JPH0233331B2 - - Google Patents
Info
- Publication number
- JPH0233331B2 JPH0233331B2 JP58106508A JP10650883A JPH0233331B2 JP H0233331 B2 JPH0233331 B2 JP H0233331B2 JP 58106508 A JP58106508 A JP 58106508A JP 10650883 A JP10650883 A JP 10650883A JP H0233331 B2 JPH0233331 B2 JP H0233331B2
- Authority
- JP
- Japan
- Prior art keywords
- amount
- elevation
- predetermined
- height
- unit time
- 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
- 238000001514 detection method Methods 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 5
- 238000009333 weeding Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Harvester Elements (AREA)
Description
【発明の詳細な説明】
本発明は、超音波センサーによる検出対地高さ
に基いて作業部を所定高さに自動昇降制御する昇
降制御手段を設けた農作業機に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an agricultural working machine provided with an elevation control means for automatically controlling the elevation of a working part to a predetermined height based on the height above the ground detected by an ultrasonic sensor.
従来の農作業機、例えばコンバインでは、刈取
部の地面への突入を防ぐために、前記超音波セン
サーによる対地高さ検出結果に基づいて、前記昇
降制御手段が単位時間当たりに所定の昇降量を指
令し、一定速度で刈取部の対地高さを変更するよ
うに制御していた。 In a conventional agricultural machine, such as a combine harvester, in order to prevent the reaping part from entering the ground, the lifting control means commands a predetermined lifting amount per unit time based on the detection result of the height above the ground by the ultrasonic sensor. , the height of the cutting section above the ground was controlled to change at a constant speed.
従来技術による農作業機の作業状況を観察する
と、油圧系統の作動油粘性が高くなる作業開始直
後や寒冷地では、作業部を昇降させるアクチユエ
ータの性能が低下して制御の応答が悪くなる不都
合があつた。 Observing the working conditions of agricultural machinery using conventional technology, it is found that immediately after the start of work or in cold regions, where the viscosity of the hydraulic oil in the hydraulic system is high, the performance of the actuator that raises and lowers the working part deteriorates, resulting in poor control response. Ta.
本発明は、従来技術の有する以上の問題点を解
消するものであり、作業環境に影響されずに常に
所定の応答速度が得られる農作業機の提供を目的
とする。 The present invention solves the above-mentioned problems of the prior art, and aims to provide an agricultural machine that can always obtain a predetermined response speed without being affected by the working environment.
上記の目的を達成するために、本発明は、前記
作業部の実際の昇降量を検出するセンサーを設け
るとともに、前記自動昇降制御による単位時間当
りの前記昇降量検出センサーの検出昇降量と所定
の昇降量とを比較演算して、検出昇降量が所定の
昇降量となるように前記昇降制御手段による単位
時間当たりの昇降指令量を変更する補正手段を設
けたものである。 In order to achieve the above object, the present invention provides a sensor that detects the actual lifting amount of the working part, and also provides a predetermined amount of lifting and lowering detected by the lifting amount detection sensor per unit time by the automatic lifting control. A correction means is provided which compares and calculates the amount of elevation and descent and changes the amount of elevation and descent commands per unit time by the elevation control means so that the detected amount of elevation and descent becomes a predetermined amount of elevation and descent.
したがつて、本発明の農作業機によれば次の効
果が得られる。 Therefore, according to the agricultural machine of the present invention, the following effects can be obtained.
イ 作業開始時点から安定した制御応答が得られ
るとともに、作動油の粘性が高くなりがちな寒
冷地での作業であつても、従来に比べて大幅に
制御応答が改善できる。(b) A stable control response can be obtained from the start of work, and the control response can be significantly improved compared to conventional methods, even when working in cold regions where the viscosity of hydraulic oil tends to be high.
ロ しかも、制御目標値への収束性が良くなるた
めに無駄な動作が減少し、アクチユエータの作
動頻度が低下して装置の耐久性が向上する。(b) Moreover, since convergence to the control target value is improved, unnecessary operations are reduced, the frequency of operation of the actuator is reduced, and the durability of the device is improved.
以下、本発明の実施例を図面を参照しながら説
明する。 Embodiments of the present invention will be described below with reference to the drawings.
第１図において、左右一対のクローラ走行装置
２を装備した機体１に脱穀装置３と操縦部４を搭
載している。また、分草具５…と引起し装置６、
刈取装置７、刈り取つた穀稈を合流させて後部の
脱穀装置３に搬送供給する搬送装置８を、作業部
としての刈取部９に装備し、この刈取部９を機体
１前部の軸芯Ｐ周りに油圧シリンダ１０によつて
昇降自在に設け、農作業機としてのコンバインを
構成している。 In FIG. 1, a threshing device 3 and a control section 4 are mounted on a machine body 1 equipped with a pair of left and right crawler traveling devices 2. In addition, the weeding tool 5... and the pulling device 6,
A reaping unit 9 serving as a working unit is equipped with a reaping device 7 and a conveying device 8 that merges the reaped grain culms and transports them to the threshing device 3 at the rear. It is installed around P so that it can be raised and lowered by a hydraulic cylinder 10, and constitutes a combine harvester as an agricultural working machine.
前記分草具５は、その下端先端部が前記刈取部
９の支持フレーム１１に固着してある。発信器１
２と受信器１３からなる対地高さ検出用の超音波
センサー１４を、穀稈による誤作動を起こさない
ように、既刈地側の分草具５の背後で、前記支持
フレーム１１の上方に配置して取り付けている。
この超音波センサー１４による対地高さＨの検出
結果に基づいて、刈取高さが所定の高さH0とな
るように前記油圧シリンダ１０によつて刈取部９
を昇降操作する。 The weeding tool 5 has its lower end tip fixed to the support frame 11 of the reaping section 9. Transmitter 1
An ultrasonic sensor 14 for detecting height above the ground consisting of a receiver 13 and a receiver 13 is placed above the support frame 11 behind the weeding tool 5 on the mowed field side to prevent malfunction due to grain culms. Placed and installed.
Based on the detection result of the height H above the ground by the ultrasonic sensor 14, the reaping section 9 is operated by the hydraulic cylinder 10 so that the reaping height becomes a predetermined height H0.
Operate up and down.
次に、前記刈取部９を昇降操作する制御システ
ムについて説明する。 Next, a control system for raising and lowering the reaping section 9 will be explained.
制御システムは、第２図に示すように、主要部
をマイクロコンピユータによつて構成した制御装
置１５に、前記超音波センサー１４からの信号と
前記刈取部９の実際の昇降量を検出すべく前記軸
芯Ｐに連動連結したセンサーとしてのポテンシヨ
メータ１６からの信号を入力して構成している。
超音波センサー１４による対地高さ検出結果、及
び前記ポテンシヨメータ１６による刈取部９の実
際の昇降量検出結果に基づいて、油圧シリンダ１
０に作動油を供給する電磁バルブ１７の動作を制
御するように構成している。 As shown in FIG. 2, the control system uses a control device 15 whose main part is a microcomputer to detect the signal from the ultrasonic sensor 14 and the actual amount of elevation of the reaping section 9. It is constructed by inputting a signal from a potentiometer 16 as a sensor connected to the axis P.
The hydraulic cylinder 1
It is configured to control the operation of an electromagnetic valve 17 that supplies hydraulic oil to the motor.
前記電磁バルブ１７は、刈取部９が所定の速度
で昇降するように油圧シリンダ１０に供給する作
動油の単位時間当たりの供給量を所定量に制御
し、制御装置１５からのパルス電流で駆動される
ものである。この制御時に、制御装置１５による
単位時間当たりの昇降指令量である前記パルス電
流のデユーテイー比Ｄを補正して、作動油の粘性
の相違による昇降速度の変化を相殺するように構
成している。すなわち、最初に前記電磁バルブ１
７を駆動開始して単位時間t0経過する間の、ポテ
ンシヨメータ１６による刈取部９の昇降量ΔH検
出結果に基づいて、単位時間t0当たりの昇降量
ΔHが所定の昇降量ΔH0となるように制御装置１
５で比較演算し、その後のデユーテイー比Ｄを変
更するように構成している。第３図は、以上に説
明した制御装置１５の動作を説明するフローチヤ
ートである。 The electromagnetic valve 17 controls the amount of hydraulic oil supplied to the hydraulic cylinder 10 at a predetermined amount per unit time so that the reaping section 9 moves up and down at a predetermined speed, and is driven by a pulse current from the control device 15. It is something that During this control, the duty ratio D of the pulse current, which is the amount of lifting and lowering commands per unit time by the control device 15, is corrected to offset changes in the lifting speed due to differences in the viscosity of the hydraulic oil. That is, first the electromagnetic valve 1
Based on the detection result of the lifting amount ΔH of the reaping part 9 by the potentiometer 16 during the elapse of unit time t 0 after starting to drive 7, the lifting amount ΔH per unit time t 0 is determined to be a predetermined lifting amount ΔH 0 . Control device 1 so that
5, and the duty ratio D is changed thereafter. FIG. 3 is a flowchart illustrating the operation of the control device 15 described above.
尚、特許請求の範囲の項に図面との対照を便利
にする為に符号を記すが、該記入より本発明は添
付図面の構造に限定されるものではない。 Incidentally, although reference numerals are written in the claims section for convenience of comparison with the drawings, it is clear from the description that the present invention is not limited to the structure of the attached drawings.
第１図はコンバイン前部の側面図、第２図は制
御システムのブロツク図、第３図は制御装置の動
作を示すフローチヤートである。
９……作業部、１４……超音波センサー、１６
……昇降量検出センサー、Ｈ……検出対地高さ、
H0……所定高さ、ΔH……検出昇降量、ΔH0……
所定の昇降量、t0……単位時間。
FIG. 1 is a side view of the front part of the combine, FIG. 2 is a block diagram of the control system, and FIG. 3 is a flowchart showing the operation of the control device. 9... Working part, 14... Ultrasonic sensor, 16
...Lifting amount detection sensor, H...Detection height above ground,
H 0 ...Predetermined height, ΔH...Detected lifting amount, ΔH 0 ...
Predetermined lifting amount, t 0 ...unit time.
Claims (1)
部９に設け、この超音波センサー１４による検出
対地高さＨに基いて前記作業部９を所定高さH0
に自動昇降制御する昇降制御手段を設けた農作業
機において、前記作業部９の実際の昇降量を検出
するセンサー１６を設けるとともに、前記自動昇
降制御による単位時間t0当たりの前記昇降量検出
センサー１６の検出昇降量ΔHと所定の昇降量
ΔH0とを比較演算して、検出昇降量ΔHが所定の
昇降量ΔH0となるように前記昇降制御手段によ
る単位時間当たりの昇降指令量を変更する補正手
段を設けたことを特徴とする農作業機。1. An ultrasonic sensor 14 for detecting height above the ground is provided in the working part 9, and based on the height H above the ground detected by the ultrasonic sensor 14, the working part 9 is raised to a predetermined height H 0
In an agricultural machine equipped with an elevation control means for automatically controlling elevation, a sensor 16 is provided to detect the actual elevation amount of the working part 9, and the sensor 16 detects the elevation amount per unit time t 0 by the automatic elevation control. Comparison calculation is made between the detected lift amount ΔH and a predetermined lift amount ΔH 0 , and the correction is made to change the lift command amount per unit time by the lift control means so that the detected lift amount ΔH becomes the predetermined lift amount ΔH 0 . An agricultural machine characterized by being provided with means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58106508A JPS59232020A (en) | 1983-06-13 | 1983-06-13 | Reaming harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58106508A JPS59232020A (en) | 1983-06-13 | 1983-06-13 | Reaming harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59232020A JPS59232020A (en) | 1984-12-26 |
| JPH0233331B2 true JPH0233331B2 (en) | 1990-07-26 |
Family
ID=14435364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58106508A Granted JPS59232020A (en) | 1983-06-13 | 1983-06-13 | Reaming harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59232020A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2611779B2 (en) * | 1987-08-24 | 1997-05-21 | ヤンマー農機株式会社 | Automatic cutting height control device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5253622U (en) * | 1975-10-14 | 1977-04-18 |
-
1983
- 1983-06-13 JP JP58106508A patent/JPS59232020A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5253622U (en) * | 1975-10-14 | 1977-04-18 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59232020A (en) | 1984-12-26 |
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