JPS58101611A - Working vehicle - Google Patents
Working vehicleInfo
- Publication number
- JPS58101611A JPS58101611A JP19963081A JP19963081A JPS58101611A JP S58101611 A JPS58101611 A JP S58101611A JP 19963081 A JP19963081 A JP 19963081A JP 19963081 A JP19963081 A JP 19963081A JP S58101611 A JPS58101611 A JP S58101611A
- Authority
- JP
- Japan
- Prior art keywords
- ground
- working
- ultrasonic waves
- transmitter
- receiver
- 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.)
- Pending
Links
Landscapes
- Harvester Elements (AREA)
- Operation Control Of Excavators (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は、例えば、コンバインにおいて刈高さを制御す
るとか、耕耘機において耕深を制御する等、走行車体に
、作業状１心と非作業状態とに切換えるために駆動機構
により昇降自在に作業装置を設けると共に、前記作業装
置に、送信器と受信器とから成る対地高さ検出用の超音
波センサーを設け、前記センサーによる検出対地高さに
基いて前記作業装置の対地高さを設定範囲内に維持させ
るように前記駆動機構を自ＵＪ的に作動させる制御機構
を備えた作業Ｎ、に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention is useful for switching a traveling vehicle body between a working state and a non-working state, such as controlling the cutting height in a combine harvester or controlling the plowing depth in a tiller. A working device is provided that can be raised and lowered by a drive mechanism, and the working device is provided with an ultrasonic sensor for detecting a height above the ground that includes a transmitter and a receiver, and the working device is adjusted based on the height above the ground detected by the sensor. The work N includes a control mechanism that automatically operates the drive mechanism so as to maintain the height above the ground within a set range.
１記超音波センサーとしては、全体をコンパクト咳する
トから送信器と受信器が互いに近接して配置されること
となる。 ところが、従来では制御精度のみを重視して
送信器の発信間隔を設定しており、その結果、作業装置
の対地高さが比較的大になった時に、地面から反射され
た超音波が受信器に到達する前に送信器から超音波が発
信され、受信器に到達すべき超音波が発信器から発信さ
れた超音波に干渉され、極端な場合、反射された超音波
が打ち消されて受信器で受信されない等、高さ検出に対
する精度が低下する欠点があった。1. Since the ultrasonic sensor is compact, the transmitter and receiver are placed close to each other. However, in the past, the transmission interval of the transmitter was set with emphasis only on control accuracy, and as a result, when the height of the work equipment above the ground became relatively large, the ultrasonic waves reflected from the ground were transmitted to the receiver. Ultrasonic waves are emitted from the transmitter before they reach the receiver, and the ultrasonic waves that should reach the receiver are interfered with by the ultrasonic waves emitted from the transmitter, and in extreme cases, the reflected ultrasound waves are canceled out and reach the receiver. There was a drawback that the accuracy of height detection decreased, such as not being received by the user.
本発明は、上記の点に鑑み、送信器と受信器と全圧いに
近づけてコンパクトに構成したセンサーを用いるもので
ありなから、検出精度を低下する事無く制御精Ｉｆケ高
められるようにすることを目的１−する。In view of the above-mentioned points, the present invention uses a sensor that is compactly configured with the transmitter and receiver close to the total pressure, so that the control accuracy can be increased without reducing the detection accuracy. Purpose 1- To do.
次に、本発明の実施例を例示図に基いて詳述する。Next, embodiments of the present invention will be described in detail based on illustrative drawings.
石型穀稈を引起す引起し装置ｆｉｌ、引起された穀稈を
刈取る刈りＩ又装置（２）、及び、刈叔殺桿全搬送しな
がら横倒れ姿勢に姿勢変型してフィードチェーン（３）
に受渡す搬送装置（４）から成る刈取部（５）ト、刈賎
殺桿をフィードチェーン（３）で挟持搬送しながら脱穀
処９！Ｉｆる脱穀装置（６）とを、クローラ走行装置ｔ
＋７１及び操縦部（８）を備えた走行車体に搭載し、も
ってコンバインを構成しである。A lifting device fil that pulls up the stone-shaped grain culm, a reaping device (2) that reaps the lifted grain culm, and a feed chain (3) that transforms its posture into a sideways posture while conveying the entire culm. )
The reaping section (5) consists of a conveying device (4) that transfers the grain to the threshing section (5), which conveys the cutting rod by the feed chain (3). If the threshing device (6) and the crawler traveling device t
It is mounted on a traveling vehicle body equipped with a +71 and a control section (8), thereby forming a combine harvester.
前記刈取部（６）のフレーム（９）を機体左右向き軸芯
（Ｐ）周りで上下揺動自在ｖｃ Ｋ支連結すると共に、
フレーム（９）と走行正体とにわたって油圧シリンダ（
１０）を連動連結し、シリンダ１１０）の伸縮により刈
取部（５）を駆動上下揺動するように構成しである。The frame (9) of the reaping section (6) is connected to the frame (9) so as to be vertically swingable around the left-right axis (P) of the machine, and
The hydraulic cylinder (
10) are interlocked and connected, and the reaping section (5) is driven and oscillated up and down by the expansion and contraction of the cylinder 110).
前記フＬノ−ム（９）に立設した支柱（Ｉｌｌ ＶＣ，
超音波を発信する送信器（１２）と超音波分受ける受信
器（Ｉ（イ）、及び、演算器＋１４１から成る超音波セ
ンサー１Ｉ５）を設け、送信器（１２１から超音波を地
面に向けて発信し、その地面から反射した超音波を受は
止めきせ、送信時と受信時との時間差に基いて演算器Ｉ
により刈ｄ又部（５）の対地高さを検出するように構成
しである。A post (Ill VC,
A transmitter (12) that emits ultrasonic waves, a receiver (I) that receives the ultrasonic waves, and an ultrasonic sensor 1I5 consisting of an arithmetic unit +141 are provided, and the ultrasonic waves are directed toward the ground from the transmitter (121). The ultrasonic waves that are transmitted and reflected from the ground are blocked and the computer I
The height of the mower section (5) above the ground is detected by the above-described method.
前記超音波センサー霞における演算器（１４）からの信
号と設定器四からの信号を比較器（１７）に入力し、そ
の比較結果に基いて指令信号を操作回路（Ｉ１９に入力
し、操作回路（国により、前記油圧シリンダ（１０）に
対するコントロールパルプ（Ｉ＠を目切的に操作するよ
うにａ成してあり、もって、刈取部（５）の対地高さ分
設定範囲内に維持するように刈取部（６）を自動的に駆
＃ｊＪ、ｈ丁揺動するように刈高さ制御機ａ彌を構成し
である。The signal from the arithmetic unit (14) in the ultrasonic sensor haze and the signal from the setting device 4 are input to the comparator (17), and based on the comparison result, a command signal is input to the operation circuit (I19) and the operation circuit (Depending on the country, the control pulp (I@) for the hydraulic cylinder (10) is designed to be operated at intervals, so that the height above the ground of the reaping section (5) is maintained within the set range. The mowing height controller is configured to automatically swing the mowing section (6) in the following directions.
ＩＩＴＪ記操作回ｂｌｓｔ１樽に連係して人為操作回路
しυを設け、刈取部（５）の人為的な昇１年操作を、前
記制御機構！２［［優先して行えるように構成しである
。An artificial operation circuit υ is provided in conjunction with the IITJ operation cycle blst1 barrel, and the artificial operation of the reaping section (5) is controlled by the control mechanism! 2 [[It is configured so that it can be performed with priority.
前記送信器＋１２１ＶＣおいて、その超音波の送信間隔
を、１記刈取！ＩＫ＋５１の作業状態での設定最大対地
高さの２倍の距離を超音波が伝播するに足る時間よりも
大に、かつ、４７７記刈欣部（６）の非作業状態での設
定最大対地高さの２倍の距離を超音波が伝播するに足る
時間よりも小ＶＣ設定しである。At the transmitter +121VC, the transmission interval of the ultrasonic wave is reaped! The setting maximum height above the ground when the IK+51 is in the working state is longer than the time sufficient for ultrasonic waves to propagate over a distance twice as high as the setting maximum height above the ground when the IK+51 is in the working state, and the setting maximum height above the ground in the non-working state of the 477 reaping section (6). The VC is set smaller than the time required for the ultrasonic waves to propagate twice the distance.
即ち、刈取部（５）を、作業状態で設定される対地側に
最大の高さに位置させ友状態において、第４図の（イ）
に示すように、６１１記送信器（１２１から発信された
超音波が地面から反射きれた後に受信器１１３１で受止
められるＶＣ要する時間（【１）よりも大きな間隔（（
）で超音波を間歇的に発信するのであり、又、刈取部（
５）を、非作業状態で設定される対地的に最大の高さに
位置させた伏虐において、第４図の（ロ）に示すように
、前記送信器＋１２１から発信された超音波が地面から
反射された後に受信器（１涌に受止められるに要する時
間（ｔ、）よりも小さな間隔（１）で超音波を間歇的に
発信するのである。That is, when the reaping section (5) is positioned at the maximum height set on the ground side in the working condition and in the stand position, the position shown in FIG. 4 (a) is
As shown in , the interval ((
) transmits ultrasonic waves intermittently, and the reaping section (
5) is placed at the maximum height relative to the ground in a non-working state, as shown in (b) of Figure 4, the ultrasonic waves emitted from the transmitter +121 reach the ground. Ultrasonic waves are intermittently transmitted at intervals (1) smaller than the time (t) required for the ultrasonic waves to be received by a receiver after being reflected from the ultrasonic wave.
前記センサーｌ１５１の刈取部（５）に対する取付位置
が変われば、それに伴って上述の送信時から受信時まで
の時間（ｔｌ）・（ｔ２）が変化するものであり、欣寸
位置夫々に応じ、刈ｕ部（５）の作業状態及び非作業状
態夫々での設定最大対地旨さを考慮して超音波の送信間
隔（１）が設定されるものである。If the mounting position of the sensor l151 relative to the reaping part (5) changes, the above-mentioned time (tl) and (t2) from the time of transmission to the time of reception will change accordingly. The ultrasonic transmission interval (1) is set in consideration of the setting maximum ground effectiveness in the working state and non-working state of the cutting unit (5).
前記刈取部（６）を駆動昇降させるのに、シリンダ１０
１ Ｖ（限らず、ターンバックル水式の伸縮リンクを用
いると共に、そのリンクを伸縮させる回転部材に油圧あ
るいは電動モータを連動連結する等、各種の構造変形が
０Ｔ能であり、油圧シリンダ（１０）やモータ等をして
駆動機構ｔ１０１と総称する。A cylinder 10 is used to drive the reaping section (6) up and down.
1V (not limited to) Various structural modifications such as using a turnbuckle water-type telescoping link and interlocking a hydraulic or electric motor to a rotating member that expands and contracts the link are possible, and hydraulic cylinders (10) , a motor, etc. are collectively referred to as a drive mechanism t101.
本発明は、上述実施例のようなコンバインにおける刈高
さ制御機構に限らず、例えば、ロークリ耕耘装置をトラ
クタに昇降自在Ｖｃ取寸けた乗用型耕耘機において、そ
の耕耘装置の対地高さを一定化する、いわゆる耕深制御
機構等各種の作業区Ｖ′Ｃ適用でき、前記刈取部（６）
やロークリ耕耘装置等全して作業装置（５）と総称する
。The present invention is not limited to the cutting height control mechanism in a combine harvester as in the above-described embodiment, but is also applicable to a riding-type tiller in which a tractor can freely raise and lower the height of the tiller by adjusting the height of the tiller to a constant level. The cutting section (6)
All such equipment as the rotary tiller and tiller are collectively referred to as working equipment (5).
以上要するに、未発明は、冒記した作業［において、前
記送信器ｉＥ ＶＣよる超音波の送信間隔を、前記作業
装置（６）の作業状態での設定最大対地旨さの２倍の距
離を超音波が伝播するに足る時間よりも大に、かつ、前
記作業装置（６）の非作業状態での設定最大対地高さの
２倍の距離を超音波が伝播するに足る時間よりも小に設
定しである事全特徴とする。In summary, in the above-mentioned work [, the transmitter iE VC transmits ultrasonic waves at an interval exceeding twice the maximum ground sensitivity set in the working state of the working device (6). Set the distance to be longer than the time sufficient for the ultrasonic wave to propagate, and twice the maximum ground height setting of the working device (6) in the non-working state, to be smaller than the time sufficient for the ultrasonic wave to propagate. It is characterized by the fact that it is
つまり、作業装置（５）が作業状態での設定最大晶さに
あっても、送信器ｔ＋２）で発信された超音波が地面で
反射された後、その反射され之超音波が受信器（ＩＩで
受信された後でしか次の超音波が発信されず、受信され
るべき超音波と発信された超音波とが互いに干渉し合う
事を確実に回避できて作業装置（６）の対地高さ検出を
精度良く行え、しかも、超音波の送信間隔を、作業装置
（５）の非作業状態での設定最大対地高さの２倍の距離
を超音波が伝播するに足る時間よりも小に設定するかｈ
、従らに送信ｈ１隔が大となって高さ制御が粗くなるこ
とを回遊し、制ｍ１−）［全回上できるようになった。In other words, even if the working device (5) is at the maximum crystallization setting in the working state, the ultrasonic waves emitted by the transmitter (t+2) are reflected on the ground, and then the reflected ultrasonic waves are transmitted to the receiver (II). The next ultrasonic wave is emitted only after the ultrasonic wave is received at Detection can be performed with high accuracy, and the ultrasonic transmission interval is set to be smaller than the time required for the ultrasonic waves to propagate over a distance twice the maximum height above the ground when the working device (5) is not working. Do you want to
, Therefore, the transmission h1 interval becomes large and the height control becomes rough, and it is now possible to control m1-) [all times.
図面は本発明に係る作業■の実施例を示し、第１図はコ
ンバインの一部省略全体側面図、第２図はセンサーのＩ
ＩＸ寸部を示す一部り大仏大側る。
＋ｆｉｌ・・・作業装置ｆ！、、００１・・・・・駈動
機構、１１力・・・・・送信器、■・・・・・受信器、
（１５）・・・・・超音波センサー、迩・・・・・制ａ
機ＰＲ６The drawings show an embodiment of work ① according to the present invention, and Fig. 1 is a partially omitted overall side view of the combine harvester, and Fig. 2 is an I of the sensor.
A section showing the IX dimension is on the side of the Great Buddha. +fil...Working device f! ,,001...cantering mechanism, 11 force...transmitter, ■...receiver,
(15)... Ultrasonic sensor, 迩... system a
Machine PR6
Claims (1)
駆動機構１０１により昇１年目在に作業装置（５）全設
けると共に、前記作業装置＋５１ Ｋ 、送信器（１２
１と受信器（１（とから成る対地妬さ検出用の超音波セ
ンサー１１５１を設け、前記センサーｔ１５１Ｖｃよる
検出対地高さに基いて前記作業装置（６）の対地高さを
設定範囲内に維持させるように前記駆動機構００１を自
＃Ｉ（ｒＮＪに作１させる制御機構−を備えた作業車で
あって、前記送信器＋１２１ＶＣよる超音波の送信間隔
を、１１ｎ記作業装置（５）の作業状態での設定最大対
地高さの２倍の距離を超音波が伝播するに足る時間より
も大ｆ（、かつ、ｒ４ｆ前記作業装置（６）の非作業状
卵での設定最大対地篩さの２倍の距離を超音波が伝播す
るに足る時間よりも小に設定しである。１１を特徴とす
る作業ＪＩＬ。In order to switch between a working state and a non-working state, a driving mechanism 101 is used to install all working devices (5) on the vehicle at the first year of the rise, and the working device +51 K and a transmitter (12
An ultrasonic sensor 1151 for detecting ground pressure, which includes a receiver (1) and a receiver (1), is provided, and the height above the ground of the working device (6) is maintained within a set range based on the height above the ground detected by the sensor t151Vc. The working vehicle is equipped with a control mechanism for controlling the driving mechanism 001 to the self #I (rNJ), and the transmission interval of the ultrasonic waves by the transmitter +121VC is set to the work of the working device (5) 11n. f (and r4f of the set maximum ground sieve in the non-working state of the working device (6) The setting is shorter than the time sufficient for the ultrasonic waves to propagate twice the distance.Work JIL characterized by 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19963081A JPS58101611A (en) | 1981-12-10 | 1981-12-10 | Working vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19963081A JPS58101611A (en) | 1981-12-10 | 1981-12-10 | Working vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS58101611A true JPS58101611A (en) | 1983-06-16 |
Family
ID=16411040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19963081A Pending JPS58101611A (en) | 1981-12-10 | 1981-12-10 | Working vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58101611A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6087710A (en) * | 1983-10-19 | 1985-05-17 | 井関農機株式会社 | Posture controller of combine |
| JPH0549850U (en) * | 1991-12-12 | 1993-07-02 | 株式会社小松エスト | Blade interference prevention device for motor grader |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5216325A (en) * | 1975-07-30 | 1977-02-07 | Yanmar Agricult Equip | Cutterrbar adjusting device for combine |
-
1981
- 1981-12-10 JP JP19963081A patent/JPS58101611A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5216325A (en) * | 1975-07-30 | 1977-02-07 | Yanmar Agricult Equip | Cutterrbar adjusting device for combine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6087710A (en) * | 1983-10-19 | 1985-05-17 | 井関農機株式会社 | Posture controller of combine |
| JPH0462683B2 (en) * | 1983-10-19 | 1992-10-07 | Iseki Agricult Mach | |
| JPH0549850U (en) * | 1991-12-12 | 1993-07-02 | 株式会社小松エスト | Blade interference prevention device for motor grader |
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