JPS6091914A - Reaming harvester - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] In detail, the tree cutting and harvesting machine includes a sensor for detecting the height of the cutting section above the ground in order to control the cutting height, and means for setting a control target value for the height above the ground. The present invention relates to a reaping/harvesting machine having a control tool for controlling the reaping section, and a means for automatically controlling the elevation of the reaping section so as to maintain the height above the ground detected by the height above the ground sensor at a control target value.

Traditionally, this type of reaping and harvesting machine.

Mowing height control is performed in which the mowing height is maintained at a predetermined height by raising and lowering the reaping section based on the height above the ground detected by the height above the ground sensor. If the reaping section is raised or lowered rapidly with respect to the set cutting height, that is, the control target, the mechanism may be damaged or the working traces may become poor, so the control is performed at a relatively slow raising and lowering speed. As a result, there were inconveniences as shown below.

In other words, even if the control target value is readjusted during the reaping operation in response to the field conditions in which one operation is performed, the grain culm conditions, etc., the height of the reaping section is controlled at a slow lifting speed. As a result, there is a delay in the actual height above the ground converging to the target value, and the operation feeling when readjusting the target value does not match the movement of the reaping section. There was.

For example, if the field is in poor condition and there are steep irregularities on the ground or obstacles, even if you try to artificially raise the cutting part to avoid it, the rising speed may be slow. There was also the inconvenience that it no longer fit the question.

This invention was made in view of the above-mentioned circumstances, and its purpose is to provide good A control with good follow-up response to the new target value even if the control target value of the cutting height is changed during automatic control. The object of the present invention is to provide a reaping and harvesting machine equipped with means.

In order to achieve the above object, the reaping and harvesting machine according to the present invention is provided with means for detecting whether or not there is a change in the set position of the operating tool with respect to the target value setting means, In case.

The present invention is characterized in that it is provided with means for automatically controlling the height of the reaping section to raise and lower it continuously so that the height above the ground becomes a new control target value at a predetermined time.

Due to the above characteristics, the following excellent effects have been achieved.

In other words, if there is a change in the setting position of the operating tool of the target (II! setting means), the reaping section is automatically controlled to move up and down continuously over a predetermined period of time in order to quickly follow the new target value. This improves the consistency between the target value adjustment feeling and the elevation of the cutting section, making cutting height adjustment much easier.

In addition, the continuous lifting and lowering of the reaping section is performed within a predetermined time period when the target value changes, and thereafter it is controlled at a normal slow lifting and lowering speed, so hunting does not occur in the control response.
It is.

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

FIG. 1 is a side view of the front reaping section (11) of a combine as a reaping/harvesting machine.

It has a pulling device (2), a reaping device (3), and a conveying device (4).

In front of the pulling device (2), set up a weeding tool (5).

The lower tip of this weeding tool (5) is fixed to the support frame (61) of the reaping device fi+. A sensor (9) is mounted behind the weeding tool (5) and above the support frame (6) to prevent malfunctions caused by grain culms, and this ultrasonic sensor The mowing height is adjusted by operating the hydraulic cylinder (lO) based on the height above the ground detection result in (9), and swinging the mowing section (1) so that the horizontal axis center CP>firmly. It is composed.

Hereinafter, a control system for controlling the cutting height based on the detection result of the height above the ground by the ultrasonic sensor (9) will be explained.

As shown in FIG. 2, the control system inputs the signal from the receiver (8) of the ultrasonic sensor (9) to a control device (formerly known as a control device) whose main part is a microcomputer, and
The output signal of the potentiometer 112+ is input as a means for presetting the cutting height (height above the ground), and the height above the ground [F]) detected by the receiver (8) is the reference target value set by the force of the potentiometer II. (Ho), the electromagnetic valve +13) is actuated ω1, and the reaping part (1) is automatically raised and lowered by the oil field cylinder (10).

Then, each time the cutting height control loop is passed through, the memory is stored to detect whether or not the target value knob (12a) as an operating tool of the potentiometer (12) has been operated, that is, whether or not the target value has been changed. Potentiometer 1121
set value (Ho) and newly sampled set value (H
6S, and if this comparison value (2)) is greater than a predetermined value, a flag (continuous flag) is set to /1lIl and the pulp 03) is continuously driven for a predetermined time FT,). By doing so, the raising and lowering of the reaping section il+ is continuously controlled.

Note that the predetermined time (T,) is a certain time corresponding to the control response of the control system, and as shown in this embodiment, a certain h is the deviation between the detected height above the ground 6) and the new target value (Ho). After (jH) converges within the tolerance, the flag (continuous plug) is reset to 1lOI/ and the configuration is configured to automatically return to control at the normal lifting speed, so that the detected value is practically the target. The time required for the value (H,) to fall within the tolerance.

Any time interval may be used.

Furthermore, in order to detect whether or not the potentiometer 1121 has been operated, that is, whether there is a change in the target value (Ho), the target value (Ho) itself is sampled and compared with the previous sampling value, as shown in the unimplemented example. It is preferable to separately provide a sensor for detecting changes in the operation of the knob (12a) instead of the means.

By the way, in the cutting height control in the unimplemented example, in order to optimize the control response, the detected value (6
) By automatically changing the solenoid valve-〇 drive gain (ON/OFF ratio of intermittent drive pulse current, etc.) to multiple stages according to the size of the deviation (ΔH) of
The reason why ΔH) is thick is that it is configured to move the reaping part fil up and down as quickly as possible. and.

This drive gain C) is made into a table in advance (control device old).
The data is stored in an internal memory (not shown).

Incidentally, FIG. 3 shows the operation tt of the control device (11) explained above.
The flow chart shown in the figure below shows how to perform this cutting height control and also check the status of other sensors (threshing switch, automatic/manual changeover switch, etc.) and set control flags for other controls. be.

Further, FIG. 4 is a table of the drive gain (G).

[Brief explanation of drawings]

The drawings show an embodiment of the reaping and harvesting machine according to the great invention, Fig. 1 is a front side view of the combine, Fig. 2 is a block diagram of the control system, and Fig. 8 is a flowchart showing one production of the reaping leg device. , and FIG. 4 is a table of control gains. fi+... Reaping section, (9)... Ground height detection sensor, (121... Control target setting means, (12a)...
・・Operation tool, (Ho) ・・・Control target value, (Company)・
...Detection height above ground, (le) ...Predetermined time.

Claims (1)

[Claims] In order to control the cutting height, there is a sensor (9) that detects the height above the ground in the reaping section (11), and a control target value for the height above the ground (
Ho) and its corresponding operating tool (12a)
), and includes means for automatically controlling the elevation of the reaping section (1) in order to maintain the height above the ground 6) detected by the height above the ground detection sensor (9) at the control target value (Ho). The reaping/harvesting machine is provided with a means for detecting the presence or absence of a change in the setting position of the operating tool (12a) with respect to the target value setting means, and detecting whether there is a change in the setting position of the operating tool (12a). In this case, the height above the ground of the reaping section (11) automatically changes to a new control target value (T) for a predetermined period of time (T).
A reaping/harvesting machine characterized in that it is provided with means for controlling it to raise and lower continuously so that