to store the current sample value. That is, ST ₁ is the previous sample value, ST ₂ is the current sample value. Step (v) is to compare the previous sample value and the current sample value, and if there is a change, reset the timer and restart it. Measure the elapsed time from the point of heating. Then, a temporary stop target position is selected based on the direction of change and the current sample value. Maps f ₁ and f ₂ are used for this selection. f ₁ and f ₂ are functions or tables. The contents of this map will be described later. Step (vi) is a step of setting the original reference stop target position when a predetermined time period that is set after the change in the sample value has elapsed. In step (vii), the target position thus obtained is compared with the output of the handling depth detector 16, and a stop signal is sent to the motor 7 for adjusting the handling depth. A tolerance of 2△ is set for this comparison, and when the difference between the target position and the output of the handling depth detector 16 is 2△ or less, it is assumed that the two are equal and the motor is stopped. FIG. 4 is a schematic diagram showing the target stopping position of the handling depth adjusting device 4 based on the maps f ₁ , f ₂ , f ₃ ,
The higher the position, the shallower the position. And Mappu
The value of ST ₂ due to f ₁ , f ₂ , f ₃ and the target stop position P ₁ ~
The relationship of _P10 is as shown in the table below.

[Table] Here, P ₁ is the highest rank standard stop target position corresponding to the longest rank culm length, P ₂ is the provisional stop target position set slightly lower (on the deep handling side) than P ₁ , and P ₆ is the lowest rank standard stopping target position corresponding to the shortest rank culm length, P ₅ is the provisional stopping target position set slightly higher (on the shallow handling side) than P ₆ , and P ₃ and P ₄ are the highest and a plurality of intermediate rank reference stop target positions set between the reference stop target position of the lowest rank, which
No provisional stop target position P is set for P ₃ and P ₄ . In addition, as another embodiment, the time spent at the temporary target position can be measured by measuring the travel distance instead of measuring the time. For this purpose, only an odometer is used instead of a timer, and other points are the same as in the flowchart described above. At this time, the control can be performed regardless of the vehicle speed.

[Brief explanation of drawings]

The drawings show an embodiment of the reaping harvester according to the present invention, in which Fig. 1 is a front side view of the combine, Fig. 2 is a control system configuration diagram, Fig. 3 is a control flowchart of the control system, and Fig. 4 is a control system configuration diagram. The figure is an explanatory diagram of the stop position of the handling depth adjustment device. 4... handling depth adjustment device, 9, 10, 11... culm length detection sensor, 15... handling depth automatic control device,
P ₁ , P ₃ , P ₄ , P ₆ ...Reference stop target position, P ₂ , P ₅
...Temporary stop target position.

Claims (1)

[Claims] 1. Culm length detection sensors 9, 10, and 11 capable of detecting the length of the harvested grain culm divided into multiple stages are provided, and based on the culm length detection results of the sensors 9, 10, and 11, the culm length of the multiple stages is determined. Multiple stages of reference stop target positions P ₁ that are set in correspondence,
An automatic handling depth control device 15 is provided which automatically adjusts the handling depth by selecting one of P ₃ , P ₄ , and P ₆ as the target stop position and driving and controlling the handling depth adjustment device 4. In a certain reaping harvester, the automatic handling depth control device 15 is connected to the sensors 9 and 1.
0, 11 detects the longest ranked culm length, prior to selecting the highest rank reference stop target position P ₁ that should originally be selected, the highest rank reference stop target position P ₁ is determined for a certain period of time. The temporary stop target position _P2 , which is preset on the slightly deeper side than that, is selected as the stop target position,
In addition, when the sensors 9, 10, and 11 detect the culm length of the shortest rank, prior to selecting the reference stop target position _P6 of the lowest rank that should originally be selected,
For a certain period of time, the handling depth is adjusted by selecting as the stopping target position a provisional stopping target position _P5 , which is set in advance on the shallower side than the reference stopping target position _P6 of the lowest rank. A reaping harvester characterized in that it is configured to perform.