JPS6154363B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention has a sensor that detects the height of the reaping section above the ground, and controls the height of the reaping section above the ground based on the average value of output values from this sensor over a certain period of time. The present invention relates to a reaping harvester having a control device.

Conventionally, reaping harvesters such as combines are equipped with a control device to adjust the height of the reaping section above the ground in order to reap the grain culms as low as possible and keep the reaping mark at a constant height. has been done. Cutting at a low level is due to practical factors such as making it easier to till the next time, while cutting at a constant height is done by farmers who want to keep the mowing marks beautiful. This is due to the customary hobbies of the employees.

By the way, in conventional reaping harvesters, the cutting height control device is configured to perform cutting height control based only on information from a sensor that detects the height of the cutting section above the ground.

Therefore, there are disadvantages in that the mowing ends up being cut at a higher position than is originally possible, and the height of the mowing remains is more uneven than necessary.

To be more specific, the reason for this drawback is that in the conventional configuration, it was thought that optimal control could be performed only with information from the ground height detection sensor. However, in reality, as shown in Figure 1 a and b,
Despite the fact that during row mowing and horizontal mowing, which are the typical forms of reaping work, there are differences in the pattern of ground irregularities detected by the sensor due to the difference in the running direction of the reaping machine (due to ridges, etc.). In the past, we tried to perform optimal control without considering the difference between the two, so the response of the vertical movement of the cutting section was improved to avoid collision with abnormal bumps in the ground, making it suitable for row cutting. It has been impossible to set the mowing height at a low speed while mowing horizontally, because the height of the mowing area will vary depending on the raised parts such as ridges during horizontal mowing.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide means for realizing a reaping and harvesting machine that can perform more improved control.

In order to achieve such an object, the reaping harvester according to the present invention is provided with a sensor capable of distinguishing between a row cutting state and a horizontal cutting state, and the control device is
During horizontal mowing, the output value from the height above the ground detection sensor is averaged over a longer period of time than during row mowing, and the height above the ground of the reaping section is controlled based on this average value. It is characterized by:

Due to the above characteristic configuration, during row mowing, it is possible to shorten the average time of the detected height above the ground and quicken the response of the vertical movement of the reaping unit, allowing grain culms to be harvested at a low position. In this method, the mowing traces are no longer wavy by controlling the average time to be long enough to average out and absorb the vertical movement of the machine body due to ridges, etc.

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

FIG. 2 is a side view of the reaping section 1 provided at the front part of the combine harvester.
It has a cutting blade 5, a conveying device 6, and a lifting device 4.
A weeding tool 7 is provided in front of the. The weeding tool 7 is fixed to the support frame 8 of the cutting section 1 below the rear surface thereof. An ultrasonic sensor 3, which is a sensor for detecting the ground height of the cutting section 1, is provided above the back surface of one of the weeding tools 7.

FIG. 3 is a plan view of the front part of the cutting unit 1, in which one of the weeding tools 7 has a sensor 2 for distinguishing between row cutting and horizontal cutting and detecting the running direction of the machine. It is provided.

This sensor 2 has two grain culm sensing levers 9, 9 that are biased to protrude left and right and are rotatable back and forth. Rotate to the side. This sensing lever 9,9
Each of the proximal pivots is equipped with a limit switch that turns on and detects this rearward rotation.
LS ₁ and LS ₂ are provided. In the case of row mowing, the distance between the tips of both levers 9, 9 is shorter than the interval between grain culm rows, so both limit switches can be turned on and off at the same time.
LS ₁ and LS ₂ are never turned on. However, in the case of horizontal mowing, they turn on almost simultaneously. Therefore, when they turn on almost simultaneously, horizontal cutting is determined, and when only one turns on, row cutting is determined.

By the way, the configuration of the traveling direction control device is such that when limit switches LS ₁ and LS ₂ are both OFF, the aircraft moves straight, and when only one is ON, the aircraft moves to the side where limit switch LS ₁ or LS ₂ is OFF. When the machine is turned and both are ON, the machine is switched to be steered based on the signal from the copying sensor 10 provided on the weeding tool 7 on one side, which is the mowed side. This copying sensor 10 is equipped with a three-value switch that detects the position of a pivot lever that rotates back and forth, and in the case of horizontal mowing, it sends a signal so that the combine harvester runs along the grain culm row at the cut end. emits.

Next, FIG. 4 shows an example of a circuit for discriminating between row cutting and horizontal cutting according to this embodiment.

When limit switches LS ₁ and LS ₂ are turned on, they output low level. The NAND gate 12 is high when at least one of the limit switches LS ₁ and LS ₂ is ON.
The NOR gate 11 outputs a high level when both limit switches LS ₁ and LS ₂ are ON. The output of the delay circuit 13 is delayed by a fixed time _T1 after the change in the output of the NOR gate 11, and then outputs a NOR signal.
A signal of the same level as the output of gate 11 is output.
Therefore, the NOR gate 14 outputs a low level from when the output of the NOR gate 11 becomes high level until _T1 time has elapsed after the output becomes low level. Therefore, during that time, the AND gate 16 outputs a low level regardless of the state of the NAND gate 12.

On the other hand, the output of the NAND gate 12 is input directly and via a delay circuit 15 to an AND gate 16. Therefore, the output of the AND gate 16 will be at a high level if only one of the limit switches LS ₁ and LS ₂ remains ON for a certain period of time T ₂ or more.

The output of the NOR gate 11 is sent to the set terminal of the flip-flop 17, and the output of the NOR gate 11 is sent to the reset terminal of the flip-flop 17.
The output of AND gate 16 is input. With this configuration, it is possible to distinguish between row mowing and horizontal mowing by ignoring the fact that only one of them is turned on in the case of horizontal mowing.
That is, when the output of the flip-flop 17 is at a high level, it is determined that horizontal cutting is performed, and when the output is at a low level, it is determined that row cutting is performed. This signal is then input to a microcomputer.

FIG. 5 shows a flowchart of cutting height control.

Step (i) is initialization, step (ii) is to sequentially shift the sampled values of the height of the reaping section 1, and step (iii) is to store the newly sampled height in the memory _M1 . Store in. Therefore, the sampling values are stored in the memory M ₁ , M ₂ in the order of newest
..., M _n . In step (v), the output of the flip-flop 17 is checked to determine whether the state is horizontal mowing or row mowing. If the output of flip-flop 17 is high, step
In step (vi), find the average of all stored values in the memories M ₁ , _{M 2} .
Adjust the height of the reaping device 1 with .

On the other hand, if the output of flip-flop 17 is Low in step (v), a number smaller than n is determined in step (vi)'.
The average of the stored values of memories M ₁ , _{M 2} . Then return to step (ii) again and repeat the above steps.

In short, during horizontal mowing, the output value from the ground height detection sensor 3 is averaged over a longer period of time than during row mowing, and the ground height of the reaping section 1 is controlled based on this average value. It is composed of

[Brief explanation of the drawing]

The drawings illustrate embodiments of the reaping/harvesting machine according to the present invention, with Fig. 1 showing a row cutting state and horizontal cutting state, Fig. 2 a side view of the reaping device of a combine harvester, and Fig. 3 a diagram showing a reaping device of a combine harvester. Front plan view of the reaping device, 4th
The figure is a circuit diagram for determining whether the state is row mowing or horizontal mowing, and FIG. 5 is a flowchart of the control device. 1... Reaping section, 2... Row mowing/side mowing discrimination sensor, 3... Ground height detection sensor.

Claims (1)

[Claims] 1 A reaping harvester having a sensor 3 that detects the height of the reaping section 1 above the ground, and a control device that controls the height of the reaping section 1 above the ground based on the average value of the output value from the sensor 3 over a certain period of time. The machine is equipped with a sensor 2 that can distinguish between a row mowing state and a horizontal mowing state. averaged over a long period of time,
A reaping harvester characterized in that it is configured to control the height of the reaping section 1 above the ground based on this average value.