JPH029601Y2 - - Google Patents
Info
- Publication number
- JPH029601Y2 JPH029601Y2 JP1982134034U JP13403482U JPH029601Y2 JP H029601 Y2 JPH029601 Y2 JP H029601Y2 JP 1982134034 U JP1982134034 U JP 1982134034U JP 13403482 U JP13403482 U JP 13403482U JP H029601 Y2 JPH029601 Y2 JP H029601Y2
- Authority
- JP
- Japan
- Prior art keywords
- ground
- height
- reaping
- sensor
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 10
- 230000001174 ascending effect Effects 0.000 claims description 2
- 238000009333 weeding Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【考案の詳細な説明】
本考案は、作業部に対地高さ検出センサーを設
け、このセンサーの対地高さ検出結果に基いて、
前記作業部を間歇昇降制御する制御装置を備えた
農作業機に関する。[Detailed description of the invention] This invention provides a height-above-the-ground detection sensor in the working section, and based on the height-above-the-ground detection result of this sensor,
The present invention relates to an agricultural machine equipped with a control device that controls the lifting and lowering of the working section intermittently.
従来のこの種の農作業機の一例である刈取収穫
機においては、作業部としての刈取部に装備され
た対地高さ検出センサーの対地高さ検出結果に基
いて、刈取部が一定の対地高さに維持されるよう
に昇降制御して、もつて、刈高さが一定となるよ
うに自動制御されていた。そして、前記刈取部を
昇降制御する際には、対地高さ検出結果が変動す
る毎に直ちに連続的に刈取部を昇降させると変動
する対地高さと刈取部の昇降制御応答とが収束し
なくなつて、刈取部が周期的に上昇、下降をくり
返すいわゆるハンチング状態に陥るので、短時間
の対地高さの変動には実質的に応答しないように
前記刈取部を昇降駆動するアクチエータを間歇的
に作動させる手段が採用されていた。 In a reaping harvester, which is an example of a conventional agricultural machine of this kind, the reaping section is set at a certain height above the ground based on the detection result of the height above the ground of the height above the ground detection sensor equipped on the reaping section as the working section. The mowing height was automatically controlled to maintain a constant height. When controlling the elevation of the reaping section, if the reaping section is raised and lowered immediately and continuously every time the detected height above the ground changes, the fluctuating height above the ground and the response of the elevation control of the reaping section will not converge. As a result, the reaping section falls into a so-called hunting state in which it repeatedly rises and descends periodically, so the actuator that drives the reaping section up and down is intermittently operated so that it does not substantially respond to short-term fluctuations in height above the ground. A means of activation was employed.
しかしながら、かかる従来構成にあつては、以
下に示すような欠点があつた。 However, this conventional configuration has the following drawbacks.
即ち、刈取部が間歇的に駆動されて昇降制御さ
れるので、この刈取部の昇降速度は比較的遅いも
のとなつて、刈取作業停止時である回向等の非作
業走行時に地面への衝突等を防止するため大きく
上昇された刈取部が刈初め時に刈取作業に最適な
高さまで下降するに要する時間が長くなつて、作
業効率が低下する欠点があつた。 In other words, since the reaping section is driven intermittently and controlled to raise and lower, the raising and lowering speed of the reaping section is relatively slow, which prevents collisions with the ground during non-working movements such as turning when the reaping operation is stopped. The disadvantage is that it takes a long time for the reaping section, which has been raised significantly to prevent such problems, to descend to the optimum height for the reaping operation at the beginning of reaping, resulting in a decrease in work efficiency.
本考案は、上記実情に鑑みてなされたものであ
つて、その目的は、作業開始時の実際の対地高さ
制御の開始を速やかに行なえるとともに、その後
の作業中は、ハンチングに陥ることなく安定した
制御応答で自動対地高さ制御を行なうことが可能
な農作業機を提供することにある。 The present invention was developed in view of the above-mentioned circumstances, and its purpose is to quickly start the actual height control above the ground at the start of work, and to prevent hunting during subsequent work. An object of the present invention is to provide an agricultural machine capable of automatically controlling the height above the ground with stable control response.
上記目的を達成すべく、本考案による農作業機
の特徴構成は、対地高さ検出センサーを、発振器
と受信器とからなる無接触式に構成するととも
に、前記制御装置を、前記昇降制御の起動を指示
する指示手段により起動が指示された後、前記セ
ンサーが初めて設定目標高さを検出するまでの下
降速度を、前記設定目標高さに達した後の昇降速
度よりも高速にするようにした点にある。 In order to achieve the above object, the agricultural machine according to the present invention has a characteristic configuration in which the height detection sensor above the ground is configured as a non-contact type consisting of an oscillator and a receiver, and the control device is configured to activate the elevation control. The descending speed until the sensor detects the set target height for the first time after the activation is instructed by the instructing means is made faster than the ascending and descending speed after reaching the set target height. It is in.
上記特徴構成による作用効果は次の通りであ
る。 The effects of the above characteristic configuration are as follows.
すなわち、前記センサーが設定目標対地高さを
検出するまでは、高速度で作業部が下降され、実
際の作業が開始可能な作業部の対地高さが短時間
で設定されるので、作業開始後、実際の作業を行
なうまでに要する時間および助走距離が可及的に
短縮されて、作業能率が大巾に改善されるととも
に、その後の作業継続中は従来同様に自動的に対
地高さ制御を安定して行なうことができるに至つ
たのである。加えて、指示手段にて起動されたの
ちは、常に設定目標高さに確実に維持できるもの
である。 That is, until the sensor detects the set target height above the ground, the work section is lowered at high speed, and the height above the ground of the work section at which the actual work can begin is set in a short time, so that after the start of work, the work section is lowered at high speed. , the time and run-up distance required to perform the actual work are shortened as much as possible, greatly improving work efficiency, and the height above the ground is automatically controlled as before while the work continues. I was able to do this stably. In addition, after being activated by the instruction means, the set target height can always be maintained reliably.
しかも、本考案では、対地高さ検出センサーと
して無接触式のものを採用したので、高速下降制
御の下限となる所定対地高さを圃場の硬軟に関係
なく正確に検出することができるので、検出誤差
をみこしてやや高い目から低速下降制御に切換え
るような必要はなく、極力高速下降制御を行つ
て、作業部の対地高さ設定を迅速に行える効果が
ある。 Moreover, in this invention, a non-contact type height detection sensor is used as the sensor for detecting the height above the ground, so the predetermined height above the ground, which is the lower limit for high-speed descending control, can be accurately detected regardless of the hardness or softness of the field. There is no need to switch to low-speed descending control from a slightly higher position by taking into account an error, and there is an effect that the height of the working section above the ground can be quickly set by performing the descending control as fast as possible.
以下、本考案の実施例を図面に基いて説明す
る。 Embodiments of the present invention will be described below with reference to the drawings.
第１図は、農作業機の一例にあげたコンバイン
の前部を示す側面図であつて、作業部としての刈
取部１は引起し装置２、刈刃３、搬送装置４を有
し、前記引起し装置２の前方には分草具５が設け
られ、この分草具５下端先端部が刈取部１の支持
フレーム６に固着されている。そして、非接触式
の対地高さ検出センサーとしての超音波センサー
７が、穀稈による誤動作を起さない様に、前記分
草具５の背後で、前記支持フレーム６の上方に配
置された状態で取付けられている。 FIG. 1 is a side view showing the front part of a combine harvester, which is an example of an agricultural working machine. A weeding tool 5 is provided in front of the weeding device 2, and a lower end tip of the weeding tool 5 is fixed to a support frame 6 of the cutting section 1. An ultrasonic sensor 7 as a non-contact height detection sensor above the ground is placed behind the weeding tool 5 and above the support frame 6 to prevent malfunctions caused by grain culms. It is installed in
前記超音波センサー７は、地面に向けて超音波
を放射する発振器８とその反射板を受信する受信
器９とから成り、このセンサー７の発振時から受
信時までの時間を計測することにより、刈取部１
の対地高さを検出するとともに、その対地高さ検
出結果に基いて、刈取部１がアクチエータとして
の油圧シリンダ１０によつて自動昇降制御され、
もつて、刈高さの自動制御が行なわれるべく構成
してある。 The ultrasonic sensor 7 consists of an oscillator 8 that emits ultrasonic waves towards the ground and a receiver 9 that receives the reflection plate.By measuring the time from the time of oscillation of this sensor 7 to the time of reception, Reaping part 1
The height above the ground is detected, and based on the detected height above the ground, the reaping section 1 is automatically controlled to raise and lower by a hydraulic cylinder 10 as an actuator,
In addition, the cutting height is automatically controlled.
以下、第２図および第３図に基いて、上記刈高
さの自動制御を行なう制御システムについて説明
する。 A control system for automatically controlling the cutting height will be described below with reference to FIGS. 2 and 3.
制御装置１１は、入力インターフエース１２、
タイマー１３、カウンター１４、演算装置１５、
および出力インターフエース１５を主要部とする
マイクロコンピユータとして構成され、タイマー
１３によつて監視される所定時間の間隔で前記超
音波センサー７の発振器８を起動し、受信器９の
反射波受信までの時間経過をカウンター１４によ
つて計測することによつて、対地高さｌを所定周
期で経続的に検出するとともに、その対地高さ検
出結果に基いて前記油圧シリンダ１０を作動させ
る電磁バルブ１７を出力インターフエース１６を
介して駆動し、もつて、刈取部１が所定の対地高
さl0を維持するように制御するのである。 The control device 11 includes an input interface 12,
timer 13, counter 14, arithmetic device 15,
and an output interface 15 as a main part, starts the oscillator 8 of the ultrasonic sensor 7 at predetermined time intervals monitored by the timer 13, and starts the oscillator 8 of the ultrasonic sensor 7 until the receiver 9 receives the reflected wave. The electromagnetic valve 17 continuously detects the height l above the ground at a predetermined period by measuring the passage of time with the counter 14, and operates the hydraulic cylinder 10 based on the detected height above the ground. is driven through the output interface 16, thereby controlling the reaping section 1 to maintain a predetermined height l0 from the ground.
ところで、前記刈取部１を大きく上昇させて回
向等の非作業走行中にこの刈取部１を不測に地面
に衝突させることが無いように、対地高さ制御の
起動、停止を行なう操作レバー１８を第１図に示
すように操縦部１９に設けてあり、この操作レバ
ー１８の起動、停止すなわち刈取作業の開始、停
止を検出するセンサーとしてのリミツトスイツチ
S1を設け、このスイツチS1のON・OFFによつ
て、刈取作業の開始、停止の各状態を制御装置１
１が判別できるようにしてある。そして、前記ス
イツチS1がONして刈取作業開始を検出している
間のみ、前記対地高さの自動制御が行なわれるの
である。 By the way, in order to prevent the reaping section 1 from accidentally colliding with the ground during non-work movement such as turning when the reaping section 1 is raised significantly, an operating lever 18 is provided for starting and stopping the height control above the ground. As shown in FIG. 1, a limit switch is provided in the control section 19, and serves as a sensor for detecting the start and stop of the control lever 18, that is, the start and stop of the reaping operation.
The control device 1 controls the start and stop of the reaping work by turning on and off the switch S1 .
1 can be identified. Then, the automatic control of the height above the ground is performed only while the switch S1 is turned on and the start of the reaping work is detected.
即ち、前記スイツチS1がOFFの場合は、対地
高さ制御が中断されて、前記油圧シリンダ１０が
高速に刈取部１を上昇させるとともに、この刈取
部１の回動軸Ｙ部分に設けてある最大上昇点を検
出するリミツトスイツチS2がONすると、その位
置で上昇を停止すべく構成してある。 That is, when the switch S1 is OFF, the ground height control is interrupted and the hydraulic cylinder 10 raises the reaping section 1 at high speed. When the limit switch S2 , which detects the maximum ascent point, is turned on, the ascent is stopped at that position.
そして、操作レバー１８が下降側へ操作され
て、前記スイツチS1がONすると、超音波センサ
ー７によつて対地高さの計測を開始するととも
に、このセンサー７によつて所定の対地高さl0が
検出されるまでは、前記油圧シリンダ１０を高速
に下降側へ駆動して、速やかに刈取部１が所定の
対地高さl0まで下降されるのである。その後の刈
取中は前記操作レバー１８に設けたスイツチS1が
OFFとなつて刈取作業の停止を感知するまでは、
前記超音波センサー７の対地高さ検出結果に基い
て、電磁バルブ１７をバルス駆動して、油圧シリ
ンダ１０を間歇的に作動させ、もつて刈取部１を
ゆるやかに上昇・下降させて所定の対地高さを維
持すべく自動制御されるのである。 Then, when the operating lever 18 is operated to the lowering side and the switch S 1 is turned on, the ultrasonic sensor 7 starts measuring the height above the ground, and the sensor 7 measures the height above the ground at a predetermined height l. Until 0 is detected, the hydraulic cylinder 10 is driven downward at high speed, and the reaping section 1 is quickly lowered to a predetermined height l0 from the ground. During subsequent reaping, the switch S1 provided on the operating lever 18 is
Until it turns OFF and senses that the reaping operation has stopped,
Based on the height above the ground detected by the ultrasonic sensor 7, the electromagnetic valve 17 is driven in pulses to operate the hydraulic cylinder 10 intermittently, thereby gently raising and lowering the reaping section 1 to a predetermined height above the ground. It is automatically controlled to maintain its height.
尚、前記油圧シリンダ１０は、超音波センサー
７の計測対地高さｌが所定の対地高さl0に対して
誤容誤差（±△）内で一致した場合作動を停止さ
れるように構成してある。 The hydraulic cylinder 10 is configured to stop operating when the measured height l from the ground of the ultrasonic sensor 7 matches a predetermined height l 0 from the ground within an error margin (±△). There is.
図面は本考案に係る農作業機の実施例を示し、
第１図はコンバインの前部側面図、第２図は制御
システムのブロツク図、そして、第３図は演算装
置の動作を示すフローチヤートである。
１……刈取部、７……対地高さ検出センサー、
１１……制御装置、１８，S1……指示手段。
The drawings show an example of the agricultural 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 showing the operation of the arithmetic unit. 1... Reaping section, 7... Ground height detection sensor,
11...control device, 18, S 1 ...instruction means.
Claims (1)
のセンサー７の対地高さ検出結果に基いて、前記
作業部１を昇降制御する制御装置１１備えている
農作業機であつて、前記センサー７を、発振器８
と受信器９とからなる無接触式に構成するととも
に、前記制御装置１１を、前記昇降制御の起動を
指示する指示手段１８，S1により起動が指示され
た後、前記センサー７が初めて設定目標高さを検
出するまでの下降速度を、前記設定目標高さに達
した後の昇降速度よりも高速にするように構成し
てある農作業機。 The working machine is provided with a height above ground detection sensor 7 in the working part 1, and is equipped with a control device 11 for controlling the raising and lowering of the working part 1 based on the detection result of the height above the ground of the sensor 7. , oscillator 8
and a receiver 9, and the sensor 7 detects the set target for the first time after the control device 11 is instructed to start by the instruction means 18, S1 that instructs the start of the elevation control. An agricultural machine configured to make a descending speed before detecting a height higher than an ascending and descending speed after reaching the set target height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13403482U JPS5936938U (en) | 1982-09-02 | 1982-09-02 | agricultural machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13403482U JPS5936938U (en) | 1982-09-02 | 1982-09-02 | agricultural machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5936938U JPS5936938U (en) | 1984-03-08 |
| JPH029601Y2 true JPH029601Y2 (en) | 1990-03-09 |
Family
ID=30302138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13403482U Granted JPS5936938U (en) | 1982-09-02 | 1982-09-02 | agricultural machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5936938U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0751844Y2 (en) * | 1989-10-12 | 1995-11-29 | ヤンマー農機株式会社 | Lifting transport work machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57129608A (en) * | 1981-02-03 | 1982-08-11 | Kubota Ltd | Bush cutter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54135116U (en) * | 1978-03-10 | 1979-09-19 |
-
1982
- 1982-09-02 JP JP13403482U patent/JPS5936938U/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57129608A (en) * | 1981-02-03 | 1982-08-11 | Kubota Ltd | Bush cutter |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5936938U (en) | 1984-03-08 |
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