JPH0265719A - Apparatus for controlling reaping height of reaping harvester - Google Patents

Abstract

PURPOSE:To prevent incomplete reaping by controlling the reaping height based on the detection information of the rear-side sensor of a reaping edge when there is a fear of detection miss of the ground height by a front-side sensor of the reaping edge. CONSTITUTION:Ground-height detection sensors Sa and Sb are placed at the front and rear parts of a reaping edge 6 and the reaping height is controlled based on the detection information of the rear-side sensor of the reaping edge when the difference between the detected ground heights of both sensors is larger than a prescribed level. When the difference is smaller than the prescribed level, the reaping height control is carried out based on the detection information of the sensor at the front-side of the reaping edge.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a sensor for detecting the height above the ground of a reaping section equipped with a cutting blade that cuts the stem culm introduced from the front side of the machine body. and an elevation control means for automatically raising and lowering the reaping section based on the detection information of the height above the ground detection sensor so as to maintain the height above the ground of the reaping section at the target height above the ground. This invention relates to a cutting height control device for a reaping harvester.

C. Prior Art] In the above-mentioned cutting height control device for this type of reaping/harvesting machine,
Conventionally, in order to ensure that the cutting height of the stem culm cut by the cutting blade is at the set height while preventing the cutting part from plunging into the running ground, the sensor for detecting the height above the ground was placed on the machine body rather than the cutting blade. It was placed on the front side.

[Problem to be solved by the invention]

However, for example, when cutting down a fallen stem culm, the cutting section may ride on the fallen stem culm. In that case, the height above the ground detected by the sensor for detecting the height above the ground may be the height from the stem culm that has climbed on top of the stem, and the height above the ground may be lower than the actual height (false detection may occur).
There was a risk that the reaping unit would be raised to a higher position than the target ground height, resulting in uncut areas.

Incidentally, since the stem culm has already been cut on the rear side of the cutting blade, there is little risk of erroneously detecting the height above the ground even if the stem culm is lying down. Therefore, it is possible to install a sensor for detecting the height above the ground on the rear side of the cutting blade, but since the height above the ground will be detected after cutting the stem culm, the sensor for detecting the height above the ground may be installed. There is a disadvantage in that the elevation control is delayed compared to when it is provided on the front side of the cutting blade, and it is not possible to detect the height above the ground only on the rear side of the cutting blade.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent uncut areas from being left uncut even if the height above the ground detection sensor provided in front of the cutting blade erroneously detects the height above the ground. The purpose is to do so.

[Means to solve the problem]

The mowing height control device for a reaping harvester according to the present invention includes a sensor for detecting the height above the ground of a reaping section equipped with a cutting blade introduced from the front side of the machine body for cutting a stem culm, and a sensor for detecting the height above the ground of the reaping section, and an elevation control means for automatically raising and lowering the reaping section based on the detection information of the height above the ground detection sensor so as to maintain the height above the ground of the section at the target height above the ground. , its characteristic structure is as follows.

That is, the above-mentioned ground height detection sensor includes a pair of sensors provided at the front and rear of the cutting blade, and the elevation control means is configured to detect the height above the ground based on the detection information of the pair of sensors. If the difference in the detected height above the ground is larger than the set value, the elevation control is performed based on the detection information of the sensor located on the rear side of the cutting blade, and the detected height above the ground before and after the cutting blade is adjusted. If the difference is smaller than the set value, the mower is configured to perform elevation control based on detection information from a sensor located in front of the cutting blade.

Effect] If the height above the ground is detected at both the front and rear of the cutting blade, if the height above the ground is detected correctly, the difference in the height above the ground detected before and after the cutting blade will be becomes smaller.

Therefore, if the height above the ground is detected at both the front and rear of the cutting blade, and the difference between the detected height above the ground before and after the cutting blade is greater than the set value, the front sensor will incorrectly detect the height above the ground. It determines that the cutting blade is moving, and controls its elevation based on the information detected by the sensor on the rear side of the cutting blade.

If the difference in the detected ground height between the front and rear of the cutting blade is smaller than the setting (direct), in order to reduce control delay, the cutting blade is raised or lowered based on the detection information of the sensor on the front side of the cutting blade. It will be controlled.

[Effects of the Invention J] Therefore, when sensors are provided before and after the cutting blade and the heights above the ground detected by these sensors are compared, there is a possibility that the sensor on the front side of the cutting blade may erroneously detect the height above the ground. In this case, the lifting and lowering control is performed based on the detection information of the sensor on the rear side of the cutting blade, so even if the cutting part temporarily rides on a fallen stem culm, the cutting part will not move properly. can be maintained at the target ground height to avoid leaving uncut areas.

Example] Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, the reaping section (2) is connected to the front part of the traveling machine body (1) by a single-acting hydraulic cylinder (3) so that it can be driven up and down. A combine of expressions is configured.

As shown in FIGS. 3 and 4, the reaping section (2)
Weeding tools (
4), a trigger device (5) that triggers the stem culm that is introduced from the front side as the aircraft moves, a clipper-type cutting blade (6) that cuts the base of the stem culm, and a device that causes the cut stem culm to fall sideways. It is equipped with a general feeder (9), etc., which passes the feed to the feed chain (8) of the threshing device (7) mounted on the body (1) while changing its attitude.

Further, the reaping section (2) includes a non-contact height detection sensor (S1) using a reflective ultrasonic sensor, and
A switch-type stock base sensor (So) is provided at the transport start end of the conveying device (9) for detecting whether or not the stem culm is in a reaping work state by contacting the base of the stem culm being transported. There is.

However, the above-mentioned height above the ground detection sensor (S1) is located at the front and back of the above-mentioned cutting blade (6), respectively, so that the above-mentioned height above the ground at the front and back of the above-mentioned cutting blade (6) can be detected separately and simultaneously. A pair of ultrasonic sensors (Sa) provided, (
Sb).

In addition, the ultrasonic sensor (Sa) on the front side of the cutting blade (6)
is the support frame (
The ultrasonic sensor (Sb) on the rear side of the cutting blade (6) is attached using the lower side of the frame (11) that supports the cutting part (2). There is.

To explain the control configuration for controlling the elevation of the reaping section (2) based on the detection information of the pair of ultrasonic sensors (Sa) and (Sb), as shown in FIG. A neutral return bias type control valve (12) for the cylinder (3) and a solenoid (13) for switching and operating the control valve (12) are provided. The pair of ultrasonic sensors (Sa) and (Sb
) A control device (15) using a microcomputer is provided to drive the solenoid (13) based on the detected information.

That is, an elevation control means (100) that automatically raises and lowers the reaping section (2) using the control device (15).
is made up of.

In FIG. 1, reference numeral (16) denotes a manually operated neutral return urging type lifting/lowering operating lever, which is interlocked and connected to the control valve (12) via a link mechanism (17). The control valve (12) is configured to be manually switched with priority over the solenoid (13).

However, although not described in detail, a flexibility is formed in the link mechanism to allow valve operation by the solenoid (13) when the lift operation lever (16) is in its neutral position (N). .

Further, (S3) is an automatic switch that selects whether to raise and lower the reaping part (2) automatically or manually, and (S4) is an automatic switch that selects whether to raise and lower the reaping part (2) automatically or manually, and (S4) is an automatic switch that selects whether to raise and lower the reaping part (2) automatically or manually. (S1) is a raise switch that detects that the lift operation lever (16) has been operated to the raise position (U); (S6) is a lower switch that detects that the raising/lowering operation lever (16) has been operated to the raise position (U);
This is a threshing switch that detects that the operating lever (18) for the threshing franc (not shown), which is used to turn on and off the power transmission to the threshing flange (not shown), has been operated to the entry side.

Next, the operation of the control device (15) will be described in detail based on the flowchart shown in FIG.

However, automatic elevation control is performed using the automatic switch (S3).
) has been turned ON and is in the automatic mode selection state, and
The stock sensor (SO) and the threshing switch (S6)
When both are in the ON state and the reaping work is being performed, the process is repeated at set time intervals.

Then, when the control operation is started, a pair of ultrasonic sensors (Sa), (S
b) Detection height above ground (1, a>, (Ll))
is read at every set time, these values are subtracted to find the difference, and it is determined whether the difference is a dog based on the set value (α).

If the difference between the detected heights above the ground before and after the cutting blade (4) is larger than the set value (α), it is determined that there is a possibility that the detected heights above the ground are incorrect, Said cutting blade (6)
The vertical movement of the reaping section (2) is controlled based on the height above the ground detected by an ultrasonic sensor (Sly) located on the rear side of the reaping section (2).

On the other hand, if the subtraction value is less than the set value (α), it is determined that the detected height above the ground is being detected properly, and a The vertical movement of the reaping section (2) is controlled based on the height above the ground detected by the ultrasonic sensor (Sa).

To explain the elevation control, basically, as the detected height above the ground falls within a set dead zone with respect to a set target height above the ground, the elevation of the reaping section (2) is stopped. If the detected height is outside the set dead zone, it is determined whether to lower or raise it based on the magnitude relationship between the detected height above the ground and the target height above the ground, and the solenoid (13) is driven in the determined ascending and descending direction. It's Nishide.

However, the solenoid (13) is adjusted such that the higher the deviation between the detected height above the ground and the target height above the ground, the higher the vertical speed.
is driven intermittently, and its driving time is automatically adjusted based on the magnitude of the deviation between the detected height above the ground and the target height above the ground.

[Another example]

In the above embodiment, the sensor (S1) for detecting the height above the ground is configured with a pair of ultrasonic sensors (Sa) and (Sb), but the sensor (S1) can be moved up and down according to the height above the ground of the reaping section (2). A contact type sensor using a grounding body or the like may be used, and the specific configuration of the height above ground detection sensor (S1) can be changed in various ways.

In addition, in the above embodiment, the sensor for detecting the height above the ground is provided in the center of the reaping section, but it is sufficient to install the sensor at the front and back of the cutting blade (6), and the sensor can be installed at any position in the left and right direction of the machine. can be changed in various ways. Further, in carrying out the present invention, various changes can be made to the specific configuration of each part.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the cutting height control device for a reaping harvester according to the present invention, in which Fig. 1 is a block diagram of the control configuration, Fig. 2 is a flowchart of control operation, and Fig. 3 is a sensor for detecting height above ground. Fig. 4 is a schematic plan view of the reaping part showing the mounting position, and Fig. 4 is a side view of the same. (2)... Reaping part, (6)... Cutting blade, cs+>... Ground height detection sensor, (Sa
), (Sb)... Front and rear pair of sensors, (10
0)...Elevation control means.

Claims (1)

[Claims] A cutting blade (6) that cuts the stem culm is introduced from the front side of the machine.
a ground height detection sensor (S_1) for detecting the ground height of the reaping section (2); The reaping section (2) based on the detection information of the sensor (S_1)
) of the cutting blade (6), the cutting height control device for a reaping/harvesting machine is provided with a lifting control means (100) for automatically lifting/lowering the cutting blade (6). A pair of sensors (Sa) and (Sb) provided at the front and rear respectively
The elevation control means (100) determines, based on the detection information of the pair of sensors (Sa) and (Sb), that the difference in detected height above the ground between the front and back of the cutting blade (6) is larger than a set value. In this case, the vertical movement is controlled based on the detection information of the sensor (Sb) located on the rear side of the cutting blade (6),
In addition, when the difference in the detected height above the ground before and after the cutting blade (6) is smaller than the set value, the cutting blade (6)
) A cutting height control device for a reaping/harvesting machine configured to perform elevation control based on detection information from a sensor (Sa) located on the front side of the reaping/harvesting machine.