JPH0974852A - Harvester - Google Patents

Abstract

(57) 【Abstract】 PROBLEM TO BE SOLVED: To enable cutting height control while avoiding grounding trouble of a cutting device. A cutting height control means (15) is a cutting height sensor (1).
The cutting height detected by 3 is sampled. When sampling is performed for the set sampling time by the sampling time setting device 18, the size relation between the minimum detected cutting height of the sampled cutting height and the setting control target cutting height by the cutting height setting device 17 is determined, and this determination is performed. The lift cylinder C is operated based on the result, and the raising / lowering control of the cutting device is performed so that the minimum detected cutting height becomes the control target cutting height.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cutting height sensor for detecting cutting height by a cutting device for cutting planted stem culm,
A drive mechanism that raises and lowers the mowing device with respect to the traveling machine body, and automatically operates the drive mechanism based on the mowing height detected by the mowing height sensor to maintain the mowing height of the mowing device within a set range. The present invention relates to a harvesting machine equipped with a control means for

[0002]

2. Description of the Related Art In the above-mentioned cutting and harvesting machine, conventionally, as the control means, the cutting heights detected by a cutting height sensor are sampled and averaged so that the average cutting height becomes a control target cutting height. It was adopted to be controlled. That is, compared to a configuration in which the mowing device is controlled to move up and down every time the cutting height detected by the cutting height sensor changes, the number of times the lifting control is executed is reduced and the cutting height is rather stable. It was controlled.

[0003]

If the self-propelled aircraft pitches forward more frequently than it pitches forward lower, or if it pitches a large stroke, it will change to a low cutting side. The number of stumps that change to more often occurs, or the stump height changes significantly toward the low cutting side and the high cutting side, and the average value of sampling detection cutting height changes to the high cutting side. . Therefore, in the case of conventional cutting height control, if the stump height changes more frequently or significantly to the high cutting side than to the low cutting side, the lowering control of the cutting device will be performed and the cutting field will be raised. If there was a part, the reaper was likely to come into contact with the raised part. An object of the present invention is to enable stable cutting height control while avoiding the grounding of the cutting device as much as possible even when the average height changes to the high cutting side.

[0004]

The constitution, operation and effect of the present invention according to claim 1 are as follows.

[Structure] A mowing height sensor for detecting a mowing height by a mowing device for mowing the planting culm, a drive mechanism for vertically moving the mowing device with respect to a traveling machine body, and a mowing height detected by the mowing height sensor. In the mowing harvester, which includes a control means for automatically operating the drive mechanism based on the height to maintain the cutting height of the cutting device within a set range, the control means detects the cutting height sensor. The cutting height is sampled a set number of times, and the drive mechanism is operated to maintain the lowest detected cutting height among the sampled detected cutting heights at the control target cutting height.

[Operation] Even if both the height of the stump changed to the high cutting side and the height of the stump changed to the low cutting side, the minimum detected cutting height of the sampled detected cutting heights is the control target. The cutting height control is performed based on the lowest detected cutting height so that it becomes the cutting height, and the detection result of the stock height changed to the high cutting side is the cutting height for executing the raising / lowering control of the cutting device. Is not adopted as.

[Effect] As compared with the case where the raising and lowering control of the cutting device is performed every time the height detected by the cutting height sensor changes,
It was possible to control the cutting height stably by sampling. For that reason, the cutting height control is performed based on the lowest detected cutting height, and the detection result of the plant height changed to the high cutting side is the detected cutting height for executing the raising / lowering control of the cutting device. Since it is not adopted, even if the average value of the sampling detection cutting height changes to the high cutting side and the lowering control of the mowing device is conventionally performed, the lowering control of the mowing device is not performed, and the lowering of the mowing device is not performed. It became difficult to control, and it became easier to avoid the trouble that the cutting device touched down.

The structure, operation and effect of the present invention according to claim 2 are as follows.

[Configuration] In the configuration of the invention according to claim 1, the control means is configured to automatically stop the drive mechanism when the minimum detected cutting height is less than or equal to a set height. is there.

[Operation] For example, when the machine body travels in the direction traversing the ridges to perform mowing, the cutting height sensor may enter the groove between the ridges and float above the ground. In this way, the detected cutting height obtained from the cutting height sensor when the cutting height sensor enters the recess is set as the set height. Then, the detected cutting height obtained by the cutting height sensor falling into the recess becomes the minimum detected cutting height, and if the cutting height control is executed based on this minimum detected cutting height, the actual stump height will be increased. When the cutting height becomes extremely different from the control target cutting height, the cutting height control is stopped.

[Effect] The cutting height can be accurately controlled by preventing the cutting height from becoming uneven due to the cutting height sensor falling into the concave portion.

The structure, operation, and effect of the present invention according to claim 3 are as follows.

[Structure] In the structure of the present invention according to claim 1 or 2, the speed at which the drive mechanism is operated by the control means to operate on the ascending side of the cutting device is operated by the control means to operate on the descending side of the cutting device. It is faster than the operating speed.

[Operation] While controlling the lowering of the cutting device, it is controlled at a low speed so that it is less likely to fall too far beyond the control target position, while at the time of raising control, it is controlled at a high speed to prevent obstacles such as ridges. It is controlled while making it easy to avoid collision even if there is an object.

[Effect] The cutting device can be lowered to the control target position so as to accurately stop, and the cutting height can be controlled accurately, and the cutting device can be raised so as not to easily collide with an obstacle so that the cutting device is not damaged or damaged. It is easy to avoid.

The structure, operation and effect of the present invention according to claim 4 are as follows.

[Structure] In the structure of the present invention according to claim 1, 2, or 3, the cutting height sensor is a contact sensor that comes into contact with an upper end of a stump, and a plurality of cutting sensors are located within a cutting width of the cutting device. It has a lateral length that allows it to touch the stump of a line.

[Operation] When the cutting device acts to cut a plurality of rows of planted stem culms, the stump located at one end of the machine and the stump located at the other end within the cutting width form a straight line in the machine lateral direction. There is often a misalignment in the front-rear direction of the aircraft without lining up. For this reason, since the cutting height sensor has a lateral length that contacts multiple stumps located within the cutting width of the cutting device, one end side of the cutting height sensor in the machine lateral direction is between the stumps. Even if it is not in contact with the stump, the cutting height sensor always comes into contact with the stump at least in part so that the cutting height is detected, such that the other end contacts the stump.

[Effect] Since there is a gap between the stumps, the cutting height sensor surely comes into contact with the stumps, so that the cutting height is surely detected and the cutting height can be accurately controlled.

The constitution, operation and effect of the present invention according to claim 5 are as follows.

[Structure] In the structure of the present invention according to claim 1, 2, 3 or 4, there is provided a setting device for changing the set sampling frequency.

[Operation] The sampling number of times is set to be small so as to adjust the raising / lowering control of the mowing device so that the raising / lowering control is executed frequently, or the sampling number of times is set to be large so that the mowing device is controlled. The interval at which the lifting control is executed can be adjusted to be long.

[Effect] For example, in the case of a field with many irregularities, it is possible to adjust the raising and lowering control of the mowing device so that it is executed frequently so that the cutting height can be favorably aligned despite the large number of irregularities. When the unevenness is small, the interval at which the raising and lowering control of the mowing device is executed is adjusted to be long so that the machine vibration generated due to the control can be reduced and the cutting height can be properly aligned. It is possible to work advantageously so that the cutting height can be controlled accurately even if the value changes.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION As shown in FIG. 1, a cutting pretreatment device A for cutting planting stem culms such as rice and wheat and transporting the cut stalks to the rear of the machine is provided with a crawler type traveling device 1 and an operating cabin. It is connected to the front part of the self-propelled traveling machine having 2 so that it can be moved up and down by a lift cylinder C, and the entire cutting stem and stem part from the cutting pretreatment device A and the tip part are used as a handling room. A traveling machine body is provided with a threshing device 3 configured to perform threshing processing by a handling cylinder 3a that is introduced and rotates about an axis in the longitudinal direction of the machine body, and a grain tank 4 that stores the threshing grains from the threshing device 3. , A combine is configured.

The reaping pretreatment device A is connected to the front part of the threshing device 3 so that the reaping frame 5 can be vertically swung by the lift cylinder C about the axis X in the lateral direction of the traveling machine body. A grass body 6 and a clipper-type mowing device 7 are attached to the front end of the frame 5, and a rotary reel 9 is rotatably attached to a support arm 8 extending from the mowing frame 5 so that the mowing device 7 of the mowing frame 5 The 1st conveyor 10 and the auger 1 which were arrange | positioned so that it might be located in a line with the threshing apparatus 3 and may be located in a line in the machine front-back direction.
The first and second conveyors 12 are internally configured. In the grass body 6, the planted culms are divided into the stalks to be cut and the stalks to be not cut, and the stalks to be cut are scraped by the rotary reel 9 to the rear side of the machine to be cut by the cutting device 7. Then, the first conveyor 10 conveys the cutting culm from the cutting device 7 to the rear side of the machine body, and the auger 11 laterally conveys the cutting culm from the first conveyor 10 to the central portion of the cutting frame 5 in the lateral direction. , The cutting stem from the auger 11 to the second conveyor 12
Is conveyed to the rear of the machine body along the conveyance path formed by the mowing frame 5 and is supplied to the handling chamber of the threshing device 3. As a result, the pre-cutting apparatus A cuts the plant base of the planted stalks by the cutting device 7, and puts the entire tip portion and stalk portion of the cut stalks into the threshing room of the threshing device 3. Further, the mowing device 7 can be raised and lowered with respect to the traveling machine body by the lift cylinder C, and the height of the mowing device 7 can be adjusted by performing the raising and lowering operation.

As shown in FIG. 1, in the lower part of the mowing frame 5, a lateral width W of the machine body (see FIG. 3) where the mowing action of the mowing device 7 is possible at a position located on the rear side of the machine body with respect to the mowing device 7. A plate body 13 having a lateral length in the lateral direction of the machine body is configured to swing up and down around a lateral axis Y of the machine body located on the front end side of the plate body 13 and is lowered by its own weight. The plate body 13 is constructed and attached as described above, and the plate body 13 constitutes a contact-type cutting height sensor 13 for detecting the cutting height of the cutting device 7. That is, as shown in FIG. 2 (a), when the cutting device 7 acts on the planting culm, the free end side of the cutting height sensor 13 comes into contact with the upper ends of the multiple stumps thereafter, and the cutting device 7 is cut.
If the height of the stump K is different even if the height to ground is the same, the attachment angle B of the cutting height sensor 13 to the cutting frame 5 is different. Therefore, the cutting height sensor 1
By knowing the mounting angle B of 3, the cutting height by the cutting device 7 can be detected. Further, the cutting height sensor 13 surely comes into contact with the stump K so that the cutting height can be surely detected. That is, when the cutting device 7 has a wide cutting width and acts on a large number of planted stem culms, the stump located on one end side of the machine body and the stump located on the other end side within the cutting range are the lateral direction of the machine body. In many cases, they are not aligned in a straight line and are displaced in the longitudinal direction of the aircraft. Therefore, even if one end side of the cutting height sensor 13 in the lateral direction of the body does not contact the stump located between the stumps, the other end side can contact the stump to detect the cutting height.

As shown in FIG. 3, the cutting height sensor 13 is integrally rotatable, and the rotary support shaft 13a is linked to the operating portion of the rotary potentiometer 14, and the cutting height linked to the potentiometer 14 is linked. Control means 15
And a control valve 1 for electromagnetically operating the lift cylinder C.
6, cutting height setting device 17 and sampling time setting device 1
8 are linked. The cutting height control means 15 is configured by a microcomputer and is automatically operated based on the flow chart shown in FIG. 4, and the ground height of the cutting frame 5 is changed by pitching of the self-propelled machine. Even if the cutting height control means 15 automatically operates the lift cylinder C, it is possible to work while maintaining the cutting height within a desired setting range.

That is, the cutting height setting device 17 is a potentiometer that can be manually operated, and the desired control target cutting height HM is set by manually adjusting the cutting height setting device 17. Then, the cutting height setting device 17 sets the set control target cutting height HM to the cutting height control means 15.
Input as a setting range of cutting height that should be maintained. This set range is the control target cutting height HM to which a dead zone for control is added.

The sampling time setting device 18 is a potentiometer that can be manually operated, and the desired sampling time t is set by manually adjusting the sampling time setting device 18. Then, the sampling time setter 18 determines that the set sampling time t
Is input to the cutting height control means 15 as a time for sampling the cutting height H detected by the cutting height sensor 13. When the sampling time setting device 18 is operated to the standard position, the sampling time setting device 18 sets 0.5 sec as the set sampling time t.

The cutting control means 15 includes a cutting height sensor 1
The cutting height H detected by No. 3 is changed into an electric signal by the potentiometer 14 and inputted, and the detected height H is preset and inputted as a sampling interval time of 10 msec.
Each time it is sampled and remembered. The elapsed time from the start of the sampling is the sampling time setter 1
8 reaches the set sampling time t, and the lowest detected cutting height HL having the lowest value out of all the detected cutting heights H sampled by the set sampling times determined by the set sampling set time t and the sampling interval time. Select and enter this minimum detected cutting height HL
However, it is determined whether or not the height is equal to or lower than the set height HB which is set and input as the one for which the control should be stopped in advance. When it is determined that the minimum detected height HL is less than or equal to the set height HB, the cutting control means 15 determines that the cutting height control should be stopped, and the control valve 16 is operated to the neutral position to lift. The cutting height control is stopped by stopping the cylinder C without moving it upward. That is, for example, as shown in FIG. 2B, when the machine body travels in a direction traversing the ridge D to perform cutting, the cutting height sensor 13 may enter the groove between the ridges and float above the ground. In this way, the detected cutting height obtained from the cutting height sensor 13 when the cutting height sensor 13 enters the recess is set to be equal to or less than the set height HB. That is, the minimum detected cutting height HL is the cutting height sensor 1
When the cutting height control is executed, the actual stump height is extremely different from the control target cutting height HM when the cutting height is 3 because the actual cutting height is very high. The cutting height control is stopped so that the above does not occur.

When it is determined that the minimum detected cutting height HL of the sampled detected cutting heights H is larger than the set height HB, the cutting height control means 15 sets this minimum detected cutting height HL. Judging that it is necessary to control the cutting height based on
Further, it is determined whether or not the minimum detected cutting height HL is larger than the control target cutting height HM by the cutting height setter 17. When it is determined that the minimum detected cutting height HL is larger than the control target cutting height HM by the cutting height setter 17, the cutting height control means 15 operates the control valve 16 to the descending side by pulse control. The lift cylinder C is operated so as to operate downward at the operating speed Vd, and the cutting device 7 is controlled to be lowered so that the minimum detected height HL becomes the set control target cutting height HM.

When it is determined that the minimum detected cutting height HL is not larger than the control target cutting height HM by the cutting height setter 17, the cutting height control means 15 further sets the minimum detected cutting height HL to the cutting height. It is determined whether or not the control target cutting height HM by the device 17 is smaller than the target cutting height HM. The minimum detected cutting height HL is the cutting height setting device 1
When it is determined that the cutting height HM is smaller than the control target cutting height HM by 7, the cutting height control means 15 operates the control valve 16 to the upward side by pulse control to lift cylinder C.
Is operated to operate at the operating speed Vu on the ascending side, and the cutting device 7 is controlled so that the minimum detected height HL becomes the set control target cutting height HM. At this time, the cutting height control means 1
5 is the control valve 1 more than when the control valve 16 is operated to the descending side.
The control valve 16 is operated to the upward side by pulse control such that the total time in which the cylinder 6 is in the cylinder driving state within a certain time becomes large, and the lift cylinder C is operated at an operating speed Vu higher than the operating speed Vd on the falling side. . That is, it is possible to prevent the reaper 7 from descending at a relatively low speed and excessively descending beyond the control target position, while the reaper 7 moves up at a relatively high speed and collides with the raised portion. The cutting height is controlled while making it easy to avoid.

When it is determined that the minimum detected cutting height HL is not smaller than the control target cutting height HM by the cutting height setter 17,
The cutting height control means 15 determines that the minimum detected cutting height HL is the control target cutting height HM, and operates the control valve 16 to the neutral position to maintain the lift cylinder C in the stopped state, The ground level of the reaping device 7 is maintained as it is.

When the minimum sampling detected cutting height HL is input for control, the cutting height control means 15 thereafter clears all the detected cutting heights H that have been sampled and stored until then. , New cutting height sensor 13
The cutting height H detected by is input from the potentiometer 14 every 10 msec, sampled and stored.

[Other Embodiment] In the above embodiment,
As the sampling time setting device 18 is a manually operated setting device, the sampling time t
It is advantageous that the settings can be changed. That is, in the case of a field with many irregularities, the sampling time t is set to be short so that the raising / lowering control of the cutting device 7 is frequently executed, and the cutting height is good despite the large number of irregularities. You can work while aligning. When the unevenness is small, the sampling time t is set to be long and the interval at which the raising and lowering control of the reaping device 7 is executed is adjusted to be long, and the machine vibration generated due to the control is reduced, and this surface is reduced. Also, the cutting height can be adjusted to a good level, and the work can be performed advantageously. In place of the sampling time setting device 18, the traveling distance for sampling is set so that sampling is performed while the self-propelled aircraft travels the set distance, and the setting can be changed by human operation. The configured sampling distance setting device may be adopted. in this case,
When operated to the standard position, the sampling distance is 3
It may be configured to set 0 cm. Also in this case, it is possible to work with the same advantage as with the sampling time setting device 18 whose setting can be freely changed. Instead of the sampling time setting device 18 and the sampling distance setting device, the cutting height control means 15 sets the cutting height H detected by the cutting height sensor 13 to 0.5.
The sampling frequency may be fixed and configured such that sampling is performed for sec or sampling while the airframe travels 30 cm. That is, the number of times the cutting height H detected by the cutting height sensor 13 is sampled is set by setting the time or traveling distance for the sampling operation to the cutting height control means 15, and the cutting is performed based on the minimum detected height HL. It becomes possible to perform height control. Therefore, the sampling time setting device 18 and the sampling distance setting device are collectively referred to as a setting device 18 that sets the number of set samplings freely.

Instead of the lift cylinder C, an air cylinder, a hydraulic or electric motor and a screw mechanism may be combined to employ an elevating mechanism or the like, which may be collectively referred to as a drive mechanism C. .

Instead of the contact sensor 13, ultrasonic waves are transmitted from a predetermined height of the machine body toward the field and ultrasonic waves reflected from the stump are received, and based on the time required for the ultrasonic waves to be received. An ultrasonic sensor configured to detect the cutting height may be adopted and implemented. Therefore, these are simply collectively referred to as the cutting height sensor 13.

Various combine cuttings such as a combine constructed so as to put the whole cutting stems into the handling room as in the above embodiment, and a combine arranged to supply only the tip of the cutting stems to the handling room Can be adapted to harvesters.

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of drawings]

1] Side view of the whole combine

FIG. 2 is an explanatory diagram showing a detection operation of a cutting height sensor.

FIG. 3 is a block diagram of a cutting height control system

[Fig. 4] Flow chart of cutting height control

[Explanation of symbols]

 7 Cutting device 13 Cutting height sensor 15 Control means 18 Setting device C Drive mechanism H Detection cutting height HL Minimum detection cutting height HM Control target cutting height HB Setting height Vd, Vu Operating speed W Cutting width

Claims (5)

[Claims] 1. A cutting height sensor (13) for detecting a cutting height by a cutting device (7) for cutting planted culms, and a drive mechanism (C) for vertically moving the cutting device (7) with respect to a traveling machine body. ), A control means for automatically operating the drive mechanism (C) based on the cutting height detected by the cutting height sensor (13) to maintain the cutting height of the cutting device (7) within a set range ( A cutting and harvesting machine comprising: 15), wherein the control means (15) includes the cutting height sensor (13).
The detected cutting height (H) is sampled a set number of times, and the minimum detected cutting height (HL) of the sampled detected cutting height (H) is maintained at the control target cutting height (HM). A mowing harvester configured to operate mechanism (C). 2. The control means (15) is configured to automatically stop the drive mechanism (C) when the minimum detected cutting height (HL) is less than or equal to a set height (HB). The harvesting machine according to claim 1, wherein 3. The drive mechanism (C) comprises the control means (1).
The speed (Vu) operated by the cutting device rising side by 5) to operate is higher than the speed (Vd) operated by the cutting device falling side by the control means (15). The listed harvester. 4. The cutting height sensor (13) is a contact sensor that comes into contact with the upper end of a stump, and is self-propelled capable of contacting a plurality of stumps located within the cutting width (W) by the cutting device. A lateral length of the fuselage is provided.
Or the harvesting machine described in 3. 5. A setting device (18) for variably setting the set number of times of sampling is provided.
Or the harvesting machine described in 4.