JPH0214332Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention provides a sensor for detecting the height of the cutting section above the ground in order to control the cutting height, and means for setting a control target value for the height above the ground. The present invention relates to a reaping harvester comprising means for automatically controlling the elevation of the reaping section to maintain the height above the ground detected by the height above the ground sensor at a control target value.

[Conventional technology]

Conventionally, in this type of reaping harvester, the height above the ground is measured by a height detection sensor installed in the reaping section, the measurement results are sampled, and the measured data sampled a predetermined number of times is averaged. A means is adopted for automatically raising and lowering the cutting section based on the value to maintain a constant cutting height.

This conventional cutting height control method is
Corresponding to the deviation between the pre-stored detected height above the ground and the new control target value, if this deviation is large, the reaping section is continuously driven to increase the lifting speed, and if the deviation is small, the lifting/lowering speed is increased. The reaping unit was driven at a slow speed.

However, if the measured detected height above the ground is directly used as comparison data for a new control target value, if there are weeds or irregularities in the field, the cutting section will suddenly rise or fall, causing the target height to be lowered. In other words, the problem arises that the control is not stable near the control target value. In order to solve this problem, a control method has been proposed in which one piece of data is calculated by averaging the sampling data each time, and the reaping section is driven up and down based on the average data.

[Problem that the invention attempts to solve]

However, by increasing the amount of data to be averaged,
In other words, if the sampling interval is lengthened and the sampling data is averaged, the difference between the actual height above the ground and the average height above the ground increases, making it more likely that the reaping section will overshoot. There was an inconvenience that a device with a large memory capacity was required to store the information.

Furthermore, if the amount of data to be averaged is reduced, it becomes easier to respond to fine irregularities in the field, making it impossible to perform stable tracking near the target height.

[Means for solving problems]

The characteristic configuration of the present invention is that, in response to the deviation between the detected height above the ground and the control target value, if this deviation is small, the sampling interval is automatically changed so that the sampling interval of the detected height above the ground becomes longer. The point is that means are provided, and their functions and effects are as follows.

[Effect]

That is, in response to the deviation between the detected height above the ground and the control target value, if this deviation is small, the sampling interval is automatically changed so that the sampling interval for the detected height above the ground becomes longer.

[Effect of idea]

Therefore, if the above deviation is large, the sampling interval of the detected ground height is shortened, so the reaping section is raised and lowered rapidly, resulting in excellent responsiveness.
No overshoot occurs in a short period of time. In addition, when the deviation is small, the sampling interval of the detected ground height is lengthened, so the reaping section is moved up and down slowly, so the reaping section can be moved without responding to small irregularities in the field. Therefore, the durability and safety of the equipment are improved, and a reaping/harvesting machine with good control response to the detected height above the ground has been obtained.

Further, since it is unrelated to the number of data, the averaging calculation process can be performed without increasing the memory capacity.

〔Example〕

Hereinafter, embodiments of the present invention will be described based on the drawings.

FIG. 1 is a side view of a reaping section 1 at the front of a combine as a reaping/harvesting machine. A weeding tool 5 is provided in front of the weeding device 2, and the lower end tip of the weeding tool 5 is fixed to a support frame 6 of the reaping device 1. An ultrasonic sensor 9 as a ground height detection sensor consisting of a transmitter 7 and a receiver 8 is placed behind the weeding tool 5 and above the support frame 6 to prevent malfunctions caused by grain culms. The hydraulic cylinder 10 is operated based on the height detection result from the ground by the ultrasonic sensor 9, and the horizontal axis center P
The mowing height is adjusted by swinging the mowing section 1 around the mowing section.

A control system for controlling the cutting height based on the height above the ground detected by the ultrasonic sensor 9 will be described below.

As shown in FIG. 2, the control system inputs the signal from the receiver 8 of the ultrasonic sensor 9 to a control device 11 whose main part is a microcomputer, and also sets the cutting height (height above the ground) in advance. The output signal of a potentiometer ₁₂ as a means for The reaping section 1 is automatically raised and lowered by the hydraulic cylinder 10.

As shown in FIG. 3, it is determined whether the sampling value of the height H above the ground detected by the ultrasonic sensor 9 has been input in the signal OK flag. Then, when the sampling value is input, the signal OK flag is set to "1", and the detected height H above the ground is compared with a predetermined value α stored in advance, and the detected height H above the ground is If it is larger than the predetermined value α, the measured value is stored as is, an averaging calculation is performed, and the reaping section is raised and lowered based on this averaged height above the ground. Note that the predetermined value α
is between the detected height above the ground H and the control target value H ₀ and is set in advance.

Further, if the detected height above the ground H is smaller than the predetermined value α, the interval flag is set and reset to "1" or "0", and when the interval flag is set to "1", the interval flag is set to "0". Reset again and perform the same operation as above. Further, when the interval flag is reset to "0", it is set to "1" again and the sampling control is ended without executing any subsequent operations. That is, in this case, the detected height above the ground is not stored.

Since the interval flag stores every other sampling value, the sampling values are thinned out based on the detected height H above the ground.

[Another example]

In this embodiment, the averaging calculation is performed by thinning out the sampling values in the sampling method near the target height, but the averaging may be performed by changing the sampling time of the sensor that detects the height above the ground.

Furthermore, in the embodiment described above, every other sampling value is stored, but the number of sampling values to be thinned out may be arbitrary.

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping and harvesting machine according to the present invention; FIG. 1 is a front side view of the combine, FIG. 2 is a block diagram of the control system, and FIG. 3 is a flowchart of the measurement routine. 1...Reaping part, 9...Sensor for detecting height above ground, _H0 ...Control target value of height above ground, H...Detected height above ground, ΔH...deviation, τ...sampling interval.

Claims (1)

[Scope of utility model registration request] It has a sensor 9 for detecting the height above the ground of the reaping section 1 in order to control the cutting height, and means 12 for setting a control target value H ₀ of the height above the ground, and the detection by the height above the ground detection sensor 9 is provided. The reaping/harvesting machine is equipped with means for automatically controlling the elevation of the reaping section 1 in order to maintain the height H above the ground at a control target value H ₀ , wherein the detected height H above the ground and the control target value H ₀ are Reaping characterized in that means is provided for automatically changing the sampling interval τ of the detected height above ground H so that the sampling interval τ of the detected height H above the ground becomes longer when the deviation ΔH is small. harvesting machine.