JPH02107120A - Control device of movable agricultural machine or the like - Google Patents

Abstract

PURPOSE:To accurately and smoothly control functioning so as not to cause hunting by continuously outputting in an ON state of a sensor and outputting pulse during OFF delay in an OFF state. CONSTITUTION:When a detected signal of a sensor 1 is in an ON state, functioning control is continuously outputted. When the detected signal is in an OFF delay state, functioning control is intermittently outputted in a pulse state. Usual drawbacks of hunting generation because of too sensitive functioning and difficulty in securing accurate functioning due to slow tendency of functioning can be eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a control device for mobile agricultural machinery, etc., and more specifically, it can be applied to a control device for controlling the operation of tractors, combines, planters, etc. by detecting various sensors.

Conventional Technology and Problems to be Solved by the Invention Taking a combine harvester as an example of a moving aia, a combine harvester has a group of sensors that perform various operation controls based on the detection.For example, when one sensor of this sensor group When the harvested grain culm is fed to the threshing device by the detection signal of
Normally, a handling depth sensor is provided separately for the deep handling depth position and the shallow handling depth position, and the neutral zone (dead zone) is created between these sensors.
As a result, when the tip of the supply culm is detected by a sensor located at a deep position, the tip is adjusted to the shallow position, and when the sensor located at a shallow position is detected, the tip is adjusted to the deep position, so that the tip of the supply culm always exists in the neutral range. If this adjustment causes continuous operation while the sensor is outputting a detection signal, this adjustment control will be too sensitive and will cause hunting, which will have a negative impact on threshing performance. In order to prevent this, many sensors operate intermittently using pulses while the sensor is outputting a detection signal.Also, as in Utility Model Application No. 59-36941, at the start of work, the sensor is quickly moved to the neutral position < 31 There are some systems that operate continuously only at this time because it is necessary to adjust the timing, but in normal 311'I'j control, continuous operation is too sensitive and causes notching, and it is easy to operate intermittently. This poses a problem in that it is difficult to secure an accurate supply position due to the slow operation.

This invention is a control device that performs actuation control tJi based on detection by various sensors, etc., in which a delay is added to the detection signal of the sensor, and when the delayed signal is present, intermittent adjustment control is performed by pulse output. be.

Means for Solving the Problems This invention provides a mechanism for controlling operation by detection by a sensor (1). In IJ 9 machines, etc., the sensor (1) is ON.
It outputs continuously when it is in the OFF state, and it remains OFF even when it is in the OFF state.
The control device is characterized in that it outputs pulses during the F delay.

Functions and Effects of the Invention: 1. In the combine harvester as an example of a mobile actual machine according to the configuration described above, among those whose operation is controlled by the detection signal of the sensor (1) in this combine harvester, for example, it is possible to control the harvested culm. Sensors (1) for detecting the supply position with respect to the culm supply port of the threshing device, that is, the handling depth position, are placed at appropriate detection positions on both sides of the deep handling depth side and the shallow handling depth side, respectively. The area between the two sensors (1) placed at appropriate positions is set as a neutral zone (dead zone), and the tip of the supply culm is connected to the sensor (1) at the deep handling position side. ) is detected (ON) l, and when the sensor (1) on the plating position side is detected (ON), it is adjusted to the shallow position, and when the sensor (1) on the plating position side is detected (ON), it is adjusted to the deep position. The position of the tip of the tip is in the neutral range, and in a device that performs such adjustment, the detection signals of both senners (1) are turned ON by the control device.
When the condition is set, the output of the handling depth adjustment is output continuously,
Also, when each detection signal turns from ON to OFF, this O
A delay is added to the FF signal for a certain period of time to change the signal zone for convenience such as stabilizing operation control, and when the OFF delay is applied with this delay added, the output with a handling depth of 31 nodes is pulsed. This allows the output to be output intermittently.

As shown in the following, when the detection signal of the sensor (1) is in the ON state, the control device continuously outputs the operation control, and when it is in the OFF delay state, it outputs the operation control intermittently in a pulsed manner. By doing this, as in the past, when outputting continuously, the operation is too sensitive and prone to hunting, and when outputting intermittent, the operation is too late to be able to keep up with the problem. By adding a fixed time delay to the detection signal of the sensor (1), accurate and smooth operation control can be performed.

In addition, on the district side, a case where the present invention is applied to a combine harvester that performs grain harvesting work will be exemplified.

A pair of left and right rollers (2) that run on the soil surface below.
A traveling device (4) in which a transmission case (3) containing a transmission mechanism is interlocked and connected to this traveling roller (2) is arranged, and a foot chain (5) is held on this traveling device (4). A threshing device (6) for threshing the harvested husk culm supplied by the machine and sorting and collecting the threshed grains is placed a, and the keratin culm is separated in front of this threshing device (6), raised, and harvested. At the same time, a reaping device (7) is installed so as to be able to move up and down with respect to the soil surface, and the reaping device (7), which transports the reaped husk while changing its posture to fall sideways and transfers it to the foot chain (5), is attached to the soil surface, and the threshing device (6) An operating device (8) for operating and controlling the traveling device (4), threshing device (6), reaping device (7), etc. and an operating seat (9) for this operation are arranged on the negative side of the machine. Configure the fuselage (lO) of the combine harvester.

The reaping device (7) also includes a weeding body (11) that shears the erect culm from the front end side, and a pulling device (12) that raises the grain culm that has been weeded by this shedding body (11). Grass plant (
11) by tilting it backwards, and this lifting device m(12)
A raking device (13) for raking the culm raised at the rear of the culm, and a cutting blade device El (14) for cutting the erect culm are provided below the raking device (13). At an intermediate position between the raking device (13) and the feeder chain (5) of the threshing device (6), the culm raked by the raking device (13) is taken over and received by the foot chain (5). Handling depth adjustment check 7
(15) is provided, and a shell culm sensor (16) for detecting the presence or absence of passing grain culms is disposed in this A joint chain (15).

Further, near the shell culm supply port (17) of the threshing device (6), a handling depth detection sensor (1) that detects the long and short dimensions of the supplied shell culm and outputs an ON/OFF signal is installed as described above. The deep handling side sensor (1') is placed at an appropriate position on the side far from the handling depth adjustment cheno (15) position, that is, the deep handling depth side, and the deep handling side sensor (1') is placed at the appropriate position on the side far from the handling depth adjustment cheno (15) position, and The plate-forming side sensor (1'') and the plate-forming side sensor (1') are installed at appropriate positions on the shallow handling depth side, and the deep handling side sensor (1') turns on the signal when it is detected. In addition, the sheet forming side sensor (1) is set to turn off the signal at the time of detection, and the area located between these two sensors (I') and (1'') is set as a dead zone or Set as a neutral zone. Also, both sensors (1
2) The deep handling side is operated by energizing the coil in order to drive the reversibly rotatable supply adjustment motor (18) which adjusts the aforementioned depth adjustment cheno (15) by the signal output of (2) and (1''). In addition to providing a contact (19) and a contact (20) on the plate cutting side, limit switches (21) and (22) are installed on the deep handling side to regulate the operating stroke to prevent damage to this m-joint tie 7 (+5).・Separately arranged and configured on the plywood side.

Further, the operation device m (8) includes a threshing switch (23) that is turned ON when the threshing device (6) is in operation, and an automatic adjustment of the handling depth to automatically adjust the handling depth. A switch (24) and a manual handling depth adjustment switch (25) for manually adjusting the handling depth are provided, respectively.
It is electrically connected to each of the sensors (1') (1"), (1B) and each contact or switch (19), (20), (23), (24) to control the handling depth. A control device (26) for controlling is built into the operating device (8).

In the combine configured as described above, the traveling device (
4) to bring the cutting body (11) of the cutting device (7) into sliding contact with the IJ surface of the cutting device (7) to separate the erect hair culm, and the separated grain culm is moved by the lifting device (12). After raising the grain culm, the raised grain culm is scraped by the scraping device (13) and at the same time is harvested by the cutting blade device (14), and the cut culm is handled from the scraping device (13). This is then transferred to a depth adjusting cheno (15), which is then transferred to the foot chain (5) of the threshing device (6), and threshing is performed by the threshing device (6).

Automatic handling depth adjustment switch (24) during this harvesting work
is turned ON, and the threshing switch (23) has already been activated.
6) is turned ON by the operation of the shell culm sensor (16).
The culm of the reaped husk is also turned on by being transferred to the depth adjustment chamber (15), so in this state, the depth adjustment chamber (15) is turned on.
When delivering the husk culm from 15) to the foot chain (5), the delivered husk culm is fed into the husk supply port (17) of the threshing device (6), and the husk culm to be sent is For example, when both the deep handling side sensor (1') and the plating side sensor (1) detect, this sensor (t') sends an ON signal, and this sensor (1) sends an OFF signal to the control device ( 26), and the control device (26) performs arithmetic processing to energize the coil that acts on the plate forming side contact (20), and when this contact (20) is turned on, the supply adjustment motor (18) is driven. , the shell culm clamping position of the foot chain (5) is continuously adjusted to the side where the shell culm has a shallower feeding attitude with respect to the shell culm supply port (17), and this continuous iA
Due to the clause, the sensor (1') changes to an OFF signal when it is not detected, and the sensor (1'') remains at an OFF signal when it is detected.
In other words, the supply adjustment motor (18)
is stopped and the processing depth is maintained in this state.

Further, when the shell culm to be fed into the shell culm supply port (17) is not detected by both the deep handling side sensor (1)) and the plating side sensor (1''), the sensor (17)
is an OFF signal, and the sensor (1") sends an ON signal to the control device (2B), and thereafter, in accordance with the adjustment to the side where the supply posture of the culm becomes shallower, the adjustment is reversed. The direction adjustment, that is, the feeding position is continuously adjusted toward the deeper side, and the handling depth is maintained in the neutral range by this continuous adjustment.

As mentioned above, when controlling the handling depth, the sensor (1)
) and the sensor (1°') each change from the ON signal state to the OF signal state.
When changing to the OF signal state, the control device (2B) adds a delay to this signal for a certain period of time, and
When the F delay is added, the supply adjustment motor (18) is intermittently driven by a pulsed output.

By performing these adjustment controls, it is possible to ensure that the handling depth of the supply culm is too deep or too shallow, and to quickly adjust it to the appropriate position by continuously driving the supply adjustment motor (18). and when the adjustment to the proper position is completed, the OF is applied to stop the drive of the supply adjustment motor (18).
It changes to the F signal, but the moment it changes to this OFF signal, it may turn on again immediately, or in order to keep it near the center of the neutral range, the signal remains constant without stopping at the same time as it changes to the OFF signal. A time delay is added, and during this OFF delay, the supply adjustment motor (18) is intermittently driven with a pulse-like output to perform the adjustment action, thereby adjusting the depth of the ``5J'' section chain. (1
5) will not operate too sensitively and cause hunting.

In the adjustment range determined in this way, it is possible to perform rapid adjustment with continuous operation, and in the adjustment range near the boundary where there are many uncertain elements, it is possible to perform gradual adjustment with intermittent operation.
This allows accurate and smooth operation control.

In addition, when the detection signals of the deep handling side sensor (1)) and the corrugated plate side sensor (1") change from an OFF signal to an ON signal, there is a risk of hunting when activated by a momentary ON signal. Therefore, a delay may be added to this ON signal for a certain period of time after the ON signal is changed, and the configuration may be such that no operation output is performed while this ON delay is added.

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
FIG. 2 is a partial plan view, FIG. 3 is a front view, FIG. 4 is an operation time chart, and FIG. 5 is an electric circuit diagram. In the figure, code (1) indicates a sensor.

Claims (1)

[Claims] In a mobile agricultural machine or the like whose operation is controlled by detection by a sensor (1), the control is characterized in that when the sensor (1) is in an ON state, it outputs a continuous output, and even if it is in an OFF state, it outputs a pulse during an OFF delay. Device.