JPH1146538A - Working height controller for mobile agricultural machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the practice of the height control with a high accuracy and a good speed of response without detecting the ground height in error or losing functions to detect the ground height. SOLUTION: This operating height controller for mobile agricultural machinery is capable of controlling the reaping height of a reaping part 14 to a reaping height computed from the ground height Hs detected with an ultrasonic sensor 19 installed on the centroidal point of a mobile machine body 11, the tilt angle α2 in the front and rear directions of the mobile machine body 11 detected by a tilt sensor 20 and the rotation angle α1 of the reaping part 14 relatively to the mobile machine body 11 detected by a lifting angle potentiometer 18 by a microcomputer.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a combine, for example, and more particularly to a working height of a mobile agricultural machine for performing a work process while maintaining a ground height of a work processing section at a substantially constant height. The present invention relates to a control device.

[0002]

2. Description of the Related Art A combine cutting height control device, which is a conventional work height control device for a mobile agricultural machine, includes a potentiometer, a control unit, a switch, an electromagnetic check valve, a hydraulic lever switch, a cutting height adjustment volume, and the like. When adjusting the cutting height such as lowering the cutting unit from the retracted position to the cutting position, for example, by lowering the hydraulic lever and energizing the hydraulic lever switch,
The transistor of the control unit is turned on, the electromagnetic check valve is energized, and the oil in the hydraulic cylinder is returned to the counter according to the weight of the mowing portion, so that the mowing portion is lowered.

When the mowing section starts descending, the mowing height potentiometer attached to the mowing section lift arm converts the rotation angle of the lift corresponding to the height of the divider to the ground via a connecting rod into a voltage, Send a signal to the control unit.

Thus, the output voltage detected by the cutting height potentiometer is compared with a preset voltage in a comparator of the control unit. In this case, while the preset voltage is higher than the output voltage detected by the cutting height potentiometer, the cutting unit is lowered by the operation of lowering the hydraulic lever.

When an output appears at the comparator, the electromagnetic check valve is de-energized by the output from the control unit, the flow of oil from the hydraulic cylinder to the counter is cut off, and the cutting operation is performed even if the hydraulic lever switch is lowered. The descent of the part stops.

However, the cutting height control device of the combine having such a configuration converts the rotation angle of the lift corresponding to the ground height of the divider to the voltage by the cutting height potentiometer through the connecting rod, and controls the cutting section. Although the ground height is detected, since the ground height of the cutting unit is not directly detected, there is a problem that the control of the cutting height cannot be performed accurately.

[0007] Therefore, as a cutting height control device having an excellent configuration as a device for directly detecting the absolute ground height of the cutting unit, an ultrasonic sensor provided at the tip of the divider provides a ground height of the cutting unit. Is detected, and the ground height of the reaper is controlled based on the detected information and preset setting information.

[0008]

However, the above-mentioned conventional cutting height control device of the combine emits an ultrasonic wave from the ultrasonic sensor provided at the tip of the divider to the ground, and the cutting time is determined by the reflection time. Since the height of the ground is detected, if mud or water scattered from the rotating body near the ultrasonic sensor adheres to the ultrasonic sensor, the ground height is erroneously detected, or There has been a problem that the detection of the ground height becomes impossible.

Further, in this cutting height control device, the detection result of the ultrasonic sensor is displaced by pitching and control of the traveling body, but the detection result does not change at all depending on unevenness of the ground. There is a problem that complicated signal processing is required, a predetermined processing time is required, a control response speed is reduced, and control accuracy is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has high detection accuracy and good performance without erroneously detecting the ground height or losing the function of detecting the ground height. It is an object of the present invention to provide a work height control device for a mobile agricultural machine that performs height control at a response speed.

[0011]

Therefore, in order to achieve the above object, a work height control device according to the present invention is provided so as to be able to move up and down with respect to a traveling machine body (11), and to control various types of crops. A work processing unit (14) for performing processing; and control means (21) for controlling a work height of the work processing unit (14) from the ground, the work height of the work processing unit (14) from the ground. Is controlled so as to be maintained at an arbitrary height by the control means (21), and is provided in the vicinity of the traveling body (11) including the center of gravity X, and has a ground height Hs Height detecting means for detecting the height (19)
When a tilt angle detecting means for detecting a longitudinal direction of the inclination angle alpha ₂ of the traveling machine body (11) (20), the traveling machine body (1
And a rotation angle detecting means for detecting the rotational angle alpha ₁ of the job processing unit (14) (18) with respect to 1), wherein said control means (2
1) is formed by calculating the working height approximately ground height Hs of the center of gravity X, by the rotation angle alpha ₁ and the inclination angle alpha ₂ of the traveling machine body (11).

According to the invention of claim 2, wherein the control means (21), said ground height Hs, at approximate expression of the trigonometric function calculated by the rotation angle alpha ₁ and the inclination angle alpha ₂ The work height is calculated.

According to the third aspect of the present invention, the control means (21) corrects the calculated working height with a unique correction value _Hvr for correcting a variation unique to the traveling body (11).

According to the fourth aspect of the present invention, the control means (21) sets the calculated work height by manually operating the height of the work processing unit (14), and then sets the automatic switch (21). 23) is corrected by an arbitrary correction value Hu at the time of input.

[Operation] Based on the above configuration, the control means (21) controls the ground height detected by the ground height detecting means (19) provided near the center of gravity X of the traveling body (11). hs, job processing unit with respect to the traveling machine body front-rear direction of the inclination angle alpha ₂ and the rotation angle detecting means of the traveling machine body tilt angle detection means (20) detects (11) (18) is detected (11) (14) for controlling the working unit to the working height that is calculated by the rotation angle alpha ₁ working height (14).

Preferably, the control means (21)
The working height of the ground height Hs, calculates the working height at an approximate expression of the trigonometric function calculated by the rotation angle alpha ₁ and the inclination angle alpha _2, the job processing unit (14) Control.

Further, the control means (21) includes a unique correction value H for correcting a variation unique to the traveling body (11).
_The work height calculated by _vr is corrected, thereby controlling the work height of the work height (14).

More preferably, said control means (21)
Corrects the work height calculated by an arbitrary correction value Hu when the automatic switch (23) is turned on after setting the height of the work processing unit (14) by a manual operation, whereby the work processing is performed. The work height of the section (14) is controlled.

Note that the reference numerals in parentheses described above are for the purpose of comparing the drawings, and do not limit the configuration of the present invention at all.

[0020]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing a combine to which a cutting height control device according to the present invention is applied, FIG. 2 is a schematic configuration diagram showing a state where the posture of the combine is inclined in the front-rear direction, and FIG. Is a characteristic diagram in which the horizontal axis indicates the rotation angle of the mowing unit and the vertical axis indicates the ground height, and the relational expression and the approximate expression of the cutting height control are displayed. FIG. FIG. 5 is a block flowchart for explaining the cutting height control device, FIG. 6 is a program flowchart of data processing for performing the cutting height control, and FIG. 7 is a control flowchart for the cutting height control. FIG. 8 is a program flowchart for performing the cutting height control, and FIG. 8 is a program flowchart for performing the cutting height control.

In FIG. 1 and FIG. 2, a combine 10 as a mobile agricultural machine has a driver's seat 12 above a traveling body 11.
And a pair of left and right crawler traveling devices 13 that support the traveling body 11.

A cutting section 14 is mounted in front of the traveling machine body 11 as a vertically movable work processing section for cutting the grain stalk, and a divider for weeding the grain stalk is provided at a lower end of the cutting section 14. 15 are attached. Also,
The traveling body 11 is provided with a threshing unit 17 for threshing grain culms on a body frame 16.

As shown in FIG. 4, a lift angle potentiometer 18 is provided at the rotation center (rotation fulcrum Y) of the reaper 14 as rotation angle detecting means for detecting the rotation angle of the reaper 14. I have.

Further, the body frame 16 has an ultrasonic sensor 19 as a ground height detecting means for detecting the ground height from or near the center of gravity X of the combine 10 and the inclination angle of the traveling body 11 in the front-rear direction. An inclination sensor 20 is provided as an inclination angle detecting means for detecting. In addition,
The vicinity of the center of gravity X of the combine 10 provided with the ultrasonic sensor 19 has no special structure, and is suitable for detecting the ground height.

Then, the rotation angle α ₁ between the horizontal extension line of the rotation fulcrum Y of the cutting unit 14 and the tip of the divider 15 is detected by the potentiometer 18, and the ultrasonic sensor 19 detects the rotation angle α on the center of gravity X of the traveling body 11. The distance Hs from the upper end of the body frame 16 to the field is detected, and the inclination sensor 20 detects the distance between the extension line of the center of gravity X of the traveling body 11 and the horizontal line of the rotation fulcrum Y of the reaper 14 in the front-rear direction. and to detect the inclination angle alpha ₂ of.

In addition, in the vicinity of the divider 15, it is detected whether or not the divider 15 is in contact with the field, and when the contact is detected, the microcomputer 21 is operated so that a correction value for the field condition is automatically stored. A sensor 22 is provided.

Microcomputer (CPU) 21 as control means
The cutting height main switch 23, the cutting height correction volume 24, the potentiometer 18 for detecting the lift angle of the cutting unit 14, the cutting height set switch 25, the lift rotary switch 26, the inclination sensor 20, the ground sensor 22, The sound wave sensor 19 is the input interface 21a.
Connected to each other. In addition, since each traveling machine body 11 has a specific processing error, the calculation result may not be practical. For this reason, the cutting height correction volume 24 is provided for correcting the cutting height (specific correction value H _vr ).

The output interface 21b of the microcomputer 21 is connected to a hydraulic circuit via solenoid valves 27a and 27b for controlling the cutting height of the cutting unit 14 up and down.

Next, the principle for controlling the cutting height of the cutting unit 14 will be described.

When the combiner 10 is not inclined forward and backward as shown in FIG. 1 and the crawler traveling device 13 is slightly sunk from the surface due to the hardness of the field, the combiner 10 is moved from the upper end of the body frame 16 at the center of gravity X. The distance from the field surface to Hs, the distance from the height of the horizontal extension line of the rotation fulcrum Y of the cutting unit 14 to the upper end of the body frame 16 is Hm,
And when the length of the linear distance to the point P of the tip of the pivot point Y and the divider 15 and R, and the eggplant rotation angle of the straight line and the horizontal extension and alpha _1, the following relationship, formula ( 1) holds.

Hs + Hm = Rsin α ₁ (1) Here, since Hm and R are lengths unique to the traveling body 11, Hs and α ₁ are detected, and the above equation (1) is established. , The ideal cutting height control can be maintained.

When the combine 10 is inclined in the front-rear direction as shown in FIG. 2, the inclination angle is set to α ₂ , and the rotation fulcrum Y is determined from the intersection between the center of gravity X and the rotation fulcrum Y. Assuming that the distance to L is L, the following relational expression, Expression (2), holds.

Hs + Hm + Lsinα ₂ ≒ Rsin (α ₁ −α ₂ ) (2) Here, since L is a length unique to the traveling body 11, Hs
And α ₁ and α ₂ are detected, and control is performed such that the above-described equation (2) is satisfied, so that the cutting height control can be maintained.

However, when the trigonometric functions of the above equations (1) and (2) are performed by a microcomputer, it is necessary to perform very complicated arithmetic processing. Further, the processing of the trigonometric function has a long processing time and poor response.

For this reason, the cutting height is controlled based on an approximate expression (Expression (3)) obtained by linearly approximating the trigonometric function of Expression (2) shown in FIG.

Hs = aα ₁ −bα ₂ −c (3) (a, b, c: constants) FIG. 3 sets the rotation angle α ₁ of the reaper 14 on the horizontal axis and the ground height on the vertical axis. 6 is a characteristic graph simultaneously displaying the above-described expression (2) and its approximate expression.

In FIG. 3, the center has a front-back inclination angle of 0 °.
In, upper in-.alpha. _2, substantially coincide with and proves to be possible to control the approximate equation (2) is a used area in the lower side + alpha _2.

Further, the individual running bodies 11 have inherent variations, and these variations are corrected by the cutting height correction volume 24.
Equation (2) is corrected as follows.

Hs + Hm + L sin α ₂ = R sin (α ₁ −α ₂ ) ± H _vr (4) Further, the approximate expression of the expression (4) is as follows: Hs = aα ₁ −bα ₂ −c ± H _vr (5)

Further, the cutting height control is performed by setting the divider 15 in the field.
The height control is performed in a state of being slightly touched or not, but the detection value of the ultrasonic sensor 19 differs depending on the surface condition of the field, for example, the presence or absence of weeds, the type of weeds, and the presence or absence of water. Therefore, when a control error occurs, the divider 1
5 may come into contact with the field, the ground sensor 22 is provided near the divider 15 and the ground sensor 22
Is activated and the correction value hs of the difference between the left side and the right side of the equation (5) is stored, and the control is performed in the state shown in the equation (6) in which the updated value is added to the equation (5) at the next descent control. To do.

[0042] _{Hs = aα 1 -bα 2 -c ±} H vr addition ± hs (6), in Karidaka of control based on equation (6), but can only control of the field grazing conditions, any height If control is desired to be performed as a reference, the mowing unit 14 is moved (down) into the control area by manual operation, and the cutting height main switch (automatic switch) 23 is turned on. This sets the automatic operation of the cutting height control, and at the same time, (5)
The difference dH of the equation (see equation (7)) is set (stored) as a user correction value Hu as an arbitrary correction value, and the following control is performed by equation (8) instead of equation (6).

DH = Hs− (aα ₁ −bα ₂ −c ± H _vr ) (7) Hs = aα ₁ −bα ₂ −c ± H _vr −Hu (8) Next, the operation of the above-described cutting height control Will be described with reference to the flowcharts shown in FIGS.

Start the main flowchart,
After the initial setting (ST1), the data processing (ST2) program described in detail in FIG. 6 is processed, and then the automatic setting processing (ST3) program described in detail in FIG. 7 is processed. Then, after performing these processes, the program of the cutting height control (ST4) described in detail in FIG. 8 is processed, and then the output control of the cutting unit 14 (ST5) is performed.

In the data processing flowchart shown in FIG. 6, the distance Hs from the upper end of the body frame 16 at the center of gravity X to the field is detected and read by the ultrasonic sensor 19, and the values Hm, R, Data is converted from L or the like (ST6). Then, the rotation angle α ₁ detected by the potentiometer 18 is read, and
The rotation angle α ₁ and the constant a are calculated (ST7), and the difference dH is calculated from the distance Hs and a · α ₁ (ST8).

Further, the constant b and the inclination angle α ₂ are read, the operation of the constant b and the inclination angle α ₂ is performed (ST9), and a new difference dH is obtained from the difference dH obtained in step ST8 and b · α _2. Is performed (ST10).

[0047] Then, read the unique correction value H _vr by Karidaka correction volume 24 so as to correct an error for each of the traveling machine body 11 specific variation (ST11),
An approximate expression (7) is calculated (ST12).

Next, it is determined in step ST13 whether the cutting height control is performed just before the field or the cutting height control is performed at a predetermined height from the field. In this case, the operation (ST14) of the dH operation (dH-hs) based on the equation (6) is performed.
In the case of performing the user correction, the dH calculation (dH-Hu) based on the equation (8) is performed based on the difference dH of the equation (7) stored as the user correction value Hu (ST15).

In the automatic setting flowchart shown in FIG. 7, the reaper 14 determines whether or not the reaper 14 is present in the control area (ST16). It is determined whether the cutting height control is performed manually or automatically (ST17).
When the cutting height main switch 23 is in the ON state, the lift rotary switch 26 is lowered (ST19) while the push button switches (not shown) of the pretreatment elevating lever are turned on (ST18). Automatically set (ST20).

When the cutting unit 14 is in the control area, the cutting unit 14 is manually lowered to turn on the cutting height main switch 23 at an appropriate height position (S
T21) Then, the process proceeds to step ST22, and it is determined whether the cutting height main switch 23 is continuously on. Then, if the cutting height main switch 23 is not turned on continuously but is turned on, the cutting height control is performed at that height position (7).
While setting the user correction value Hu based on the equation,
Automatic setting (ST23) is performed.

Thus, in step ST21, it is again determined whether the cutting height main switch 23 is on. Then, the process proceeds to step ST22, where it is determined that the cutting height main switch 23 is continuously on, and the process proceeds to step ST24 to determine whether the lift rotary switch 26 has been switched to the raising operation side. If it is determined that the cutting has not been switched, the automatic cutting height control is continued. However, if the lift rotary switch 26 has been switched to the raising operation side, the automatic cutting height control is reset (ST25).

Further, in the cutting height control shown in FIG. 8, it is first determined whether or not the cutting height control is automatically performed (S
T26) If the cutting height control is performed automatically, it is determined whether the divider 15 is moving forward or downward (ST27). And divider 1
If 5 is the front ascent, it is determined whether or not the height position of the divider 15 is within the control area (ST28). If it is within the control area, the grounding sensor 22 is grounded on the field. A determination is made as to whether or not the divider 15 is present (ST29). If the divider 15 is not within the control area, the divider 15 is lowered to be positioned within the control area (ST33).

Since the detection value of the ultrasonic sensor 19 varies depending on the surface condition of the field, such as the presence or absence and type of weeds and the presence or absence of water, the grounding sensor 22 is activated when the cutting height of the field is controlled. At this point, the correction value for the surface condition of the field is stored (ST30), and the lowering of the divider 15 is stopped (ST32).

If the ground sensor 22 is not in the operating state, it is determined whether or not the divider 15 is within a predetermined control height range (dead zone) (ST31), and based on the result, the divider 15 is still lowered. Or stop the lowering of the divider. That is, if the height of the divider 15 is not in the dead zone and is at a high position, the step ST
The flow shifts to 33, and when the height of the divider 15 is within the dead zone, the lowering of the divider 15 is stopped.

On the other hand, when the divider 15 is down, the difference dH appears as a minus, so that the step ST
The absolute value of the difference dH is set to 34 (ST34).
It is determined whether or not the height position 5 is within the control area (ST3).
Perform 5). When the height position of the divider 15 is not within the control area, the divider 15 is lowered forward, so that the raising operation (ST36) is performed. On the other hand, when the height position of the divider 15 is within the control area, it is determined whether or not the grounding sensor 22 is in contact with the field (ST3).
Step 7) is performed, and if grounded, the process proceeds to step ST36 to perform the raising operation of the divider 15. If the ground is not grounded, the divider 15 determines whether or not the difference dH is larger than the dead zone (ST38). If the difference dH is smaller than the dead zone, the divider 15 is controlled to the proper position, and the ascent is stopped (ST39). If the difference dH is larger, an alarm is issued (ST40).

[0056]

As is apparent from the above description, claim 1
According to the invention described above, the control unit is configured to control the height of the traveling body detected by the ground height detecting means provided near the center of gravity including the center of gravity of the traveling body, and the inclination of the traveling body in the front-back direction detected by the inclination angle detecting means Since the work height of the work processing unit is controlled to the work height calculated by the rotation angle of the work processing unit with respect to the traveling machine body detected by the angle and rotation angle detection means, the ground height is incorrect. Height control can be performed with high detection accuracy and with a good response speed without detecting or losing the function of detecting the ground height.

According to the second aspect of the present invention, the control means calculates the work height by an approximate expression of a trigonometric function calculated by the ground height, the rotation angle and the tilt angle, Since the work height of the work processing unit is controlled, the calculation processing time is reduced, and the control response is improved.

According to the third aspect of the present invention, the control means corrects the work height calculated based on the unique correction value for correcting the variation unique to the traveling body, whereby the work height of the work height is corrected. Since the height is controlled, a processing error inherent in the machine can be removed, and the calculation result can be adjusted to practical use.

According to the fourth aspect of the present invention, the control means sets the height of the work processing section by manual operation, and then sets the work height calculated by an arbitrary correction value when the automatic switch is turned on. Is corrected, thereby controlling the working height of the work processing unit. Therefore, the cutting height can be controlled based on an arbitrary height standard, and the cutting height can be used even when the use conditions are different.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a combine to which a cutting height control device according to the present invention is applied.

FIG. 2 is a schematic configuration diagram showing a state in which the posture of the combine is inclined in the front-rear direction.

FIG. 3 is a characteristic diagram in which a horizontal axis indicates a rotation angle of a cutting unit, and a vertical axis indicates a ground height, and a relational expression of a cutting height control and an approximate expression are displayed.

FIG. 4 is a control block diagram showing a cutting height control device according to the first embodiment;

FIG. 5 is a block flowchart illustrating a cutting height control device according to the first embodiment;

FIG. 6 is a program flowchart of data processing for performing cutting height control.

FIG. 7 is a program flowchart of automatic setting for performing cutting height control.

FIG. 8 is a program flowchart for performing cutting height control.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 Running body 14 Work processing part (cutting part) 18 Rotation angle detection means (lift angle potentiometer) 19 Ground height detection means (ultrasonic sensor) 20 Inclination angle detection means (inclination sensor) 21 Control means (microcomputer) 23 Automatic switch (mowing height main switch) Hs ground height H _vr specific correction value longitudinal direction tilt angle of Hu any correction value X rotation angle alpha ₂ traveling machine body of the center-of-gravity point alpha ₁ job processing unit

Claims (4)

[Claims] 1. The vehicle is provided so as to be movable up and down with respect to a traveling body,
An operation processing unit that performs various processes on the crop, and a control unit that controls an operation height of the operation processing unit from the ground,
In a work height control device for a mobile agricultural machine, wherein the work height of the work processing unit from the ground is controlled to be maintained at a predetermined height by the control means, the vicinity including a center of gravity of the traveling machine body. , A ground height detecting means for detecting a ground height, a tilt angle detecting means for detecting a tilt angle of the traveling body in the front-rear direction, Moving angle detection means, wherein the control means calculates the work height based on the ground height, the inclination angle, and the rotation angle substantially above the center of gravity of the traveling body. Work height control device for mobile agricultural machines. 2. The work height is calculated by an approximate expression of a trigonometric function calculated based on the ground height, the rotation angle, and the tilt angle. A working height control device for a mobile agricultural machine as described in the above. 3. The work of a mobile farming machine according to claim 1, wherein the control means corrects the calculated work height with a unique correction value for correcting a variation unique to the traveling machine body. Height control device. 4. The control means corrects the calculated work height by an arbitrary correction value when an automatic switch is turned on after setting the height of the work processing unit by a manual operation. The work height control device for a mobile agricultural machine according to any one of claims 1 to 3, wherein: