JPS61274609A - Reaping height controller of reaping 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] [Industrial Application Field] The present invention relates to a cutting height control device for a reaping harvester for adjusting the cutting height of stem culms planted in a field, and more particularly, to a cutting height control device for a cutting harvester for adjusting the cutting height of stem culms planted in a field. automatic control means for automatically raising and lowering the reaping section based on the height above the ground detected by the height above the ground detection means so as to maintain the height above the ground at the control target value stored in the control target storage means; , a cutting height of a reaping/harvesting machine comprising: a manual operation means for manually raising and lowering the reaping section; and a control mode selection means for selecting whether the raising and lowering operation of the reaping section is performed automatically or manually. Regarding a control device.

[Conventional technology]

The above-mentioned cutting height control device of the reaping/harvesting machine uses a control target value set and stored in advance and the detected height above the ground so that the cutting work can be performed at a constant cutting height regardless of the ground condition of the field. In order to match, an automatic control means is installed to automatically raise and lower the reaping section, and when performing reaping work in fields that cannot be handled by the automatic control means alone, or when moving the machine on a headland, etc. In order to deal with cases where the reaping section is raised and lowered by manual operation, a swing-type manual operation lever or switch is used in addition to the automatic control means described above so that the reaping section can also be raised and lowered by manual operation. Furthermore, a control mode selection means using a switch or the like is provided to select between a control mode in which the lift is operated by the manual operation means and a control mode in which the lift is operated by the automatic control.

In addition, in order to deal with the case where there are partial irregularities in the field that can be avoided by temporarily raising and lowering the reaping section, the manual operation means described above is designed to allow raising and lowering operations with priority over automatic control even during automatic control. It was set up in

Furthermore, since the optimal value of the control target value for raising and lowering the reaping section by the above-mentioned automatic control varies depending on the field conditions, etc., a control target value adjustment means is provided to arbitrarily change and adjust the set value. . And to constitute the means,
Generally, a potentiometer is provided on the surface of the operation panel, and its output signal is subjected to signal processing such as A/D conversion and stored in the control device.

[Problem that the invention seeks to solve]

However, in the above conventional configuration, the potentiometer and the manual operation means are used as a means for arbitrarily changing the cutting height, that is, the height of the cutting section above the ground during automatic control.
Since there are two operating means, there is a problem in that unskilled persons are confused as to which means to use to go up and down, resulting in poor operability. In addition, the control target setting during automatic control is configured so that the analog output signal from the potentiometer is processed and used as control information. Since both the control means and the manual operation means are provided, there is also the disadvantage that the configuration of the control device becomes complicated. Furthermore, it is necessary to ensure sufficient reliability and durability of the potentiometer itself as a means for adjusting the control target value, which also has the disadvantage of being expensive.

The present invention has been made in view of the above circumstances, and its purpose is to improve the operability of lifting and lowering operations during automatic control, and to simplify the configuration of the control device and improve reliability. be.

[Means for solving problems]

The features of the cutting height control device for a reaping harvester according to the present invention are as follows:
The manual operation means is configured to also serve as a means for changing the information stored in the control target value storage means during control by the automatic control means, and its functions and effects are as follows.

[For production]

If the manual operation means for manually raising and lowering the reaping section is operated during automatic control, for example, 1. When the manual operation means is operated to the upward side, the control target value of the cutting height is set in response to the operation. Change the stored information to increase the predetermined amount,
The control target value is automatically updated in response to the operation of the manual operating means, such as changing to the lowering side by a predetermined amount when the manual operating means is operated to the lowering side. Note that, when the control mode is selected to be manual, this manual operation means manually raises and lowers the reaping section as in the conventional method.

〔Effect of the invention〕

Therefore, even during automatic control, the reaping section can be raised and lowered to any desired height using only manual operating means.
This eliminates the conventional inconveniences such as confusion and improves operability. Furthermore, since there is no need to provide a control target value adjustment means using a potentiometer, the configuration of the control device can be simplified, and as a result, the number of parts constituting the device is reduced, so the reliability of the device is also improved. It became.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 3, the planted stem culms of rice, wheat, etc. in the field are raised and harvested, and while the harvested stem culms are transported, the posture is changed to a sideways posture, and the receiver is passed to the feed chain (1). A pair of left and right crawler steering devices (4) connect the reaping section (2) and a threshing device (3) that threshes the stem culms that are pinched and conveyed by the feed chain (1) to sort and collect grains.
, (4) is mounted on a machine (V) equipped with the above, to constitute a self-propelled combine harvester as a reaping/harvesting machine.

An ultrasonic sensor (6) as means for detecting the height of the cutting section (2) above the ground is provided on the back of the weeding tool (5) provided at the tip of the cutting section (2).

The ultrasonic sensor (6) includes a transmitter (60) that transmits ultrasonic waves toward the ground, and a receiver that receives reflected waves of the ultrasound transmitted from the transmitter (60) and reflected by the ground. (6b), and is configured to detect the height above the ground by measuring the elapsed time from the time of transmitting the ultrasonic waves to the time of receiving them.

The reaping section (2) is pivotally supported around an axis (P) of the machine body (V), and the entire reaping section (2) is rotated around the axis (P) by a hydraulic cylinder (7) as an actuator. The height above the ground can be adjusted by swinging around the core (CP).

Further, below the reaping section (2), a reaping section (2) is provided from the front.
) by contacting the base of the stem culm introduced into
A stock sensor (SO) composed of a contact type switch that outputs a 10FF signal is provided, and constitutes a work state detection means for detecting whether or not reaping work is in progress.

Further, the control section (8) provided on the upper part of the fuselage (V) at the rear of the reaping section (2) has a manual operation lever (
9), and a control device (10) to be described later automatically raises and lowers the reaping section (2) based on the height above the ground detected by the ultrasonic sensor (6) to achieve a predetermined cutting height. A control mode selection switch (S) serves as a means for selecting between an automatic control mode in which the
-0) is provided.

The manual operation lever (9) is supported so as to be able to swing in the longitudinal direction of the machine body (V), and when it swings forward, it lowers the reaping section (2), and when it swings back, it lowers the reaping section (2). A pair of rise detection switches (SW+) and fall detection switches (SWz), which output ON signals in accordance with the operating states thereof, are configured to be operated 0N10FF so as to cause the movement to rise.

Thereafter, the reaping section (2) is automatically raised and lowered based on the height above the ground detected by the ultrasonic sensor (6), or the reaping section (2) is raised and lowered manually using the manual operation lever (9). The control system for this will be explained.

As shown in FIG. 1, the control system includes a control device (10) whose main part is a microcomputer, the ultrasonic sensor (6), switches (S-0) to (SWZ),
Each signal from the stock sensor (S0) is input, and an electromagnetic valve (11) operates the hydraulic cylinder (7) so as to control the raising and lowering of the reaping section (2) based on information from these signals. ).

The operation of the control device (10) will be explained below based on the flowchart shown in FIG.

When the control mode selection switch (S-0) is turned off and the manual control mode is selected,
Based on which of the pair of switches (SW+) and (SWz) is turned on by the swinging operation of the manual operation lever (9), the reaping section (2) is turned on while the switch remains on. The electromagnetic valve (11) is driven so that it rises or falls. In addition, the pair of switches (SW+
), (SWz), the electromagnetic valve (11) is maintained in the OFF state, and the reaping part (2
) will be maintained at its current height above ground.

On the other hand, when the control mode selection switch (total) is turned on and the automatic control mode is selected, when the stock sensor (S0) is turned on and the reaping work starts, the basic is the deviation (r) between the control target value (+10) stored in advance in the control device (10) as a standard height above the ground and the height above the ground (H) detected by the ultrasonic sensor (6). The electromagnetic valve (1
1) to automatically raise and lower the reaping section (2). In addition, even in this automatic control state, if the stock sensor (S0) is OFF, the reaping part (2) can be raised or lowered by operating the manual operation lever (9), as in the manual control state. It is operable.

In this automatic control state, when the manual operation lever (9) is operated and the rise detection switch (SWI) is turned on, the stored control target value (H0) is
Predetermined! (α), and when the down switch cSW2) is ON, it decreases by a predetermined amount (α).
The pair of switches (SWI), (Sut) (when either one of the switches is turned on,
The pre-stored control target value (H
0) is automatically updated in response to the operation of the manual operation lever (9).
is also used as a means for adjusting the control target value (H0).

[Another example]

In the above embodiment, in order to update the control target value (H0), when the pair of switches (sWe), which are turned 0N10FF by the manual operation lever (9), and (shz) are in the ON state, the control target value (H0) is updated by a predetermined amount (α). It is configured to increase or decrease, but when the ON operation is short-term, the increase or decrease will be small, and when the ON operation is long-term, the increase or decrease will be large (increase or decrease).
It may be changed depending on the operating state of the manual operating lever (9).

Further, the predetermined amount (α) to be increased or decreased may be a constant amount set in advance, or the control target value (H0)
It may be configured to be automatically and variably set based on the value of the deviation (γ) between and the detected height above ground (H) or the value corresponding to this deviation (r).

In addition, the updated control target value (H0) is transmitted to the control device (
10) so that the memory is retained even after the operation of 10) is stopped, or the control mode selection switch (SW.)
When the control mode is turned off and the manual control mode is selected, the control may be configured to automatically return to a preset standard value.

Furthermore, the manual operation means includes a manual operation lever (
9) may be omitted and the switches (SWI) and (SWz) may be directly operated.

In summary, the present invention can completely eliminate the need for the potentiometer and the means for processing the signal, which were provided as a means for adjusting the control target value (H0) in the conventional structure, and thus simplify the device structure. did it. Furthermore, since the manual operation means is also used as the adjustment means for the control target value (H0), operability is improved.

[Brief explanation of drawings]

The drawings show an embodiment of the cutting height control device for a reaping harvester according to the present invention, FIG. 1 is a block diagram of the control system, FIG. 2 is a flowchart showing the operation of the control device, and FIG. 3 is a flowchart showing the operation of the control system. It is a front side view. (2)...Reaping section, (■.)...Control target value, (H)...Detection height above ground, (SW・)
...Control mode selection means.

Claims (1)

[Claims] The reaping section (2) is controlled based on the height above the ground (H) detected by the height above the ground detection means so as to maintain the height above the ground of the reaping section (2) at the control target value (H_0) stored in the control target storage means. an automatic control means for automatically raising and lowering the reaping section (2), a manual operation means for manually raising and lowering the reaping section (2), and a manual operation means for manually raising and lowering the reaping section; A cutting height control device for a reaping/harvesting machine, comprising a control mode selection means (SW_0) for selecting a control mode, the cutting height control device for a reaping/harvesting machine, wherein the manual operation means is controlled by the automatic control means, and the storage information of the control target value storage means is stored in the control target value storage means. A cutting height control device for a reaping/harvesting machine which also serves as a means for changing operations.