JPS6158518A - 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 provides a sensor for detecting the height of a 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. and a means for automatically controlling the elevation of the reaping section in order to maintain the height above the ground M detected by the height detection sensor at a control target value. Therefore, in this type of reaping/harvesting machine, the cutting height can be adjusted according to the content of the reaping work by raising and lowering the reaping section based on the height above the ground detected by the height above the ground sensor, that is, based on the cutting height detection result. For example, low mowing where the ground and the mowing section are at the shortest distance, high mowing where the ground and the mowing section are far apart, and cutting height control to perform cutting at a predetermined height. is being carried out. The cutting height of the cutting section, that is, the dead zone as the tolerance of the control response with respect to the control target value was constant.

[Problem that the invention seeks to solve]

Therefore, if the dead zone is set to be narrow, that is, the reaping section responds sharply to fluctuations in the detected height above the ground and moves up and down, the ground and the sensor are far apart when mowing at a high height. The height above the ground detection accuracy is poor, and the height above the ground tends to fluctuate due to weeds, etc.
The detected height above the ground changes as the height above the ground changes. As a result, since the dead zone is narrow, the control target value for the height of the ridge 111 above the ground will jump out of the dead zone, and the reaping section will have to be lowered frequently every time the detected height above the ground changes. This had the disadvantage of causing pinching. In addition, if the dead zone is set to be wide, that is, the reaping section does not move up and down until the fluctuation in the detected height above the ground does not reach the set value, the sensor will be closer to the ground during low mowing. The detection accuracy of the height above the ground is high and it can detect even small irregularities in the field, but because the dead zone is wide, the control target value for the detected height above the ground does not jump out of the dead zone, and the reaping section does not move up and down. There was also the inconvenience that it could fall into the ground.

The present invention has been developed in view of the above-mentioned circumstances, and its purpose is to automatically change the dead zone for optimizing the control response to a target change in cutting height.

[Means for solving problems]

The characteristic structure of the reaping harvester according to the present invention is such that, in accordance with the height of the control target value set by the setting means, when the height is high, the dead zone of the control response to the control target value is wider than when the height is low. The functions and effects are as follows.

[For production]

In other words, the dead zone for the control target value is automatically changed and controlled in accordance with the cutting height so that it becomes wider during high cutting periods than when cutting at low cutting rates.

[Effects of the Invention] Therefore, it is possible to prevent hunting due to unnecessary lifting and lowering of the reaping section at a predetermined cutting height, for example, when the cutting height is high, and to improve the deterioration of responsiveness when cutting at a low cutting height. To obtain a reaping harvester which is highly stable in reaping work and has excellent response followability without any part of the cutting part plunging into the ground.

[Embodiments] Hereinafter, embodiments of the present invention will be explained based on the drawings. FIG. The reaping section (1) includes a pulling device (2), a reaping device (3), and a conveying device (4).
, In front of the pulling device i# (2), there is a weeding tool (5).
・The lower end of this weeding tool (5) is connected to the cutting device W0.
) is fixed by a support frame (6). and a '&-1 station consisting of a transmitter (7) and a receiver (3);
An ultrasonic sensor (IW) is installed behind the weeding tool (5) and above the support frame (6) to prevent net !JI+ production by the culms.
This ultrasonic sensor (9
) The mowing height is adjusted by operating the hydraulic cylinder On based on the ground height detection result and swinging the mowing section (1) around the horizontal axis (P).

Below, a control system for controlling the cutting height based on the height detected above the ground by the ultrasonic sensor (9) will be described.

As shown in FIG. 2, the control system inputs a signal from the receiver (8) of the ultrasonic sensor (9) to a control device θη whose main part is a microcomputer, and
The output signal of the potentiometer 0'4 is input as a means for presetting the cutting height (height above the ground), and the height above the ground 0() detected by the receiver (8) is the control target value set by the potentiometer 04. (Ho), the solenoid valve 0 is driven and the hydraulic cylinder a1
The reaping section (1) is configured to be automatically raised and lowered.

Then, when the target value adjustment knob (12m) as an operating tool of the potentiometer Q'4 is operated, as shown in FIG. By comparing the magnitudes of α1<α2] and the control target value (■0), it is confirmed whether the operating position of the potentiometer θ, that is, the target cutting height is low cutting or high cutting.

The operating position, for example, a low position (Wl) smaller than the set value (αl), an intermediate position (W2) between the set values (α1) and (α2), a high position larger than the above (α2) It is divided into three stages (W3).

Then, control target flags 1 and 2 are set to 11. and l□, and in the set and reset state of the flag, different dead zones are set at the positions classified into the three stages, and the detected height above the ground and the new target value (deviation of Ha) are set. The vertical movement of the reaping section is controlled so that the height above the ground is maintained within the dead zone depending on the magnitude of (ΔH).

[Another Example] In this example, after setting the flags, the dead zones corresponding to the deviations were selected and the magnitudes of the deviations and the dead zones were compared. The magnitude relationship between the dead zone and the deviation may be compared. Further, in the above embodiment, the dead zone is divided into eight stages, but it can also be divided into two stages or multiple stages, or the dead zone may be changed continuously.

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping harvester according to the present invention, FIG. 1 is a front side view of the combine, FIG. 2 is a block diagram of the control system, FIG. 8 is a flow chart showing the operation of the control device, and FIG. The figure shows a table of dead zones. (1)...Reaping section, (9)...Height above ground detection sensor, (+4...Control target setting means, times...Detection height above ground Sa, (Ho)...
Control target value. Agent Patent Attorney Osamu Kitamura
l-58518(4) Bamboo shoot 4 figure

Claims (1)

[Claims] A sensor (9) detects the height above the ground of the cutting section (1) to control the cutting height, and a control target value for the height above the ground (
means (12) for setting the height above ground (H_0), and automatically controls the reaping section (1) to maintain the height above the ground (H) detected by the height above the ground detection sensor (9) at the control target value (H_0). The reaping/harvesting machine is equipped with a means for vertically controlling the elevation, and the setting control target value (H_0
), the reaping/harvesting machine is provided with means for controlling the dead zone of the control response to the control target value (H_0) to be wider when the height is higher than when it is lower.