JPH0215884B2 - - Google Patents
Info
- Publication number
- JPH0215884B2 JPH0215884B2 JP56181336A JP18133681A JPH0215884B2 JP H0215884 B2 JPH0215884 B2 JP H0215884B2 JP 56181336 A JP56181336 A JP 56181336A JP 18133681 A JP18133681 A JP 18133681A JP H0215884 B2 JPH0215884 B2 JP H0215884B2
- Authority
- JP
- Japan
- Prior art keywords
- cutting height
- reaping
- sensor
- height control
- mowing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000003306 harvesting Methods 0.000 claims description 5
- 239000010902 straw Substances 0.000 description 4
- 239000000919 ceramic Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000019300 CLIPPERS Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/14—Mowing tables
- A01D41/141—Automatic header control
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Harvester Elements (AREA)
- Control Of Position Or Direction (AREA)
Description
【発明の詳細な説明】
本発明は、本機に対して駆動昇降自在に連設さ
れた「刈取部」の「刈高さ」を連続的に検出する
センサーを設け、このセンサーの検出値に基づい
て「刈高さ」が目標設定刈高さに維持されるよう
に、前記「刈取部」を自動的に駆動昇降制御する
機構と手動操作に基づいて「刈取部」を昇降制御
する機構とを選択的に切換え作動可能に設けてあ
る刈取収穫機の刈高さ制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a sensor that continuously detects the "cutting height" of the "reaping section" which is connected to the machine so that it can be raised and lowered by a drive, and the detected value of this sensor is a mechanism that automatically drives up and down the "reaping section" so that the "cutting height" is maintained at a target mowing height based on the target mowing height; and a mechanism that controls the elevation and descent of the "reaping section" based on manual operation. The present invention relates to a cutting height control device for a reaping/harvesting machine which is capable of selectively switching operation.
上記の刈高さ制御装置において、石やワラ屑な
どが多数存在する箇所での自動刈高さ制御時に
は、目標設定刈高さを石やワラ屑などの外乱要因
を見込んだ刈高さに変更する要があるが、従来
は、この目標設定刈高さを手動操作によつて直接
変更していたため、目標設定刈高さが高くなり過
ぎたり、低くなり過ぎたりするといつた具合に、
目標設定刈高さを外乱要因に応じた適切な値に変
更することが難しく、高刈りや低刈りになるばか
りでなく、刈取部が地面に衝突する危険があつ
た。 With the above cutting height control device, when automatically controlling the cutting height in areas where there are many stones and straw debris, the target cutting height is changed to a cutting height that takes into account disturbance factors such as stones and straw debris. However, in the past, this target cutting height was directly changed by manual operation, so if the target cutting height became too high or too low,
It is difficult to change the target mowing height to an appropriate value according to disturbance factors, which not only results in high or low mowing, but also poses a risk of the mowing unit colliding with the ground.
本発明は、上述のような外乱要因に応じて必要
となる目標設定刈高さの変更を適確容易に行なう
ことができるようにせんとする点に目的を有する
ものであつて、冒記したものにおいて、前記手動
刈高さ制御機構の作動時における前記センサーの
一定時間内での検出刈高さの平均値を演算保持す
る機構を設けるとともに、前記自動刈高さ制御機
構の次回作動時における目標設定刈高さを、前記
機構に保持された平均値に自動的に変更する機構
を設けてあることを特徴とする。 An object of the present invention is to make it possible to accurately and easily change the required target cutting height according to the disturbance factors described above. A mechanism is provided for calculating and holding an average value of the mowing height detected by the sensor within a certain period of time when the manual mowing height control mechanism is activated, and a mechanism is provided for calculating and holding an average value of the mowing height detected by the sensor within a certain period of time when the manual mowing height control mechanism is activated. The present invention is characterized in that a mechanism is provided for automatically changing the target mowing height to an average value held in the mechanism.
つまり、石やワラ屑などが多数存在する箇所で
自動刈高さ制御を行なう場合、手動刈高さ制御で
しばらく作業したのち自動刈高さ制御に切換える
だけで、この自動刈高さ制御時の目標設定刈高さ
を、手動刈高さ制御時におけるセンサーの一定時
間内での検出刈高さの平均値に自動変更すること
ができるから、従来のように目標設定刈高が高く
なり過ぎたり、低くなり過ぎたりすることがな
く、石やワラ屑等の外乱要因に応じて必要となる
目標設定刈高さの変更を適確、容易に行ない得る
に至つた。 In other words, when performing automatic cutting height control in a place where there are many stones, straw waste, etc., you can simply work with manual cutting height control for a while and then switch to automatic cutting height control. The target mowing height can be automatically changed to the average value of the mowing height detected by the sensor within a certain period of time during manual mowing height control, so there is no need to set the target mowing height too high as in the past. The mowing height does not become too low, and the desired mowing height can be accurately and easily changed depending on disturbance factors such as stones and straw debris.
以下、本発明の実施例を図面に基づいて説明す
る。 Embodiments of the present invention will be described below based on the drawings.
第１図で示すように、左右一対のクローラ走行
装置１，１及び脱穀装置２を備えた本機３の前部
に、左右一対の引起し装置４，４、バリカン型の
刈取装置５ならびに、刈取穀稈を前記脱穀装置２
のフイードチエーン６に搬送供給する装置７を備
えた刈取部８を昇降自在に連設するとともに、前
記刈取部８の刈取フレーム９と本機３の機体フレ
ーム１０との間に、この刈取部８を駆動昇降させ
るための油圧シリンダ１１を介在して、刈取収穫
機の一例であるコンバインを構成している。 As shown in FIG. 1, at the front of the machine 3, which is equipped with a pair of left and right crawler traveling devices 1, 1 and a threshing device 2, a pair of left and right pulling devices 4, 4, a clipper-type reaping device 5, and a The harvested grain culm is transferred to the threshing device 2.
A reaping section 8 equipped with a device 7 for conveying and supplying feed to the feed chain 6 is arranged so as to be vertically movable. A combine harvester, which is an example of a reaping/harvesting machine, is constructed by interposing a hydraulic cylinder 11 for driving and lowering the 8.
また、第２図、第３図で示すように、前記刈取
部８の刈高さを検出するセンサー１２を設け、こ
のセンサー１２の検出値に基づいて刈高さが目標
設定刈高さに維持されるように、前記刈取部８を
自動的に駆動昇降制御する機構１３と、手動操作
に基づいて刈取部８を昇降制御する機構１４とを
設け、これら両制御機構１３，１４とをスイツチ
１５操作によつて選択的に切換え作動可能に構成
している。 Further, as shown in FIGS. 2 and 3, a sensor 12 is provided to detect the cutting height of the cutting section 8, and the cutting height is maintained at the target setting cutting height based on the detected value of this sensor 12. As shown in FIG. It is configured so that it can be selectively switched by operation.
前記センサー１２は、超音波セラミツクマイク
ロホン１６及びこれから第４図で示すように超音
波ａを既刈地側の圃場面に向けて設定時間t1毎に
設定時間△ｔずつ発信させる発信回路１７からな
る超音波発信器１２Ａと、圃場面からの反射波ｂ
を受信する超音波セラミツクマイクロホン１８か
らの受信音波を増幅処理する受信回路１９からな
る超音波受信器１２Ｂとを、前記引起し装置４の
背面に固着された一つのケース２０内に配設する
とともに、前記発信器１２Ａから超音波を発信し
てからこれの反射波を受信器１２Ｂにて受信する
までに要した時間t2を計測する機構２１と、この
計測時間から刈取部８の対地高さ、つまり、刈高
さを算出する機構２２とを設けて構成している。 The sensor 12 is connected to an ultrasonic ceramic microphone 16 and a transmitting circuit 17 that transmits ultrasonic waves a toward the field on the mowed field side for a set time Δt every set time t1 , as shown in FIG. The ultrasonic transmitter 12A and the reflected wave b from the field scene
An ultrasonic receiver 12B consisting of a receiving circuit 19 for amplifying and processing the received sound waves from the ultrasonic ceramic microphone 18 that receives , a mechanism 21 for measuring the time t2 required from transmitting an ultrasonic wave from the transmitter 12A to receiving the reflected wave at the receiver 12B; In other words, a mechanism 22 for calculating the cutting height is provided.
前記自動刈高さ制御機構１３は、前記演算機構
２２からの算出検出値と所望刈高さを変更可能な
設定器２３からの目標設定刈高さとを比較し、そ
の比較結果に基づいて前記算出検出値が設定値の
許容範囲内に維持されるように、前記油圧シリン
ダ１１に対するコントロールバルブ２４のソレノ
イド２４ａ，２４ｂを自動的に作動制御する制御
部２５から構成されている。 The automatic cutting height control mechanism 13 compares the calculated detection value from the calculation mechanism 22 with the target setting cutting height from the setting device 23 that can change the desired cutting height, and adjusts the calculation based on the comparison result. It is comprised of a control section 25 that automatically controls the operation of the solenoids 24a and 24b of the control valve 24 for the hydraulic cylinder 11 so that the detected value is maintained within the allowable range of the set value.
前記手動刈高さ制御機構１４は、前記コントロ
ールバルブ２４の上昇用ソレノイド２４ａを作動
操作するスイツチ２６と下降用ソレノイド２４ｂ
を作動操作するスイツチ２７とから構成されてい
る。 The manual cutting height control mechanism 14 includes a switch 26 for operating the ascending solenoid 24a of the control valve 24 and a descending solenoid 24b.
The switch 27 is configured to operate the switch 27.
而して、前記スイツチ１５が手動刈高さ制御機
構１４の作動状態に切換えられたことに基づい
て、この手動刈高さ制御時における前記センサー
１２の一定時間内での検出刈高さの平均値を演算
保持する機構２６を設けるとともに、前記自動刈
高さ制御機構１３の次回作動時における目標設定
刈高さ、つまり、前記刈高さ設定器２３による目
標設定刈高さを前記機構２６に保持された平均値
に自動的に変更する機構２７を設けている。 Based on the fact that the switch 15 is switched to the operating state of the manual cutting height control mechanism 14, the average cutting height detected by the sensor 12 within a certain period of time during this manual cutting height control is determined. A mechanism 26 for calculating and holding the value is provided, and the target mowing height for the next operation of the automatic mowing height control mechanism 13, that is, the target mowing height set by the mowing height setting device 23 is transmitted to the mechanism 26. A mechanism 27 is provided for automatically changing to the maintained average value.
また、前記受信器１２Ｂにて受信された超音波
に対する不感帯巾Ｂを通常より拡大させる機構２
８と、前記発信回路１７からの情報に基づいてマ
イクロホン１６が発信状態にあるか否かを検出
し、このマイクロホン１６が発信状態になると、
これから発信している前記の設定時間△ｔだけ前
記不感帯巾拡大機構２８を自動的に作動させるタ
イマー回路２９とを設けて、発信器１２Ａが発信
状態になつてから前記設定時間△ｔだけ刈取部８
の自動刈高さ制御を不能にする制御牽制機構３０
を構成している。このような制御牽制機構３０を
設けた場合には、発信器１２Ａの発信振動ｃがケ
ース２０を介して受信器１２Ｂに伝播されても、
この振動に基づいて刈取部８が不当に刈高さ制御
されることがなく、刈高さ制御の安定化を図るこ
とができる。 Also, a mechanism 2 for expanding the dead band width B for the ultrasonic waves received by the receiver 12B more than usual.
8, and detects whether or not the microphone 16 is in the transmitting state based on the information from the transmitting circuit 17, and when the microphone 16 is in the transmitting state,
A timer circuit 29 is provided to automatically operate the dead band width expanding mechanism 28 for the set time Δt that is about to be transmitted, and the reaping section is provided for the set time Δt after the transmitter 12A enters the transmitting state. 8
control check mechanism 30 that disables automatic cutting height control of
It consists of When such a control and check mechanism 30 is provided, even if the transmitted vibration c of the transmitter 12A is propagated to the receiver 12B via the case 20,
The mowing height of the reaping section 8 is not inappropriately controlled based on this vibration, and the mowing height control can be stabilized.
図面は本発明に係る刈取収穫機の刈高さ制御装
置の実施の態様を例示し、第１図はコンバイン前
部の側面図、第２図は一部切欠正面図、第３図は
刈高さ制御系統を示すブロツク線図、第４図イ，
ロは超音波の発信状態と受信状態を示す説明図で
ある。
３……本機、８……刈取部、１２……センサ
ー、１３……自動刈高さ制御機構、１４……手動
刈高さ制御機構、２６……機構、２７……変更機
構。
The drawings illustrate an embodiment of the cutting height control device for a reaping/harvesting machine according to the present invention, in which Fig. 1 is a side view of the front part of a combine, Fig. 2 is a partially cutaway front view, and Fig. 3 is a cutting height. Block diagram showing the control system, Figure 4 A,
B is an explanatory diagram showing the transmission state and reception state of ultrasonic waves. 3... This machine, 8... Reaping section, 12... Sensor, 13... Automatic cutting height control mechanism, 14... Manual cutting height control mechanism, 26... Mechanism, 27... Changing mechanism.
Claims (1)
取部８の刈高さを連続的に検出するセンサー１２
を設け、このセンサー１２の検出値に基づいて刈
高さが目標設定刈高さに維持されるように、前記
刈取部８を自動的に駆動昇降制御する機構１３と
手動操作に基づいて刈取部８を昇降制御する機構
１４とを選択的に切換え作動可能に設けてある刈
取収穫機の刈高さ制御装置において、前記手動刈
高さ制御機構１４の作動時における前記センサー
１２の一定時間内での検出刈高さの平均値を演算
保持する機構２６を設けるとともに、前記自動刈
高さ制御機構１３の次回作動時における前記目標
設定刈高さを、前記機構２６に保持された平均値
に自動的に変更する機構２７を設けてあることを
特徴とする刈取収穫機の刈高さ制御装置。 ２ 前記センサー１２が超音波を利用するもので
ある特許請求の範囲第１項に記載の刈取収穫機の
刈高さ制御装置。[Claims] 1. A sensor 12 that continuously detects the cutting height of the cutting section 8 that is connected to the machine 3 so as to be able to move up and down.
A mechanism 13 is provided for automatically driving and lowering the reaping section 8 to maintain the mowing height at the target mowing height based on the detected value of the sensor 12, and a mechanism 13 for automatically controlling the reaping section 8 to raise and lower the reaping section 8 based on a manual operation. In a cutting height control device for a reaping/harvesting machine, which is provided so as to be able to selectively switch and operate a mechanism 14 for raising and lowering the mowing height control mechanism 14, the sensor 12 is detected within a certain period of time when the manual cutting height control mechanism 14 is operated. A mechanism 26 for calculating and holding the average value of the detected cutting height is provided, and the target setting cutting height at the next operation of the automatic cutting height control mechanism 13 is automatically adjusted to the average value held in the mechanism 26. A cutting height control device for a reaping/harvesting machine, characterized in that it is provided with a mechanism 27 for changing the cutting height. 2. The cutting height control device for a reaping harvester according to claim 1, wherein the sensor 12 uses ultrasonic waves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18133681A JPS5882314A (en) | 1981-11-10 | 1981-11-10 | Controller for reaping height of reaping and harvesting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18133681A JPS5882314A (en) | 1981-11-10 | 1981-11-10 | Controller for reaping height of reaping and harvesting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5882314A JPS5882314A (en) | 1983-05-17 |
| JPH0215884B2 true JPH0215884B2 (en) | 1990-04-13 |
Family
ID=16098909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18133681A Granted JPS5882314A (en) | 1981-11-10 | 1981-11-10 | Controller for reaping height of reaping and harvesting machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5882314A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60110205A (en) * | 1983-11-17 | 1985-06-15 | 株式会社クボタ | Reaming harvester |
| JPS61274609A (en) * | 1985-05-29 | 1986-12-04 | 株式会社クボタ | Reaping height controller of reaping harvester |
| JPS6286810U (en) * | 1985-11-19 | 1987-06-03 | ||
| JPH0250720U (en) * | 1988-10-04 | 1990-04-10 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS494084A (en) * | 1972-05-04 | 1974-01-14 | ||
| JPS524978A (en) * | 1975-06-30 | 1977-01-14 | Shimadzu Corp | Establishing mechanism of the automatic control meter |
| JPS5331078A (en) * | 1976-09-01 | 1978-03-23 | Sumitomo Electric Ind Ltd | Setting control device |
| JPS5346581A (en) * | 1976-10-08 | 1978-04-26 | Yokogawa Hokushin Electric Corp | Recording/indicating controller |
| JPS5460666A (en) * | 1977-10-24 | 1979-05-16 | Yokogawa Hokushin Electric Corp | Process control unit |
| JPS54111430A (en) * | 1978-02-17 | 1979-08-31 | Iseki Agricult Mach | Cutting height controller for combined harvester |
| JPS5566004A (en) * | 1978-11-10 | 1980-05-19 | Yanmar Agricult Equip Co Ltd | Transplanter |
| JPS5648801A (en) * | 1979-09-25 | 1981-05-02 | Kubota Ltd | Direction control device of reaper |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5588635U (en) * | 1978-12-14 | 1980-06-19 | ||
| JPS5938103Y2 (en) * | 1978-12-18 | 1984-10-23 | 株式会社クボタ | Cutting height control device for reaper |
-
1981
- 1981-11-10 JP JP18133681A patent/JPS5882314A/en active Granted
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS494084A (en) * | 1972-05-04 | 1974-01-14 | ||
| JPS524978A (en) * | 1975-06-30 | 1977-01-14 | Shimadzu Corp | Establishing mechanism of the automatic control meter |
| JPS5331078A (en) * | 1976-09-01 | 1978-03-23 | Sumitomo Electric Ind Ltd | Setting control device |
| JPS5346581A (en) * | 1976-10-08 | 1978-04-26 | Yokogawa Hokushin Electric Corp | Recording/indicating controller |
| JPS5460666A (en) * | 1977-10-24 | 1979-05-16 | Yokogawa Hokushin Electric Corp | Process control unit |
| JPS54111430A (en) * | 1978-02-17 | 1979-08-31 | Iseki Agricult Mach | Cutting height controller for combined harvester |
| JPS5566004A (en) * | 1978-11-10 | 1980-05-19 | Yanmar Agricult Equip Co Ltd | Transplanter |
| JPS5648801A (en) * | 1979-09-25 | 1981-05-02 | Kubota Ltd | Direction control device of reaper |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5882314A (en) | 1983-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH0215884B2 (en) | ||
| JPH0143524B2 (en) | ||
| JPS6356763B2 (en) | ||
| JPS6261288B2 (en) | ||
| JPH0445124B2 (en) | ||
| JP2955441B2 (en) | Cutting height control device of reaper and harvester | |
| JP2855680B2 (en) | Combine cutting height control device | |
| JPS643281Y2 (en) | ||
| JPH0627042Y2 (en) | Automatic work machine height adjustment device for agricultural work machines | |
| KR940000186B1 (en) | Combine | |
| JPH055847Y2 (en) | ||
| JP2508746B2 (en) | Cutting height controller for combine harvester | |
| JPS6359641B2 (en) | ||
| JP2651068B2 (en) | Combine handling depth control device | |
| JPH0531861Y2 (en) | ||
| JPH0525385Y2 (en) | ||
| JP2945584B2 (en) | Work vehicle lift control device | |
| JP3057696B2 (en) | Combine cutting blade device | |
| JP2962079B2 (en) | Combine cutting height control device | |
| JP2955440B2 (en) | Cutting height control device of reaper and harvester | |
| JPS58101611A (en) | Working vehicle | |
| JPH03168002A (en) | Reap-height controlling apparatus for combine | |
| JPH0233337B2 (en) | KARITORISHUKAKUKI | |
| JPS6146084B2 (en) | ||
| JPH0614803B2 (en) | Lifting control device for work vehicle |