JPH11346526A - Harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To contrive to increase accuracy of an automatic rising control in a reaping part, to increase operability and to increase working efficiency. SOLUTION: This harvester has a grain culm sensor detecting the presence of the grain culm in a reaping part 4 reaping the grain culm in a field and the reaping part automatic rising controller which raises the reaping part 4 to a prescribed height when the grain culm sensor detects that there is no grain culm by an off-state of the grain culm sensor. In the constitution, the reaping part automatic rising controller is driven when a working distance passes over a prescribed distance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to control of a harvester represented by a combine and a binder.

[0002]

2. Description of the Related Art Conventionally, a culm sensor for detecting the presence or absence of the cereal culm is provided in a cutting section for cutting cereal culm in a field, and when it is detected that the cereal culm sensor is in a cut state and the culm is lost,
2. Description of the Related Art A configuration in which a mowing unit automatic ascent control device that raises a mowing unit to a predetermined height is known.

[0003]

The above-mentioned known example simply comprises:
As soon as the grain stalk sensor detects that the grain stalk has run out, the cutting section is automatically raised, so that there is a problem that the cutting section is automatically raised even if the grain stalk sensor malfunctions. The present invention improves control accuracy.

[0004]

It is an object of the present invention to improve the accuracy of the automatic ascent control of the mowing unit, the operability, and the working efficiency.

[0005]

According to the present invention, a culm sensor for detecting the presence or absence of the cereal culm is provided in a cutting unit 4 for reaping the cereal culm in a field. The automatic mowing unit raising control device that raises the mowing unit 4 to a predetermined height when it detects that the mowing unit 4 is lost. When the working distance is detected to be a predetermined distance or more, the mowing unit automatic raising control device is driven. It is a harvester configured as described above.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings.
1 is a body frame, 2 is a traveling device, 3 is a threshing device, 4 is a reaping unit, and the reaping unit 4 is provided with a weeding body 5 at the forefront position, and a raising device 6 is provided behind the weeding body 5 and raised. Device 6
A rag-type scraping device 7 and a star wheel-type scraping device 8 are provided at the rear of the blade, a cutting blade 9 is provided below the scraping devices 7 and 8, and a stock root is cut at the end of the rag-type scraping device 7. A grain culm conveying device 10 for conveying cereal culm is provided. The reaper 4
Is provided with a grain stalk sensor 13 for detecting the presence or absence of a grain stalk, and the grain stalk sensor 13 is configured to sense at least two grain stalks on the left and right sides of the cutting unit 4. In the embodiment, the left and right direction sensors 14 and 15 for directional control provided on both the left and right sides are also used as the grain culm sensor 13 for detecting the presence or absence of a grain culm. A sensor may be provided.

[0007] The left direction sensor 14 of the embodiment is attached to a weeding pipe 16 moving between two grain culms on the left side (uncut ground side with respect to the machine body).
And the right sensor body 18 are provided, and the bases of the left sensor body 17 and the right sensor body 18 are respectively attached to the detection units 19 each constituted by a potentiometer or the like, and each detection unit 19 is always in contact with the grain stems on both the left and right sides at all times. The control unit 20 detects the positions of the left and right sensor bodies 17 and 18 and controls the direction by analog output signals from the left and right sensor bodies 17 and 18. Further, the right direction sensor 15 can also be attached to a detection unit 19 having a base portion of a sensor body constituted by a potentiometer or the like, and can transmit analog data.

Therefore, as an example, as shown in FIG. 5, if the left and right sensor bodies 17 and 18 are not in contact with the lower part of the cereal stem, the stalk is inclined backward and forward by about 10 degrees. When the vehicle stands upright at 7 cm and 30 cm left and right intervals (FIG. 6), when the vehicle runs in the center of the right and left, the left and right sensor bodies 17,
18 rotates backward by about 45 degrees each time it comes into contact with the stock, and FIG.
When approaching the plant to about 7cm, the left sensor body 17 becomes about 6cm.
After turning five degrees, the control unit 20 outputs a direction correction signal, and by comparing the turning angles of the left and right sensor bodies 17 and 18 with the control unit 20 in this way, each of the left and right sensor bodies 17 and 18 is The control unit 20 detects the difference in the rotation angles of the two, and outputs a direction correction to the other side assuming that the traveling direction is directed to one side having a large rotation angle, and outputs the output to the weeding body 5 and the weeding pipe. 16 is directed to the other side of the predetermined range beyond the center of the left and right grain stems. Since the left, right, front and rear stock intervals differ depending on the field, the allowable range of access to the stock and the timing of correction output are set respectively.

When the cutting unit 4 satisfies a predetermined condition, the cutting unit 4 and the grain stalk feeding device 24 are automatically stopped, and the cutting unit 4 is automatically raised to a predetermined height. (Auto lift)
The reaper automatic rise control is performed by turning on and off the on / off switch 25 of the reaper automatic rise control. Therefore, when the cutting section automatic raising control on / off switch 25 is turned on, the cutting section 4 is automatically raised when the cereal culm sensor 13 is turned off (off) and it is detected that the cereal section is gone. However, since it is also assumed that the off of the grain stalk sensor 13 is erroneously detected, the mowing unit 4 is configured to automatically move up only when the working distance until the grain stalk sensor 13 is turned off is sufficiently long. Another condition is added for the automatic ascent of the reaper 4. That is, when the grain culm sensor 13 in the off state is turned on, there is a start of harvesting and a resumption of the work.
Only when the working distance before turning off is long enough, in the embodiment, if the culm sensor 13 is turned off, the mowing unit 4 must be turned off at least for the length of the body. Do not let the ascend automatically.

In this case, if at least one of the direction sensor 14 and the direction sensor 15 of the grain culm sensor 13 detects a sufficiently long working distance, the work distance is automatically raised. Reference numeral 26 denotes a vehicle speed sensor which is one means for detecting the working distance. FIG. 9 shows another embodiment of the control, on the premise of the same automatic retreating control of the reaper as described above, when the on-off switch 25 for the automatic retreating control of the reaper is turned on and the left direction sensor 1 is turned on.
When the working distance for detecting both the culm 4 and the right direction sensor 15 is sufficiently long, and then both the left direction sensor 14 and the right direction sensor 15 are turned off, the mowing unit 4 is automatically raised. In this case, detection of both grain stems does not necessarily mean that both the left direction sensor 14 and the right direction sensor 15 are simultaneously detecting grain stems. This means that the sensor 15 continuously detects the left and right stocks and detects a state in which the stock row continues.

FIG. 10 shows another embodiment of the control. The direction sensor 14 of the grain sensor 13 can accurately detect the positional relationship between two grain stems by the left sensor body 17 and the right sensor body 18. Therefore, when the data of the vehicle speed sensor 26 and the like are combined with this, it is possible to detect the working stock (spacing in the advancing direction), and such means ensures that the stocks are periodically and substantially at the same interval. When detecting that there is a grain culm, the grain culm sensor 13 at the end of the mowing operation
The "travel distance for determination" of whether or not to automatically raise the reaper 4 from the off state is shortened, and when it is detected that the stocks are not aligned, the "travel distance until determination" is increased. I do. That is, when the detection result of the direction sensor 14 and the vehicle speed are associated with each other, the past history between the stocks becomes clear, whereby the end of the work is reliably detected and the mowing unit automatic ascent control is performed.

Thus, the traveling device 2 is provided with a rolling machine and a pitching mechanism for correcting the inclination of the body and leveling it, and automatically raises and lowers the front and rear of the body when turning around at the end of the cutting, so as to tilt forward or backward. A selection switch 27 for tilting backward is provided, and when the selection switch 27 is turned on, horizontal control is performed. In this horizontal control, when the vehicle is moving backward, the front is lowered by the reaction force. On the other hand, the maximum setting height of the automatic raising of the reaping unit 4 by the reaping unit automatic raising control is usually set as low as possible within a range that does not hinder turning, so that the time required to move the reaping unit 4 up and down is reduced. doing. For this reason, the automatic ascent height position of the mowing unit 4 (the mowing target value) by the mowing unit automatic ascent control is based on the field scene, so that the aircraft is raised with respect to the field during the horizontal control. Since the cutting section 4 is too low at the automatic ascending height position of the reaping section 4 and moves backwards in this state, the reaping section 4 may thrust. When the selection switch 27 is turned on, the position is set to be higher than when the selection switch is on, and the ascent / stop position of the reaper 4 is automatically raised by a predetermined amount.

The selection switch 27 may be constituted by a selection switch for turning on / off wetland mode control suitable for work in a so-called wetland. In addition, if the raising stop position of the mowing part 4 is raised according to the pitching amount, the mowing part 4 is required to be raised by a sufficient amount, so that the time required for lowering the mowing part 4 can be shortened, and the working efficiency can be improved. (FIG. 14). Similarly, when the cutting section automatic ascent control and the cutting plane automatic control by the cutting height detection sensor such as the ultrasonic sensor as well as the body level control by the rolling mechanism and the pitching mechanism are performed, Since the height is always different, if the reaper 4 is automatically raised by a predetermined amount by the reaper automatic control based on the different height position, the reaper 4 is stopped every time it is automatically raised. Since the heights are different and subsequent work is troublesome, when the vehicle body horizontal control and the cutting height automatic control are performed as described above, the stopping height of the cutting unit 4 by the cutting unit automatic ascending control. Is automatically varied so that the stopping height of the cutting unit 4 with respect to the field is constant. Therefore, when the grain stalk sensor 13 is turned off, the cutting section 4 and the grain stalk supply device 24 are not stopped, and the cutting section 4 is not stopped.
If the ridge control switch for ridge control is automatically turned on and the ridge control of the culm at the ridge is cut high,
Since the automatic ascent / stop position of the mowing unit 4 can be kept constant, workability and operability are improved.

When the completion of the harvesting operation is detected by turning off the grain culm sensor 13, the vehicle height is increased by the rolling mechanism or the pitching mechanism is automatically controlled to perform pitching. When configured in the vehicle height rise or automatic pitching,
The operation is performed only when the working distance until the grain stalk sensor 13 is turned off is sufficiently long. That is, a sufficient working distance is included in the condition of whether the height of the vehicle or the automatic pitching is possible, similarly to the condition of whether or not the mowing unit 4 is automatically raised. Therefore, a sufficient working distance is set at least longer than the entire length of the body. Thus, in the automatic raising control of the reaper, the rising speed to the target height position to be automatically stopped can be changed, and the rising speed is automatically reduced at a predetermined height position lower than the target height position. .
That is, the output of the mowing unit 4 to the raising and lowering vertical cylinder is electrically controlled to open and close the valve, and this output is output continuously at first, but is lower than the target height position. When the mowing unit 4 reaches the height position, the output of the valve is changed to the pulse output, and the rising speed is reduced.

[0015]

Next, the operation will be described. Move the fuselage forward and cut
, The root of the raised cereal stem is cut, the cut culm is conveyed, and supplied to a threshing device to thresh. When the cutting operation of one side of the culm group in the field is completed, the cutting unit 4 is raised to a predetermined position, and then the body is turned to cut the culm group on the other side of the next culm group. The mowing operation is resumed by adjusting the mowing portion 4. However, since the operation until the turning operation is troublesome, the mowing portion automatic ascending control is set to “ON” by the mowing portion automatic ascending control on / off switch 25. The coming out of the culm group is detected by turning off the grain culm sensor 13,
Thereby, the mowing part 4 is automatically raised to a predetermined height, and at the same time, the mowing part 4 and the grain stalk supply device 24 are stopped, and the turtle turns in this state. In this case, if the cutting section automatic ascent control on / off switch 25 is initially set to "on", the stalk group continues to run even after the turning of the corner of the side of the cereal stalk group and does not "cut" each time. When the boat moves backwards due to the alignment of the culm on the other side after completion, or when the harvesting work on one side is just after resuming work, when the running speed is low and the amount of culm harvested is small, There is a high probability that the culm sensor 13 will be turned off, and the mowing unit 4 will automatically rise. However, the automatic ascent of the mowing unit 4 will be performed only when the working distance until the grain culm sensor 13 is turned off is sufficiently long. Since the section 4 is configured to be automatically raised, the working distance is not enough in the above case, so that the cutting section 4 is not automatically raised even when the grain culm sensor 13 is turned off. Accordingly, unnecessary automatic ascent is prevented, so that operability and work efficiency are improved.

It is preferable that the setting of the working distance is made variable so that extremely fine control corresponding to the field can be performed. In addition, the grain culm sensor 13 is provided with a left direction sensor 14 and a right direction sensor 15 on each of the left and right sides of the mowing unit 4, and automatically raises only when at least one of them detects a sufficiently long working distance. Unnecessary automatic rise of the cutting unit 4 due to malfunction of the grain stalk sensor 13 can be considerably prevented. In this case, both the left direction sensor 14 and the right direction sensor 15 do not necessarily need to detect the grain culm at the same time. If the mowing unit 4 is automatically raised only when the state where the continuation is detected, the control accuracy is further improved. Also, if the cutting unit 4 is automatically raised immediately after the grain culm sensor 13 is turned off, the working efficiency is improved, but the control accuracy is reduced. (Strains in the traveling direction) is detected, and when there is a grain culm surely periodically at substantially the same interval, it is determined whether or not the mowing unit 4 is automatically raised from the off of the grain culm sensor 13 in order to advance the timing. The travel distance for the determination is shortened, and when it is detected that the stocks are uneven, the travel distance until the determination is made longer. Therefore, the mowing unit 4 can be automatically raised so as to provide the most efficient timing and to maintain the highest control accuracy. That is, when the field conditions do not regularly include grain culm due to sowing or direct sowing (including lack of stock and the size of the gap between the streaks), the grain culm sensor 13 is turned off and the mowing unit 4 is automatically raised. To eliminate
Improve practicality.

The traveling device 2 is provided with a rolling mechanism for correcting the lateral inclination of the body and a pitching mechanism for correcting the longitudinal inclination, and automatically raises and lowers the front and rear of the body when turning at the end of cutting. There is provided a selection switch selection switch 27 for inclining or tilting backward, and horizontal control is performed by the selection switch 27. However, when the vehicle is moving backward during horizontal control, the front is lowered by the reaction force, so Therefore, the selection switch 27 switches the ascending position of the reaper 4 by the reaper automatic ascent control even when the maximum setting of the automatic ascent of the reaper 4 is low when the reaper automatic rising control is also used. Is higher than the maximum height of the automatic setting of the reaping unit 4 during the mere control of the automatic reaping unit, so that the work can be performed smoothly. Not only that, every time can be omitted to operate, operability is improved. Similarly, when the cutting section automatic ascent control and the cutting level automatic control by a cutting height detection sensor such as an ultrasonic sensor as well as the body level control by the rolling mechanism and the pitching mechanism are performed, The height of 4 will always be different,
During this control, the stop height of the reaping unit 4 is automatically varied by the reaping unit automatic ascent control, and the stop height of the reaping unit 4 is kept constant. Even if the start positions are different, the stop height can be automatically varied to be constant, thereby improving operability and workability. In particular, when the grain stalk sensor 13 is turned off,
Without stopping the mowing part 4 and the grain culm supply device 24, the mowing part 4 is automatically raised and the fringe control switch for the fringe control for trimming the tip of the grain culm at the fringe is turned on. In such a case, the automatic ascent stop position of the reaper 4 can be kept constant, so that workability and operability are improved.

When the completion of the harvesting operation is detected by turning off the culm sensor 13, the vehicle height is increased by the rolling mechanism, or the pitching mechanism is automatically controlled to perform pitching. When configured in the vehicle height rise or automatic pitching,
Since it is configured to perform only when the working distance until the cereal culm sensor 13 is turned off is sufficiently long, even if the cereal culm sensor 13 is turned off during the cutting operation of one side of the cereal culm group in the field, Since the height of the vehicle does not rise or automatic pitching is performed, operability and workability are improved. Thus, in the mowing unit automatic ascent control, the ascent speed to the target height position to be automatically stopped can be changed freely, and the ascent speed is automatically reduced at a predetermined height position lower than the target height position. The shock caused by the stop of the reaper 4 can be prevented,
Improve ride comfort.

[0019]

According to the present invention, a corn stalk sensor for detecting the presence or absence of the cereal culm is provided in the cutting unit 4 for severing the cereal culm in a field, and it is detected that the cereal culm sensor has been cut and the culm has disappeared. A harvester configured to drive the cutting unit automatic ascent control device when a working distance is detected to be equal to or more than a predetermined distance, in a harvesting unit automatic rising control device that raises the cutting unit 4 to a predetermined height; Because it was done
It is possible to improve the accuracy, the operability, and the work efficiency of the automatic ascent control of the reaper.

[Brief description of the drawings]

FIG. 1 is a side view of a combine as an example of a harvester.

FIG. 2 is a partial front (plan) view of a deployed state of the reaper.

FIG. 3 is a side view of a reaper.

FIG. 4 is a block diagram.

FIG. 5 is a schematic plan view of a left and right sensor body in a non-detection state.

FIG. 6 is a schematic plan view of the detection state (signal output).

FIG. 7 is a control explanatory diagram.

FIG. 8 is a block diagram.

FIG. 9 is a control explanatory diagram of another embodiment.

FIG. 10 is a control explanatory diagram of another embodiment.

FIG. 11 is a schematic view showing a problem and an operation state of another embodiment.

FIG. 12 is a block diagram.

FIG. 13 is a flowchart.

FIG. 14 is a flowchart of another embodiment.

FIG. 15 is a schematic diagram showing the same task and operation state.

FIG. 16 is a flowchart of another embodiment.

FIG. 17 is the same block diagram.

FIG. 18 is a block diagram of another embodiment.

FIG. 19 is a flowchart of the same.

FIG. 20 is a schematic view showing a problem and an operation state of another embodiment.

FIG. 21 is the same block diagram.

FIG. 22 is a flowchart of the same.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Body frame, 2 ... Traveling device, 3 ... Threshing device, 4 ...
Cutting unit, 5 ... Weeding body, 6: Raising device, 7: Rag type scraping device, 8: Star wheel type scraping device, 9: Cutting blade, 10: Grain stalk transport device, 13 ... Grain stalk sensor, 14 ... Left direction sensor,
15 right direction sensor, 16 weeding pipe, 17 left sensor body, 18 right sensor body, 19 detection unit, 20 control unit, 24 cereal culm feeder, 25 cutting unit automatic ascent control Switch, 26: vehicle speed sensor, 27: selection switch,
… Ridge control switch,

Claims (1)

[Claims] 1. A cutting section 4 for cutting a grain stalk in a field is provided with a grain stalk sensor for detecting the presence or absence of the grain stalk, and when it is detected that the grain stalk sensor is in a cut state and the grain stalk is gone,
A harvesting machine comprising a reaping unit automatic ascent control device for raising the reaping unit 4 to a predetermined height, wherein the harvesting unit is configured to drive the reaping unit automatic ascent control device when a working distance is detected to be a predetermined distance or more.