JPS63301716A - Control of reaping height in combine - Google Patents

Abstract

PURPOSE:To detect accurate reaping height only by proper detected data, by setting a reaping height sensor behind in the vicinity of a direction sensor and excepting detected data by the reaping height sensor in a state of detecting stand grain straws by the direction sensor. CONSTITUTION:In a state wherein stand grain straws are detected by a direction sensor 1, since the hill root part of the stand grain straws is close to the position where the hill root part comes into contact with the direction sensor 1, a reaping height sensor 3 positioning in the vicinity of the direction sensor 1 is also influenced by the hill root part, a soil face 6 to detect the reaping height is disturbed by the hill root part of the stand grain straws and can not detect properly. Therefore, when the direction sensor 1 detects the stand grain straws, the data detected by the reaping height sensor 3 is avoided, excepted from calculation by an automatic control device built in an operating device 8 and accurate reaping height is detected only by properly detected date.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a method for controlling the cutting height of a combine harvester, and can be used to automatically control the cutting height of a hair culm during the cutting operation of a combine harvester.

PRIOR ART AND PROBLEMS TO BE SOLVED BY THE INVENTION In order to maintain a constant cutting height of the standing culm during cutting work with a combine harvester, a cutting height sensor installed in the cutting device is used to control the cutting height of the cutting device from the surface of the cut soil. Detects the height above the ground to the blade, that is, the cutting height.

Based on this detection, control is automatically performed to maintain a constant cutting height, but in such automatic cutting height control, the cutting height sensor normally detects the standing culm and controls the cutting height to maintain a constant cutting height. It is often located behind the direction sensor that performs control, and especially when it is located near the direction sensor, when the direction sensor is detecting the erect culm, Since the cutting height sensor's detection position is close to the standing hair culm, the detection by the cutting height sensor is obstructed by the roots of the standing hair culm, making it difficult to accurately detect the cutting height relative to the soil surface. It becomes difficult to do.

Therefore, the present invention aims to accurately determine the cutting height without being obstructed by the root of the standing culm, etc., when detecting the cutting height during the cutting operation of such a combine harvester. The aim is to enable detection.

Means for Solving the Problems This invention provides a direction sensor (1) for detecting the erect culm and a reaping device! (2) Cutting height sensor (
3), the height-of-cut sensor (3)
) is disposed at a position near and behind the direction sensor 1)), and when the direction sensor (1) is in the state of detecting the erect pilus culm, data detected by the cutting height sensor (3) is excluded. The configuration is based on a high control method.

Effect of the Invention In the cutting operation of the erected culms in a combine harvester, the direction sensor (1) is located in the weeding body part of the cutting device (2) which is disposed on the front side of the combine machine body, for example, for weeding the erected erected culms, and By positioning the cutting height sensor (3) near and behind this direction sensor (1), the direction sensor (1)
) detects the erect culm of the erect husks and performs travel control following the erect culms, while the cutting height sensor (3) detects the ground height between the cutting blade of the reaping device (2) and the surface of the reaped soil. The vertical hair culm is harvested while maintaining a constant cutting height, but when the cutting height sensor (3) detects the cutting height during the cutting operation, the cutting height sensor (3) is used to detect the cutting height. When the sensor (1) is detecting the erect piloere culm, the erect erect culm is close to the position where it contacts the direction sensor (1). high sensor f3)
Due to this influence, the soil surface on which the cutting height is detected is obstructed by the base of the erect culm, making it difficult to perform proper detection, so the direction sensor (1) detects the erect culm. In some cases, the data detected by the cutting height sensor (3) is invalidated and excluded.

Effects of the Invention As described above, when detecting the cutting height using the cutting height sensor (3), it is possible to accurately select whether the detection data of the cutting height is valid or invalid based on the detection information of the erect culm by the direction sensor (1). Therefore, even if the soil surface on which the cutting height is detected is obstructed by an obstacle such as the base of an erect culm, all incorrect detection data due to this will be invalidated and can be excluded, so it can be properly detected. It is possible to accurately detect the cutting height using only the detection data.

Embodiment In the illustrated example, a threshing device (long in the front and back direction) for threshing the cut culms is installed on the rear side of the fuselage (4) of the combine harvester.
5), a traveling device (7) for traveling on the reaped soil surface (6) is provided below the threshing device t(5), and a traveling device (7) that runs on the reaped soil surface (6) is provided on the right side of the front side of the threshing device (5) when viewed from above. An operating device to operate the aircraft (4)! +8) and an operating seat (9), and a reaping device (2) for reaping the erect culms and transporting them to the threshing device (5) is installed on the left side so as to be able to move up and down with respect to the soil surface (6). This reaping device again! In (2), a plurality of weeding bodies O1 for weeding the erect culm from the front end side are provided over the cutting width, and a pair of left and right pullers are provided to raise the erected erect culm by each of the weeding culms 0. The device 0υ is divided into the plant f
1)) is provided by tilting backward and extending arbitrarily upward from the rear side, and a pair of left and right scraping devices iaa for scraping the raised erect piloere culm is provided on the lower rear side of this pulling device OD, A cutting blade part 03 is provided on the lower side of the raking device IQ2+ to cut the standing hair culm over its cutting width, and the raking culm is placed facing the terminal end of the raking device α. The threshing equipment E
(51 shell culm supply device + transfer device 0 to transfer to 141
! 9 will be provided. Also, the branch (1) at the left end position in plan view
A pair of left and right direction sensors (1) are provided at the front and rear positions, respectively, on the lower side to detect the erect erect culm and automatically control the travel by following the erect erect culm.The front sensor (IA) detects the right side, and the rear sensor (IB) is arranged to perform left side detection, and the height above the ground from the soil surface (6) to the cutting blade part 031, that is, the cutting of the vertical hair culm, is located at a slightly upper position behind the direction sensor (1). A cutting height sensor (3) for both transmitting and receiving purposes is installed to detect the height using ultrasonic waves. In addition, an automatic control device (1) 19 is installed inside the operating device (8) to automatically control the operation of the aircraft (4) based on the detection data of both sensors fil +31. Connected so that detection data from both sensors fil (3) can be input.

By moving the machine (4) forward by the traveling device (7) while bringing the cutting body (1 [1) of the reaping device (2) into sliding contact with the cutting soil surface (6), the grass cutting body (1 [1) of the cutting device (2) is moved forward by the traveling device (7). The raised erect culm is raised by the pulling bag MIDυ, and the raised culm is raked by the raking device 0ri, and at the same time it is cut by the cutting blade (131), and the cut culm is removed from the raking device 02+. The transfer device (19) takes over, and from the transfer device 051, the culm feeding device (+41) of the threshing device (5) is transferred, and the threshing device (5) performs threshing. , the detection data of the erect culm by the direction sensor (1) located in the cutting body O1 is sent to the automatic control device Oe, and the control device OQ
During tracing control, which automatically steers the vehicle (4) in the left and right direction following the erect culm, the vehicle body (1)
) emits ultrasonic waves toward the soil surface (6) by the cutting height sensor (3) located near and rearward of the direction sensor (1), and the reflection from the soil surface (6) due to this emission. The ground height, that is, the cutting height between the cutting blade part +13) and the soil surface (6) is detected by receiving waves, and this detected data is sent to the control device +I.
When controlling the cutting height by automatically raising and lowering the cutting blade section (! In this state, the base of the erect culm is close to the position where it contacts the direction sensor (1), so the cutting height sensor (3) located near the direction sensor (1) is also affected by the cutting height sensor (3). As a result, the soil surface (6) on which the cutting height is detected is obstructed by the base of the erect culm, making it difficult to perform proper detection.
When the cutting height sensor (1) is detecting the erect culm, the cutting height sensor (
By invalidating the detection data obtained in step 3) and excluding it from the calculation by the control device fIQ, it is possible to accurately detect the cutting height using only proper detection data.

Note that the cutting height sensor (3) is not limited to the ultrasonic sensor, and various other types of sensors may be used.

In addition, the cutting height sensor (
3) may be provided on either the left or right side of the grass cutting body 0.

In addition, the detection data by the cutting height sensor (3) is excluded not only during the scanning detection in the left and right direction by the direction sensor (1), but also while the machine (4) is traveling a certain distance after the detection is completed. It may be configured to do so.

In addition, a front sensor (IC) and a rear sensor (10) are also installed on the vehicle body (1) at the right end position of the reaping device (2) in a plan view.
A pair of front and rear direction sensors (1) and a cutting height sensor (3) are provided at a slightly upper position near the rear of the sensor (1), respectively, to control the left and right tracing of the machine body (4) by the erect culm and the cutting height. The direction sensors (IA) (IB) and (IC) provided on the left and right branches 0 respectively perform automatic control of the
According to (10), it may be made to act on both the left and right sides separately or on both the left and right sides.

[Brief explanation of drawings]

The figures show an embodiment of the invention, and Figure 1 is a side view;
FIG. 2 is a partial plan view. In the figure, (1) is a direction sensor, (2) is a reaping device, (
3) shows the cutting height sensor.

Claims (1)

[Claims] A direction sensor (1) that detects the erect culm and a reaping device (2)
), the cutting height sensor (3) is arranged at a rear position near the direction sensor (1), and the direction sensor (1) detects the raising of the pile. When the culm is detected, the cutting height sensor (3)
A cutting height control method characterized by excluding detection data obtained by