JPH05123026A - Controller for lifting and lowering reaping part in combine - Google Patents

Abstract

PURPOSE:To set the lowering starting distance of a reaping part with a lowering starting distance setting means according to the travel speed of a combine and optimize and speed up the reaping operation by sensing the travel speed of the combine with a travel speed sensing means. CONSTITUTION:When the travel speed of a machine body is sensed with a travel speed sensor, a lowering starting distance (L) of a reaping part (A), i.e., the distance between the lowering starting point (Q) of the reaping part and unreaped crop groups 31 is calculated according to the sensed travel speed. When the distance to the unreaped crop groups 31 in the front is sensed with a front sensor 7 and the sensed value is smaller than the lowering starting distance (L), the reaping part (A) starts lowering. When the travel speed is high, i.e., the sensed value of the travel speed sensor 12 is large, the lowering starting distance (L) can be set at a large value. Thereby, a fear of the reaping part (A) reaching the unreaped crop groups 31 before completing the lowering operation of the reaping part (A) can be eliminated.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a raising and lowering control device for a mowing section for vertically moving a mowing section of a combine. 2. Description of the Related Art A conventional control example of a raising and lowering unit for a mowing section in a combine will be described with reference to FIG. 6. First, after the end of the line cutting (cutting in the direction AB in FIG. 6), the cutting section is removed. It is moved up so as to be in a posture facing the uncut grain rod group 31 by performing a circular operation by so-called α-turn (C to D in the figure). Next, the front sensor 7 such as a light beam sensor measures the distance from the machine body 1 to the uncut grain rod group 31, and moves forward toward the uncut grain rod group 31. And the front sensor 7
On the condition that the distance to the uncut grain rod group detected by is less than the preset descent start distance, the mowing unit is lowered to a predetermined cutting height, and lateral cutting of the uncut grain rod group (Fig. 6) is performed. The middle D-E direction) is started. However, it takes a certain amount of time for the cutting unit to move from the raised position to the lowered position.
Therefore, in this conventional device, when the traveling speed of the machine body 1 is high, the machine body 1 reaches the uncut grain rod group 31 before the end of the lowering operation of the cutting unit, and the cutting is not properly performed. I was afraid. In addition, this problem has been an obstacle to speeding up the cutting work. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve this problem and to realize proper and high-speed reaping work regardless of the traveling speed of the machine body. In order to solve the above-mentioned problems, the harvesting part raising / lowering control device in the combine of the present invention measures the distance between the combine and the uncut crop in front of it. Measuring means, traveling speed detection means for detecting the traveling speed of the combine, and, according to the detection value of the traveling speed detection means, a descending start distance setting for setting the distance between the cutting section descending start point and the uncut crop Means and control means for controlling the reaper unit elevating device so that the reaper unit starts to descend when the detected value of the distance measuring unit falls below the set descending start distance. In the present invention, the distance measuring means measures the distance between the combine and the uncut crop in front of it. Now
When the traveling speed detecting means detects the traveling speed of the combine, the descent start distance setting means sets the descending start distance of the mowing unit according to the traveling speed detected by the traveling speed detecting means. Here, the descent start distance refers to the distance between the mowing unit and the uncut crop when the mowing unit starts descent. The control means controls the lifting device so that the reaper starts to descend when the detection value of the distance measuring means falls below the set descending start distance. As described above, according to the present invention, since the descending start distance is set to be large or small according to the traveling speed of the combine, the descending operation of the mowing unit is completed when the machine reaches the uncut crop, and the mowing operation is completed. It is possible to smoothly shift to, and to optimize the cutting work regardless of the combine traveling speed,
Higher speed can be realized. A first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a combine for implementing the present invention, in which a rear end portion 5a of a mowing frame 5 is rotatably attached to a front end of a machine body 1, and a weeder 2 for aligning crops is provided at each part of the mowing frame 5. The raising device 3 for raising the crop, the cutting device 4A for cutting the crop base, and the carrying device 4B for carrying the cut grain to the threshing unit (not shown) are mounted. These weaving device 2, raising device 3, cutting device 4A,
The carrying device 4B and the mowing frame 5 constitute a mowing section A, and the mowing section A is extended and retracted by a hydraulic cylinder 6 connected to the mowing frame 5 so that the rear end portion 5a of the mowing frame 5 is moved.
It is possible to move up and down around the fulcrum An elevation angle sensor 9 (see FIG. 2) including a potentiometer or the like for detecting the rising angle of the mowing section A is provided at the rear end 5a of the mowing frame 5. Reference numeral 7 is a front sensor as a distance measuring means for measuring a distance between the front uncut crop group and the body 1 while the body 1 is running, and 8 is for controlling a cutting height which will be described later. This is the cutting height sensor used. An ultrasonic sensor or the like is used for the front sensor 7 and the cutting height sensor 8, and each of them comprises a transmitter and a receiver. Reference numeral 10 is an engine, and 11 is a traveling section. A traveling speed sensor 12 (see FIG. 2) as traveling speed detecting means for detecting the traveling speed of the traveling portion 11 is provided on an appropriate intermediate shaft in the power transmission path between the engine 10 and the traveling portion 11. Next, a configuration example of the control unit of the first embodiment will be described with reference to FIG. Reference numeral 21 denotes a microcomputer for controlling the respective parts of the combine of this embodiment in a related manner as described later, and the input side thereof has the front sensor 7, the cutting height sensor 8, the elevation angle sensor 9, and the traveling speed. In addition to the sensor 12, a contact type grain rod sensor 22 for grain rod detection and the like are electrically connected via an input interface 23. The output side of the microcomputer 21 is electrically connected with a mowing rising solenoid 24, a mowing descending solenoid 25, etc. for driving the hydraulic cylinder 6 to extend and contract, through an output interface 26. Next, regarding an example of the control of the first embodiment,
This will be described with reference to the flowchart of FIG. First, after the machine body 1 has finished cutting, after passing through a so-called α-turn, the reverse movement for side cutting is completed (position D in FIG. 6). , Ultrasonic waves are transmitted toward the uncut crop group 31 (see FIG. 4) (S1). Next, it is determined whether or not the reception unit of the front sensor 7 has received an ultrasonic wave (reflected wave) (S2), and in the case of a negative determination, the transmission unit of the front sensor 7 is re-established after a certain period of time has elapsed. Ultrasonic waves are transmitted (S3, S1). If a positive determination is made in step S2, the detection value v of the traveling speed sensor 12 is read (S
4) Then, according to the detected value v, a predetermined descent start distance L is calculated using the following equation (1) (S5). Here, the descent start distance L refers to the distance between the mowing section descent start point Q where the mowing section A starts to descend and the uncut crop group 31, as shown in FIG. 4. L = l + v · t (1) Here, in the equation (1), t represents a constant time required for the lowering of the reaper A (see FIG. 4). Further, l indicates the distance between the descending end position P and the uncut crop group 31, and the value of this l is determined in consideration of work efficiency and the like. Next, the distance between the machine body 1 and the uncut crop group 31 is calculated based on the detection value of the reception section of the front sensor 7, and the distance to the uncut crop group 31 is calculated in step S.
It is compared with the descent start distance L calculated in 5 (S6). As a result of the comparison, when the distance to the uncut crop group 31 exceeds the descent start distance L, the distance to the uncut crop group 31 is measured again by the front sensor 7 (S1), and the uncut crop group 31 is measured.
The above-mentioned control is repeated until the distance to is less than the descending start distance L. Then, as a result of the comparison in step S6, when it is determined that the distance to the uncut crop group 31 is less than the lowering start distance L, the cutting lowering solenoid 24
Is excited, the hydraulic cylinder 6 moves backward, and the mowing unit A
Starts descending with the rear end 5a of the mowing frame 5 as a fulcrum (S7). This lowering operation ends when the detection value of the up-and-down angle sensor 9 reaches a predetermined value. However, since the time required for this lowering is always a constant value t, the lowering operation of the mowing unit A is performed at a predetermined lowering end position P. That is, the process ends at the point before the distance l with respect to the uncut crop group 31. When the automatic raising / lowering control using the detected value of the raising / lowering angle sensor 9 is completed in this way, thereafter, the cutting height sensor 8 detects the distance between the ground surface and the cutting section A, and the detected value is predetermined. The control shifts to match the target cutting height (for example, 5 cm from the ground surface). Therefore, thereafter, the cutting height H of the cutting unit A is always maintained at the target cutting height. As described above, in the first embodiment, when the traveling speed sensor 12 detects the traveling speed of the machine body, the lowering start distance L of the cutting section A is calculated according to the detected traveling speed, and the front sensor 7 is used. Detects the distance between the machine body and the uncut crop group 31 in front of the machine body, and when the detected value is less than the lowering start distance L, the lowering of the cutting unit A is started. Therefore, the descending start distance L can be set to be large or small in accordance with the magnitude of the detected value of the traveling speed sensor 12, so that when the reaping section A reaches the uncut crop group 31, the lowering operation of the reaping section A is completed. It is possible to smoothly shift to the reaping work, so that the reaping work can be optimized and speeded up regardless of the traveling speed of the machine body 1. Next, a second embodiment related to the present invention will be described. The second embodiment shortens the time t required for lowering the mowing unit A in the first embodiment described above, and
The purpose is to improve the detection accuracy of the front sensor 7 of the reaping unit A. The mechanical structure of the second embodiment is similar to that of the first embodiment, and the control is different as follows, so the description thereof will be omitted. Now, an example of control in the second embodiment will be described. First, with the reaper A raised,
The machine ends the so-called α-turn (see FIG. 6) and stops the backward movement (position D in FIG. 6), and starts forward toward the uncut crop group 31. Next, in FIG. 5, when the fact that the vehicle has moved forward from the reverse stop position D by the predetermined distance S is detected based on the detection value of the traveling speed sensor 12, the reaping lowering solenoid 25 is excited accordingly, and the hydraulic cylinder 6 Moves backward and the mowing unit A starts to descend in the first stage. This first-stage descent is performed until the detection value of the up-and-down angle sensor 9 coincides with a predetermined value, and as a result, the mowing unit A descends to a predetermined height position H2, for example, a height of about 15 cm from the ground surface. (E in FIG. 5). In addition, the above-mentioned predetermined distance S takes into consideration the distance required for the posture of the machine body 1 to recover to be substantially horizontal after passing through the recess T of the field, which is a rut generated in the step of the machine body 1, For example, 30 cm. Next, the detected value of the traveling speed sensor 12 is read, and the descent start distance L2 is calculated according to the detected value using the following equation (2) (S5). L2 = l + vt2 (1) Here, in the equation (2), v is a detection value of the traveling speed sensor 12, and t2 is a constant time required for the cutting unit A to descend (see FIG. 5). In addition, l is the descending end position P and the uncut crop group 3
The distance to 1 is shown. Next, the machine body 1 continues to move forward, and the value detected by the front sensor 7 causes the descending start distance L2 set by the above equation (2) (for example, about 70 cm when the traveling speed is 1.25 m / sec). ), The reaper A starts to descend in the second stage under this condition. The second step of descending is performed until the detection value of the cutting height sensor 8, that is, the distance between the ground surface and the cutting unit A reaches a predetermined value H (for example, 5 cm from the ground surface). Then, when the lowering of the second stage is completed, thereafter, the control proceeds to the control of raising and lowering the cutting unit A so that the detection value of the cutting height sensor 8 matches the predetermined value H. As described above, in the second embodiment, the first stage of descending forcibly lowering the reaping section A halfway (to the height of H2) at the time point when the vehicle moves forward from the reverse stop position D by the predetermined distance S is performed in advance. After that, when the detection value of the front sensor 7 (distance to the uncut crop group 31) becomes less than the falling start distance L2, the second step of lowering the cutting unit A to the final cutting height H is performed. Configured to do. Therefore, since the control of the first stage is performed in advance, the time t2 required for the lowering of the second stage can be short. In addition, since the time t2 required for the second step descent is short and sufficient as described above, the descent start distance L2 becomes shorter, and the detection by the front sensor 7 becomes more reliable and the detection accuracy can be improved. There is. As described above in detail, in the present invention, the descending start distance is set to a large value according to the traveling speed of the combine, so when the machine reaches the uncut crop, Since the descending operation is completed, it is possible to smoothly shift to the mowing work, and thus, the mowing work can be optimized regardless of the traveling speed of the combine. Therefore,
It can be said that it greatly contributes to further speeding up the cutting work.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic side view showing a combine for implementing the present invention. FIG. 2 is a schematic diagram showing a configuration example of a control unit of the first embodiment. FIG. 3 is a flowchart showing an example of control according to the first embodiment. FIG. 4 is a schematic side view showing a state where the reaping unit is lifted and lowered in the first embodiment. FIG. 5 is a schematic side view showing a state in which a mowing unit according to a second embodiment is raised and lowered. FIG. 6 is a schematic plan view showing a movement trajectory of the combine when shifting from row cutting to side cutting. [Explanation of Codes] 1 Airframe 6 Hydraulic cylinder 7 Front sensor 9 Lifting angle sensor 11 Traveling section 12 Traveling speed sensor 21 Microcomputer A Mowing section

Claims (1)

Claims: Distance measuring means for measuring a distance between a combine and an uncut crop in front of the combine, traveling speed detecting means for detecting a traveling speed of the combine, and a detection value of the traveling speed detecting means. The descent start distance setting means for setting the distance between the mowing section descent start point and the uncut crop, and the mowing section starts descent when the detection value of the distance measuring means falls below the set descent start distance. A control means for controlling the reaper section lifting device as described above, and a reaper section lifting control device in a combine, comprising: