JPH0233333B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a means for controlling the reaping section to maintain the height above the ground at a control target height set by a height above the ground setting means of the reaping section detected by a height above the ground detection sensor. The present invention relates to a reaping/harvesting machine that is equipped with a lift control means for automatically controlling the rise and fall, and is also configured to be able to manually lift and lower the reaping section in preference to the rise and fall control means.

Traditionally, in this type of reaping and harvesting machine, the height of the reaping section above the ground is kept constant so that the cutting height is automatically maintained at a predetermined height in order to improve work efficiency during normal reaping work. In addition to automatically controlling the mowing height to be maintained, the mowing section can also be raised and lowered manually in case the field conditions are poor and automatic control of the mowing height is not possible. It was hot. By giving priority to manual operation over automatic control, for example, if there is an obstacle during automatic control of the cutting height, the cutting section can be raised manually. becomes.

By the way, it has also been considered to simplify the operation for canceling the automatic control by automatically canceling the control operation of the elevation control means, that is, the automatic control when a manual operation is performed. However, if the automatic control is simply canceled when manual operation is performed, as described above, there is an obstacle during the automatic control of the cutting height and the reaping section is temporarily raised slightly by manual operation. In some cases, even if it would be more efficient to continue automatic control after that, the automatic control ends immediately after manual operation, resulting in poor operability.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to take advantage of the advantages of being able to perform manual operations during automatic control and the advantage of simplifying the automatic release operation. The purpose of this invention is to avoid the inconvenience of unnecessarily canceling the automatic control, and furthermore, to enable the automatic control to be canceled more efficiently.

In order to achieve the above object, the characteristic configuration of the reaping harvester according to the present invention is to provide a detection means for detecting the presence/absence of manual lifting operation of the reaping section, and to detect the presence/absence of manual operation by the detection means. When the reaping section is manually operated to raise the reaping section and the detected height of the reaping section above the ground is higher than the control target height above the ground by a predetermined value or more, canceling the automatic elevation control of the reaping section. The operation and effects of the release means are as follows.

That is, when the reaping section is manually raised, the automatic control is automatically canceled if the reaping section rises by a predetermined value or more with respect to the control target ground height. While attempting to simplify the operation, automatic control will continue in a range where the amount of manual operation is small. This prevents automatic control from being canceled unnecessarily when the vehicle is slightly raised.

Moreover, since the predetermined value is set based on the control target height above the ground, even if the height setting means changes the control target height above the ground, the newly set control target is always set. The predetermined value is set as a reference height above the ground. As a result, no matter what value the control target value is set to, automatic control can be canceled simply by raising the reaping section to a predetermined value or more higher than the control target. It can be done even better. To explain, during automatic control, the reaping section is maintained at the control target value by the elevation control means, so regardless of changes in the control target value, the reaping section can be kept at approximately the same level by manual operation. Automatic control can be canceled by simply raising the height.

Therefore, it has been possible to obtain a reaping/harvesting machine that can perform the automatic control release operation better while avoiding unnecessary release of the automatic control, and is thus more convenient to use.

Embodiments of the present invention will be described below 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 tool 5, 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 mounted behind the weeding tool 5 and above the support frame 6 to prevent malfunctions caused by grain culms. The cutting unit 1 is mowed by operating the hydraulic cylinder 10 based on the height detected by the ultrasonic sensor 9 and swinging the cutting unit 1 around the horizontal axis P. The detection means is configured to automatically adjust the height, and also detects the raising and lowering operations of the operating lever B provided in the driving section A, so that the cutting height can also be adjusted manually. Limit switches S ₁ and S ₂ are provided.

A control system that automatically controls the cutting height based on the height detected by the ultrasonic sensor 9 and also controls the manual operation of the cutting height by the limit switches S ₁ and S ₂ will be described below.

As shown in FIG. 2, the control system has a microcomputer as its main part, and comprises an elevation control means for automatically controlling the elevation of the reaping section 1, and a release means for canceling the automatic control by the elevation control means. A signal is input from the receiver 8 of the ultrasonic sensor 9 to the control device 11, and an output signal of a potentiometer 12 as a height setting means for presetting the cutting height (height above the ground) and the limit switch _S1 are input. , _S2 , and when the operating lever B is not operated, the height H above the ground detected by the receiver 8 is automatically set by the potentiometer 12 to the reference target value H. ₀ , the electromagnetic valve 13 is driven, and the reaping section 1 is automatically raised and lowered by the hydraulic cylinder 10.

On the other hand, if the operating lever B is operated,
The electromagnetic valve 13 is driven based on the ON and OFF signals from the switches _{S1 and} S2 to manually raise and lower the reaping section 1, giving priority to automatic control based on the ON and OFF signals from the limit switches _{S1 and S2} . It is structured as follows.

Once the limit switch _S1 is turned ON by the upward operation of the operating lever B, the ON state is memorized and retained for a predetermined period of time Z, and the limit switch detects the downward operation until the predetermined period of time Z has elapsed. Even if an ON signal is input from _S2 , this ON signal is invalidated, and the ascending operation is prioritized over the descending operation, and the electromagnetic valve B is driven to raise the reaping section 1.

Furthermore, when the reaping unit 1 is raised by this manual operation, the height H above the ground detected by the ultrasonic sensor 9 and the height above the ground H ₀ are compared again, and if the difference is greater than the predetermined value α, In other words, if the detected height above the ground H is higher than the target height above the ground _H0 by a predetermined value α, a flag indicating each control state (automatic/manual) is set to automatically cancel the automatic control of the cutting height. (AUTO flag) is reset to "0" to control the operation of the control device 11, that is, the raising and lowering of the reaping section 1, only by manual operation of the operating lever B.

On the other hand, the detected height above the ground H and the target height above the ground H ₀
If the difference between the _two and ₁ is turned off, the flag (AUTO flag) is set to "1" so that the automatic control of the cutting height is continued, and the control of the control device 11 is returned to the automatic state.

By the way, in the cutting height control in this embodiment,
In order to optimize the control response, the drive gain of _the electromagnetic valve 13 (intermittent drive pulse current
By automatically changing the ON/OFF ratio, etc., into multiple stages, the larger the deviation ΔH, the faster the reaping unit 1 is raised and lowered. This drive gain G is a value G ₁ that increases sequentially in response to the deviation ΔH.
_.about.G4 and stored in a memory (not shown) in the control device 11.

FIG. 3 is a flowchart showing the operation of the control device 11 described above, which not only controls the cutting height but also checks the status of other sensors (threshing switch, etc.) and performs other control operations. Control flags are also set.

Further, FIG. 4 is a table of the drive gain G.

[Brief explanation of drawings]

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, FIG. 3 is a flowchart showing the operation of the control device, and , FIG. 4 is a table of control gains. 1... Reaping section, 9... Ground height detection sensor,
S ₁ ... Manual ascending operation detection means, H ... Detected height above the ground, H ₀ ... Control target height above the ground, α ... Predetermined value.

Claims (1)

[Claims] 1. In order to maintain the height above the ground of the reaping section 1 detected by the height above the ground detection sensor 9 at the control target height above the ground H ₀ set by the height setting means 12,
It includes an elevation control means 11 that automatically controls the elevation of the reaping section 1, and the elevation control means 11
The reaping/harvesting machine is configured such that the reaping section 1 can be manually operated to raise and lower the reaping section 1, and the reaping/harvesting machine is equipped with a detection means _S1 for detecting whether or not the reaping section 1 is manually raised and lowered. Based on the detection result of the presence/absence of manual operation by the detection means _S1 , when the reaping section 1 is manually operated upward, and the detected height H above the ground of the reaping section 1 is the control target. height above ground
When the predetermined value α or more is higher than H ₀ , the reaping section 1
The reaping harvester is provided with a release means 11 for releasing the automatic lifting control of the reaping and harvesting machine.