JPH0434644Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention detects seedling rows in a rice transplanter, detects plowing depth and untilled line in a tiller, detects uncut lines and reaps height in a reaping device, and uses the detected values to The present invention relates to a detection device for automatically controlling plowing depth, correction of the running direction of the machine, turning, etc.

Conventionally, as a detection device for detecting the plowing depth of an agricultural working machine, for example, a tiller, a detector is set perpendicular to the ground (Japanese Patent Application Laid-Open No. 113202/1982).
A device for detecting the traveling direction of a combine harvester that swings the detector diagonally forward and downward from side to side (Japanese Patent Laid-Open No. 57
-152810 Publication) and a rice transplanter seedling row detection device that swings the detector from side to side (Japanese Patent Application Laid-Open No. 1805-1983), but both detect only a single object. There was a drawback that I couldn't do it.

Additionally, a rice transplanter is already known in which a detector is fixed diagonally forward to detect seedling rows and ridges (Japanese Patent Application Laid-open No. 56-99703). Since it is facing forward, when the aircraft approaches the end of one planting trip and the aircraft exits the headland, it will no longer be able to detect rows of seedlings, and the detector must be mounted at a certain angle to detect seedlings near the aircraft. This had the drawback that ridge detection was delayed, making it difficult for the aircraft to move around.

The present invention aims to provide a detection device for automatic control of agricultural working machines that can reliably detect the field scene below the machine and obstacles in front of the machine using a single detector. In agricultural working machines that are attached to the machine body so that it can be raised and lowered and are used to perform work while traveling in the field, the non-contact detector is installed in a downward position to detect the distance to the ground, and in a downward position to detect obstacles pointing upward and forward from the field. The non-contact type sensor is mounted on the machine frame so as to reciprocate at regular intervals, and the mounting position is set at a location where the work object does not enter the forward pointing area of the non-contact type detector.

Hereinafter, an example in which the present invention is applied to a tilling device will be explained with reference to the drawings. Fig. 1 is a side view of a tractor equipped with a rotary type tilling device 1 at the rear, and an engine 3 mounted at the front of the body 2. The rear instrument panel is provided with a handle 4, a main switch 5, a plowing depth setting dial 6, and an automatic work stop position setting dial (not shown).
A position lever 8 for raising and lowering the tilling device 1 is provided on the side of the cockpit 7. The lift arm 11 interlocked with the lower links 10, 1
0 via a lift rod 12.

And the rotary cover 1 of the tilling device 1
A box-shaped support frame 14 is attached to the center of the front part of 3 by a bracket 15, and a horizontal shaft 17 to which an ultrasonic detector 16 is fixed is rotatably supported by a bearing 18 welded to the inner wall of the support frame 14. A bracket 19 is suspended from the top plate of the support frame 14.
A crankshaft 23 is connected to the shaft of the stepping motor 20 by a joint 21 and rotatably supported by a bearing plate 22 via a bush 22a. 25, and an eccentric plate 26 fixed to the inner end of the horizontal shaft 17 enters into the rotation locus of the crank pin 25 from below.

A stopper 27 protruding from the base of the eccentric plate 26 is tensioned by a spring 28 and is received by a receiver 29 so that the ultrasonic detector 16 is directed vertically downward.

In the above-mentioned device, before starting work, the plowing depth is set to the machine stop position in front of the ridge using the plowing depth setting dial 6 and the automatic work stop position setting dial, and the main switch 5 is turned on to turn on the traveling clutch and the work equipment clutch. When the tiller 1 is turned on and the position lever 8 is further pushed down to lower the tiller 1 and advance the machine, the tiller 1 tills the field.

At this time, when the stepping motor 20 is driven, the crank pin 25 rotates while drawing a trajectory a, as shown in FIG. While rotating to position θ ₁ , the ultrasonic detector 16 is facing the field directly below as shown in FIG.
The height of the tillage device 1 relative to the field surface, that is, the plowing depth is detected (see Fig. 7), and the eccentric plate 26 is pushed and rotated from the part shown in Fig. 4, so the ultrasonic detector 16 rotates upward. As shown in FIG. 5, the distance to the ridge is detected at the detection timing shown in FIG. 7 by moving toward a higher position than the front field, and when the crank pin 25 comes off the eccentric plate 26,
When the ultrasonic detector 16 is pulled by the spring 28 and rotated downward at once, and the stopper 27 is received by the receiver 29, the ultrasonic detector 16 returns to the downward position and detects the plowing depth.

Then, the detection signal of the ultrasonic detector 16, the plowing depth set value, the automatic work stop position set value, and the lift arm angle are input to the microcomputer B via the A/D converter A, as shown in FIG. The output signal is amplified by amplifier C, and a raise signal or lower signal is input to the solenoid valve of the hydraulic device that raises and lowers the lift arm 11, and is input as an intermittent signal to the solenoid of the PTO clutch, and the plowing depth is controlled at the start of work. A dead zone is set above and below the set value as shown in FIG. 8, and when the detected value of the ultrasonic detector 16 exceeds the dead zone, for example, the detection distance becomes small and the plowing depth becomes too deep. Then, a raise signal is input to the solenoid valve of the hydraulic system, and when the plowing depth becomes shallow and exceeds the above-mentioned dead zone downward, a lower signal is input to the solenoid valve, the lift arm 9 is tilted downward, and the tillage device 1 is properly adjusted. descend to a certain height.

In addition, the aircraft approached the ridge and the ultrasonic detector 16
When the detected value reaches the set value as shown in Fig. 9, a raise signal is input to the solenoid valve, and the tilling device 1 is greatly raised to the upper limit position of the lift arm.At the same time, the solenoid of the PTO clutch is energized to raise the PTO. Since the clutch is disengaged and the tilling device 1 stops, the operator can operate the machine around the machine without paying attention to raising and lowering the tilling device 1 and operating the clutch on the PTO axis. When the machine is raised and the PTO clutch is disengaged, that state will be maintained even if the detection signal of the ultrasonic detector 16 changes, so when you rotate the machine and then resume work, press the position lever. If the position lever 8 matches the actual position of the lift arm 11, the normal automatic control state will be restored.
By lowering the plowing device 1, the tilling device 1 is lowered to perform tilling work.

In the above-mentioned embodiment, an ultrasonic detector was shown as an example of a non-contact type detector, but a well-known infrared detector or other detector having the same effect can be employed.

The present invention aims to install a non-contact detector in a downward position to detect the distance to the ground and in a field position in an agricultural work machine that is attached to the body of the work machine so that it can be raised and lowered so as to be able to move up and down as described above. It is mounted on the machine frame so as to reciprocate at a constant cycle with an obstacle detection posture pointing upward and forward, and this mounting position is set at a location where the work object will not enter the forward pointing area of the non-contact type detector. This allows a single non-contact detector to detect height above the ground when pointing downwards into the field, and to detect ridges or other obstacles when pointing upwards and in front of the field. can do.

Moreover, a single non-contact type detector can be used to perform detections for different purposes, thereby reducing costs, and can be easily installed even in a narrow space.

Furthermore, when the non-contact detector points forward, crops do not enter the forward pointing area, so obstacles can be detected accurately.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention,
Figure 1 is a side view of the agricultural working machine to which the present invention has been applied, Figure 2 is a perspective view of the main parts, Figure 3 is a cross-sectional view of the drive section of the non-contact detector, and Figure 4 is a longitudinal cross-section of the same. Figure, 5th
Figure 6 is a side view showing the plowing depth detection state, Figure 7 is a detection timing diagram, Figure 8 is a tillage depth control timing diagram, Figure 9 is a furrow control timing diagram, and Figure 10 is a diagram showing the operation of the same as above. is a control circuit configuration diagram. 1... Cultivation device, 8... Position lever, 1
1... Lift arm, 16... Ultrasonic detector, 2
0...Stepping motor, 23...Crank pin.

Claims (1)

[Scope of utility model registration request] In agricultural work equipment that is attached to the body of the machine so that it can be raised and lowered and is used for work while traveling in the field, the non-contact detector is installed in a downward position to detect the distance to the ground, and when there is an obstacle pointing upward and forward from the field. An agricultural working machine, which is mounted on a machine frame so as to reciprocate at a constant cycle with respect to a detection posture, and the mounting position is a part where a work object does not enter the forward pointing area of the non-contact type detector. Detection device for automatic control.