JPS5870318A - Controller for worker - Google Patents
Controller for workerInfo
- Publication number
- JPS5870318A JPS5870318A JP56169734A JP16973481A JPS5870318A JP S5870318 A JPS5870318 A JP S5870318A JP 56169734 A JP56169734 A JP 56169734A JP 16973481 A JP16973481 A JP 16973481A JP S5870318 A JPS5870318 A JP S5870318A
- Authority
- JP
- Japan
- Prior art keywords
- control
- set time
- transmitter
- receiver
- reaping
- 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
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000007781 pre-processing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000010903 husk Substances 0.000 description 1
- 239000011295 pitch 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)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Harvester Elements (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、検出物に超音波を設定時間毎に設定時間ずつ
発信する発信器、及び、検出物により反射された超音波
に対する受信器を、７個のケース内に並設すると共に、
前記受信器からの情報に基いて被制御装置？自動的に操
作する制御部を設けた作業車の制御装置に関し、発信器
の発信振動がケースを伝わって受信器に達し、被制御装
置が誤操作されることを防止することを目的さする。DETAILED DESCRIPTION OF THE INVENTION The present invention includes a transmitter that transmits ultrasonic waves to a detected object at set time intervals, and a receiver for the ultrasonic waves reflected by the detected object, in seven cases. Along with installing
Controlled device based on information from said receiver? The present invention relates to a control device for a work vehicle that is equipped with a control unit that automatically operates, and the purpose is to prevent erroneous operation of a controlled device due to vibrations transmitted from a transmitter reaching a receiver through a case.
次に、本発明の実施の帽様を例示図に基いて説明する。Next, a hat according to an embodiment of the present invention will be explained based on illustrative drawings.
第１図に示すように、クローラ式自走機体の上部に脱穀
部（１）を備えさせると共に１植立殺稈に対する左右一
対の引起し装置（２１・１２）、引起し殻稈を刈」１ヌ
る装置（３）、刈取殻稈を前記脱穀部１１１の始端部に
９給する搬送装置（４）を何する刈ＩＶ！前処坤都ｔｅ
ｌ ’ｋ、前記自走機体の１ｉｒ部に備えさせて、コン
バインを構成しである。As shown in Fig. 1, the crawler-type self-propelled machine is equipped with a threshing section (1) on the upper part, and a pair of left and right lifting devices (21, 12) for one planted culm. 1. Removal device (3), conveying device (4) that feeds the harvested husk culm to the starting end of the threshing section 111. Maejo Kontote
l'k, a combine harvester is constructed by equipping the 1ir section of the self-propelled aircraft.
前記刈取前処理部＋５１を対地上下揺動させて刈高さ調
節を行わせるための流体圧シリンダ（６）を、ｉＴ＋処
理部７レーム（７）Ｋ付設すると共に、第２図に示すよ
うに、超音波セラミックマイクロホン＋８１、及び、こ
のマイクロホン（８）から超音波（ａ）を既刈地側の圃
場面（Ａ）に向けて第４図（イＩＶＣ示す如く設定時間
（ｔｌ）毎に設定時間（△ｔ）ずつ発信きせる発信回路
（９１から成る超音波発信器（１０）と、前記圃場面（
Ａ）により反射された超音波ｆｂｌを受信する超音波セ
ラミックマイクロホン（川、及び、このマイクロホン（
１１）からの受信音波を増幅処理する受信回路１１２１
から成る超音波受信器（１刊とを、７個のケースＩの内
ｔＩｆＳに並設した状態で一力の前記引起し装置（２）
の背後に固設しである。 そして、第３図に示すように
１前記発信回路（９）及び受信回路０４夫々からの情報
に基いて発信器マイクロホン（８）が発信してから受信
器マイクロホン（１１）が受信するまでＶＣＩＬした時
間（＋２）を計測する装置０５）、この時間計測装置０
均による計測結果に基いて刈取装置１３）の対地高さを
算出する装置（Ｉｆ！、この対地高さ算出装置０６）
ＶＣよる算出結果と、所望刈高さを変更０Ｔ能に設定す
るための装置（＋７）による設定値とを比較し、その比
較結果に基いてＩＪＴＪ記算出結果と設定値とがほぼ一
致するように前記流体圧シリンダ（６）のコントロール
パルプ（鴎を自動的に操作する装置（＋９）から、受信
器（１３１及び設定装置（＋７）夫々からの情報に基い
て実際の刈高さか設定刈高さにほぼ一致するよう刈取ｉ
ａ処理部（５１’Ｊ−自動的に昇降操作させるための制
御部（イ）を構成しである。 又、第３図に示すように
、前記受信回路（１匂の受信器マイクロホン（ＩＩＩＫ
よる受信音波に対する不感帯巾ｆＢ）を通常時より拡大
させる機構（２１）と、前記発信回路（９）からの情報
に基いて発信器マイクロホン（８）が発信状態にあるか
否かを検出し、発信器マイクロホン（８）が発信状態に
なるとそれから発信器マイクロホン（８）が発イｄして
いる前記設定時間（△ｔ）だけｄｆ前記不感帯［１〕拡
太機構（２１）を自動的に作用状由り（操作するタイマ
ー回路匈とにより、発信器（１０）か発信状態になって
から前記設定時間（△ｔ）だけ前記制御部−の刈取前処
Ｊｉ！ｓｔｅ＋に対する自動操作が不能になるよう受信
器（ｌ（ト）の不感帯巾ｆＢ）を拡大させるための装置
（２）を構成しである。A fluid pressure cylinder (6) for adjusting the cutting height by swinging the reaping pre-processing section +51 below the ground is attached to the iT+ processing section 7 frame (7)K, as shown in FIG. , an ultrasonic ceramic microphone +81, and the ultrasonic wave (a) from this microphone (8) is directed at the field scene (A) on the mowed land side at every set time (tl) as shown in Fig. 4 (A IVC). An ultrasonic transmitter (10) consisting of a transmitting circuit (91) that transmits signals at intervals of time (△t), and the field scene (
A) an ultrasonic ceramic microphone (river) that receives the ultrasonic wave fbl reflected by and this microphone (
11) A receiving circuit 1121 that amplifies the received sound waves from
The above-mentioned raising device (2) with one force is placed in parallel with the ultrasonic receiver (1 issue) in tIfS among the 7 cases I.
It is fixedly installed behind the. Then, as shown in FIG. 3, based on the information from the transmitting circuit (9) and the receiving circuit 04, VCIL is carried out from when the transmitter microphone (8) transmits until the receiver microphone (11) receives it. A device for measuring time (+2) 05), this time measuring device 0
A device (If!, this height above ground calculation device 06) that calculates the height above the ground of the reaping device 13) based on the measurement results by Hitoshi
The calculation result by VC is compared with the setting value by the device (+7) for setting the desired cutting height to 0T, and based on the comparison result, the IJTJ calculation result and the setting value are almost matched. The control pulp of the fluid pressure cylinder (6) (device (+9) that automatically operates the seagull) determines the actual cutting height or the set cutting height based on information from the receiver (131) and the setting device (+7), respectively. Reap i to approximately match the
a processing section (51'J--consists of a control section (a) for automatically raising and lowering operations. Also, as shown in FIG.
a mechanism (21) for expanding a dead band width fB) for received sound waves than normal; and a mechanism (21) for detecting whether the transmitter microphone (8) is in a transmitting state based on information from the transmitting circuit (9); When the transmitter microphone (8) enters the transmitting state, the df dead zone [1] expansion mechanism (21) is automatically activated for the set time (△t) during which the transmitter microphone (8) is emitting. Due to the condition (depending on the timer circuit to be operated), automatic operation of the control section - for the pre-reaping stage Ji!ste+ is disabled for the set time (△t) after the transmitter (10) enters the transmitting state. Thus, a device (2) for expanding the dead band width fB of the receiver (l(g)) is configured.
もって、たとえ圃場の凹凸等のために機体がピッチング
しても、刈取装置１３）の対地高さがほぼ設定値に在る
よう刈取前処理部ｆｉｌが昇降操作されることにより、
かつ、超音波発信器（１０）の発信振動（ｃ）がケース
０→を介して受信器マイクロホン（川に伝わ、つても、
それＶＣ起因する刈取前処理部（５）の不等な操作が不
感帯巾拡大装を首（財）により防止されることにより、
刈高さを設定範囲に精度よく維持しながら作業できるよ
うにしである前記不感帯巾拡大装置（ハ）に替えて、受
信器（１３１の受信を不能にする装置、あるいは、時間
計測装置ｔ＋＠や対地高さ算出装置０→の計測や算出を
不能にする装置、あるいは、パルプ操作装置Ｑ（至）の
作動を不能にする装置等を採用してもよく、これら會刈
収前処理部（６）に対する自動操作を不能にする制御牽
制装置（ハ）と総称する。Therefore, even if the machine body pitches due to irregularities in the field, the pre-reaping processing unit fil is operated up and down so that the height of the reaping device 13) from the ground remains approximately at the set value.
In addition, the transmitted vibration (c) of the ultrasonic transmitter (10) is transmitted to the receiver microphone (river) via the case 0 →.
The unequal operation of the reaping pre-processing section (5) caused by the VC is prevented by the neck (goods) from expanding the dead band width.
Instead of the dead band width expanding device (c), which allows work to be carried out while accurately maintaining the cutting height within the set range, a device that disables reception of the receiver (131), or a time measuring device t+@ or A device that disables the measurement and calculation of the height above ground calculation device 0→ or a device that disables the operation of the pulp operating device Q (to) may be adopted. ) is collectively referred to as a control and check device (c) that disables automatic operation.
又、本考案に、機体の植立殻稈や畔に対する横力向ｌの
変位量を検出させて機体が植立殻稈や畔に追従走行する
よう操向装置を自動的に操作させる制御装置ｕ、あるい
は、耕耘機における耕深制御装置等、検出対象、制御対
象、及び、作業種類が各挿具なるものにも適用でき、圃
場面ＬＡ＋を検出物へ）と称し、刈取前処理部（６）を
被制御装置（５）と称する。Further, the present invention includes a control device that detects the amount of displacement of the aircraft body in the lateral force direction l with respect to the planted shell culm or the ridge, and automatically operates the steering device so that the aircraft follows the planted shell culm or the ridge. It can also be applied to devices where the detection target, control target, and type of work is a cutting tool, such as a plowing depth control device in a tiller. 6) is referred to as a controlled device (5).
以上要するπ、本発明は、冒記した作業車の制御装置に
おいて、ｉｆ前記発信器（ｌＯ）が発信状勅になってか
ら設定時間（△ｔ）だけ前記被制御装置（５）に対する
自動操作を不能にする制御牽制装置−を・設けである事
を特徴とする。According to the above-mentioned control device for a work vehicle, the present invention provides automatic operation for the controlled device (5) for a set time (△t) after the transmitter (lO) issues a transmission signal. It is characterized by being equipped with a control and check device that makes it impossible.
つまり、上記構成によれば、前記設定時間として少なく
とも発信器（１０）が音波発信を行う時間（△ｔ）Ｋ相
当するものを設定しておくことにより、発信器１１０１
の発信器１（０）がケース＋１４１ ’に介して受信器
（１刊に伝わっても、制御牽制装置−が作用しているの
で、被制御装置（５）が不等に操作されなくなり、制御
を精度よく行わせるこ々が可能ＶＣなった。That is, according to the above configuration, by setting the set time to at least correspond to the time (Δt)K during which the transmitter (10) transmits a sound wave, the transmitter 1101
Even if the transmitter 1 (0) of the transmitter 1 (0) is transmitted to the receiver (1st edition) through the case +141', the control check device - is in effect, so the controlled device (5) will not be operated unevenly, and the control will be interrupted. It has become possible for VC to do this with precision.
図面は本発明に係る作業匡の制ｍ装置の実施の態様を例
示し、第１図はコンバイン曲部の側面図、第２図は刈取
前処理部の一部男欠正面図第８図はブロック図、第４図
（イ）は超廿波の発信状態を示す説明図、第４図（ロ）
は超音波の受信状態を示す説明図である。
（６） 被制御装置、（１０）・・・・・発信器、
（１（至）・・・・・・受信器、１１４）・・ ケース
、Ｉ２０）・・・・・制御部、（至）・・・・・・制御
牽制装置、（ｔ、）・（△ｔ）・・・・・設定時間、（
Ｎ・・・・・・検用物、ｔＢｌ・・不感帯中、＋ａ）・
・・・発信音波、ｌｂｌ・・・反射音波３゜
代理人 升坪士 ４し 村 珍The drawings illustrate an embodiment of the work box control device according to the present invention, and FIG. 1 is a side view of the bending section of the combine harvester, and FIG. Block diagram, Figure 4 (a) is an explanatory diagram showing the transmission state of ultrasonic waves, Figure 4 (b)
FIG. 2 is an explanatory diagram showing the reception state of ultrasonic waves. (6) Controlled device, (10) ... transmitter,
(1 (To)...Receiver, 114)...Case, I20)...Control unit, (To)...Control check device, (t,)...(△ t)...Setting time, (
N...Test object, tBl...In dead zone, +a)...
...Outgoing sound wave, lbl...Reflected sound wave 3゜Representative Masutsuboji 4shi Mura Chin
Claims (1)
ＶＣ設定時間（△ｔ）ずつ発信する発信器（１０１、及
び、検出物（Ａ）ＶＣより反射きれた超音波（ｂ）Ｋ対
する受信器（１賜を、７個のケース（１４１因に並設す
ると共に、前記受信器（１３１からの情報に基いて被制
御装置（５）を自動的に操作する制御１１１ＩＫ翰を設
けた作業車の制御装置であって、前記発信器（ｌＯ）か
発信状態ニなってから設定時間（△ｔ）だけ前記被制御
装置＋５１に対する自動操作を不能にする制ａ牽制装置
＋２３１を設けである事を特徴とする作業車の制御装置
。 ■ 曲記制′ａ牽制装置（四が、前記受信器（１渇の不
感帯［旧Ｂ）を前記設定時間（△（）だけ拡大する装置
である事を特徴とする特許請求の範囲第■項に記載の装
置。[Claims] ■ A transmitter (101) that transmits detected object (NVc ultrasonic wave (a)) every set time (t,) by VC set time (△t), and a detected object (A) that is reflected from VC. A receiver (1 receiver) for ultrasonic waves (b) K is installed in parallel in 7 cases (141 sources), and a controlled device (5) is automatically operated based on information from the receiver (131). A control device for a work vehicle equipped with a control 111 IK wire that disables automatic operation of the controlled device +51 for a set time (△t) after the transmitter (lO) becomes in the transmitting state. A control device for a working vehicle characterized by being equipped with a check device +231. 2. The device according to claim 2, which is a device that enlarges the image by the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56169734A JPS5870318A (en) | 1981-10-22 | 1981-10-22 | Controller for worker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56169734A JPS5870318A (en) | 1981-10-22 | 1981-10-22 | Controller for worker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5870318A true JPS5870318A (en) | 1983-04-26 |
Family
ID=15891853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56169734A Pending JPS5870318A (en) | 1981-10-22 | 1981-10-22 | Controller for worker |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5870318A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60156920U (en) * | 1984-03-29 | 1985-10-18 | 株式会社クボタ | reaping harvester |
| WO1986001906A1 (en) * | 1984-09-18 | 1986-03-27 | Agtronics Pty. Ltd. | Means for determining distance between two points |
| JP2022002478A (en) * | 2020-06-23 | 2022-01-11 | 株式会社クボタ | Harvester |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5216325A (en) * | 1975-07-30 | 1977-02-07 | Yanmar Agricult Equip | Cutterrbar adjusting device for combine |
| JPS5552381U (en) * | 1979-10-22 | 1980-04-07 |
-
1981
- 1981-10-22 JP JP56169734A patent/JPS5870318A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5216325A (en) * | 1975-07-30 | 1977-02-07 | Yanmar Agricult Equip | Cutterrbar adjusting device for combine |
| JPS5552381U (en) * | 1979-10-22 | 1980-04-07 |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60156920U (en) * | 1984-03-29 | 1985-10-18 | 株式会社クボタ | reaping harvester |
| JPH055847Y2 (en) * | 1984-03-29 | 1993-02-16 | ||
| WO1986001906A1 (en) * | 1984-09-18 | 1986-03-27 | Agtronics Pty. Ltd. | Means for determining distance between two points |
| JP2022002478A (en) * | 2020-06-23 | 2022-01-11 | 株式会社クボタ | Harvester |
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