JPS59116008A - Detector for height of working car to ground - Google Patents
Detector for height of working car to groundInfo
- Publication number
- JPS59116008A JPS59116008A JP23014382A JP23014382A JPS59116008A JP S59116008 A JPS59116008 A JP S59116008A JP 23014382 A JP23014382 A JP 23014382A JP 23014382 A JP23014382 A JP 23014382A JP S59116008 A JPS59116008 A JP S59116008A
- Authority
- JP
- Japan
- Prior art keywords
- ground
- height
- ultrasonic waves
- transmitters
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Harvester Elements (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、地面に向けて超音波を間欠的に投射する発信
器、及び、前記投射さｈた超音波のうち地面発射したも
のを受ける受信器の夫々を、対車体昇降操作自在な作業
装置に、一体昇降自在に付設すると共に、前記発信器か
ら投射された超音波がｍ［記斐信器に到達するまでの時
間を前記作業装置の対地高さと判別して処理する処ψ
理回路を設けた作業車の対地高さ検出装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention includes a transmitter that intermittently projects ultrasonic waves toward the ground, and a receiver that receives those of the projected ultrasonic waves that are emitted from the ground. A device is attached to a work device whose vehicle body can be freely raised and lowered so as to be able to be raised and lowered, and the ultrasonic wave projected from the transmitter is determined to have the time taken to reach the transmitter by determining the height above the ground of the work device. The present invention relates to a ground height detection device for a working vehicle that is provided with a processing circuit for processing.
かかる対地高さ検出装置は、例えばコンバインにおける
刈取部の対地高さを適正高さに維持させるように、手動
あるいけ自動で刈取部を昇降させる際において、その対
地高さを検出させることに使用されることになるが、従
来では、発信器及び受信器の夫々を７個づつ設け、単に
、地面の一箇所に対する高さを検出させるようにしてい
るため、地面に局部的な凹部が存在すると、対地高さが
高く誤検出される虞れがあシ、その結果、刈取部全必要
以上に下降させて地面と接当する状態がもたらされるも
のとなる不都合がおった。Such a height above the ground detection device is used to detect the height above the ground when manually or automatically raising and lowering the reaping section of a combine harvester, for example, in order to maintain the height above the ground of the reaping section at an appropriate height. However, conventionally, seven transmitters and seven receivers are provided to simply detect the height relative to one point on the ground, so if there is a local depression in the ground, However, the height above the ground is high and there is a risk of erroneous detection, resulting in the inconvenience that the entire reaping section is lowered more than necessary and comes into contact with the ground.
本発明は、上記突状に鑑みて為されたものであって、そ
の目的は、地面に存在する局部的な凹部のため罠誤検出
が生じることを抑制できるようにし、しかも、そのため
の構成の簡略化を図る点にある。The present invention has been made in view of the above-mentioned protrusions, and an object of the present invention is to suppress false detection of traps due to localized depressions existing on the ground, and to provide a structure for this purpose. The point is to simplify it.
本発明の特徴構成は、冒記作業車の対地高さ検出装置に
おいて、前記受信器の７個に対して、前記発信器の複数
個を、同高さから同時に異なる箇所に向けて超音波を投
射するように設ける、あるいは、前記発信器の７個に対
して、前記受信器の複数個を、異なる箇所で地面反射し
た超音波を同高さで各別に受けるように設けると共に、
前記処理回路を、前記複数個の発信器団から各別投射さ
れた超音波のうち先に受信器に到達するものの時間、あ
るいは、超音波が前記複数個の受信器に到達する時間の
うちの最も短い側の時間を対地高さと判別して処理する
ように構成した点にある。The characteristic configuration of the present invention is that in the above-mentioned height above ground detection device for a work vehicle, a plurality of the transmitters are directed to different locations from the same height at the same time with respect to the seven receivers to emit ultrasonic waves. A plurality of receivers are provided for each of the seven transmitters to receive ultrasonic waves reflected from the ground at different locations at the same height, and
The processing circuit is configured to calculate the time of the ultrasonic waves separately projected from the plurality of transmitter groups to reach the receiver first, or the time of the ultrasonic waves to reach the plurality of receivers. The feature is that the shortest time is determined to be the height above the ground and processed.
次に、本発明特徴構成による作用効果を述べる。Next, the effects of the characteristic configuration of the present invention will be described.
すなわち、異なる箇所の対地高さを検出できるようにし
、しかも、それによって検出されることになる複数種類
の検出情報のうち対地高さが低い側のものを実際の対地
高さとして使用するようにしてちるから、地面に局部的
に凹部が存在しても、それに拘らず適正な検出を行なわ
せることができる。In other words, it is possible to detect the height above the ground at different locations, and among the multiple types of detection information that will be detected, the one with the lowest height above the ground is used as the actual height above the ground. Therefore, even if there is a local depression on the ground, proper detection can be performed regardless of the presence of a depression locally.
しかも、複数種類の検出を行なわせるようにするに、受
信器を一個で、あるいは、発信器を７個で行なうように
しであるから、例えば、受信器と発信器との組を複数個
設けて行なうようにする忙較べて、構成部品点数の増加
を抑制した簡素な構造で上述の利点を得ることができる
のであり、もって、実用上の利点大な作業車の対地高さ
検出装置を得るに至った。Moreover, in order to perform multiple types of detection, one receiver or seven transmitters are used, so for example, multiple receiver and transmitter pairs are provided. Compared to conventional methods, the above-mentioned advantages can be obtained with a simple structure that suppresses an increase in the number of component parts.Therefore, it is possible to obtain a height-above-the-ground detection device for a work vehicle that has great practical advantages. It's arrived.
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図に示すように、クローラ走行装置（１）、脱穀装
置（２）、運転席（３１等を備えた車体の前部罠、圃場
に植えられた茎稈を引起す装置（４）、引起し茎稈の株
元を切断する刈刃（５）、メ（１取茎稈を後方へ搬送す
る装置（６）等を備えた刈取処理部囚を、流体圧シリン
ダ（７）によって横軸芯ｆＸｉ周りで昇降操作可能に設
け、もって、コンバインを構成しである。As shown in Fig. 1, a crawler traveling device (1), a threshing device (2), a trap at the front of the vehicle body equipped with a driver's seat (31, etc.), a device (4) for raising stems planted in the field, The reaping processing unit, which is equipped with a cutting blade (5) for cutting the base of the raised stem culm, a device (6) for transporting one stem culm backwards, etc., is moved horizontally by a hydraulic cylinder (7). It is provided so that it can be raised and lowered around the core fXi, thereby configuring a combine harvester.
第１図及び第２図に示すように、地面に向けて超音波を
間欠的に投射する発信器（８）の２個を、同高さから同
時に車体積山方向において異なる箇所に向けて超音波を
投射する状態で前記引起し装置（４）の下端側前部に取
付けると共に、ｍＩ記両発信器＋８＋ 、 ＋８１から
投射さり、た超音波のうち地面反射したものを受ける７
個の受信器（９）を、前記両全信器＋８＋ 、 ＋８１
の間に、位置させる状態で前記引起し装置（４）の下端
側前部例取付けである。As shown in Figures 1 and 2, two transmitters (8) that intermittently project ultrasonic waves toward the ground are used to simultaneously transmit ultrasonic waves from the same height to different locations in the direction of the vehicle's heap. It is attached to the front part of the lower end side of the triggering device (4) in a state where it is projected, and receives the ultrasonic waves reflected from the ground among the ultrasonic waves projected from the mI transmitters +8+ and +81.
receivers (9), and the two transmitters +8+, +81
This is an example of attaching the raising device (4) to the front lower end side in a state in which it is positioned between the two ends.
そして、前記引起し装置（４）の下端側後部に、前記発
信器ｔ８＋ 、 ［８１に動作指令用の電圧信号を与え
る発信回路やＡｉｌ記受借受信器）からの電圧信号を増
巾する回路等分備えた駆動部（１０１を設けると共に、
その駆動部（１０からの情報に基づいて、前記発信器＋
８１ 、 ＋８１から各別投射された超音波のうち先に
ｍＪ記受信器（９）に到達するものの時間を対地高さと
判別して、刈取部囚の対地高さを設定範囲内に維持させ
るように前記流体圧シリンダ（７）を作動させる処理回
路を設け、もって、車体のピツチング等に拘らず刈取部
（３）の対地高さ、つまり、刈高さを設定範囲内に維持
させることができるようにし、しかも、地面に局部的に
四部が存在しても、それに拘らず刈高さを適正高さに維
持させることができるように？ｊＮ成しである。At the rear of the lower end of the triggering device (4), there is provided a circuit for amplifying the voltage signal from the transmitter t8+, [a transmitting circuit that provides a voltage signal for operation command to 81 and an Ail recording/borrowing receiver]. In addition to providing a drive unit (101) having equal parts,
Based on information from its drive unit (10), the transmitter +
Among the ultrasonic waves separately projected from 81 and +81, the time of the one that reaches the mJ receiver (9) first is determined as the height above the ground, and the height above the ground of the reaping section prisoner is maintained within the set range. A processing circuit is provided to operate the fluid pressure cylinder (7), thereby making it possible to maintain the height of the cutting section (3) above the ground, that is, the cutting height within a set range, regardless of pitching of the vehicle body, etc. Is it possible to maintain the cutting height at an appropriate height even if there are four parts locally on the ground? jN is completed.
前記処理回路について説明すれば、第３図に示すよって
、刈取部囚の対地高さを電圧値として設定する設定器囲
、前記駆動部α■からの信号に基づいてメ１１取部（３
）の実際の対地高さを電圧値に変換する回路０２％ｍ＋
記設定器α１）及び変換回路は夫々からの信号を比較し
てメ１１取部囚の対地高さが適正範囲内にあるか否か全
判別する回路（１３、及び、その判別回路（１３ｉの判
別結果に基づいて前記シリンダ（７）の電磁式制御弁圓
全通軍、操作する弁駆動回路（１５）を設けである。To explain the processing circuit, as shown in FIG.
) circuit that converts the actual height above the ground into a voltage value 02%m+
The setting device α1) and the conversion circuit compare the signals from each, and the circuit (13) and its discrimination circuit (13i) determine whether or not the height of the prisoner from the ground is within the appropriate range. A valve drive circuit (15) is provided to operate the electromagnetic control valve of the cylinder (7) based on the determination result.
次証、別の実施例を説明する。The following example describes another embodiment.
第４図は、前記発信器（８）の７個を設けると共に、受
信器（９）の２個を、車体横巾方向において異なる箇所
で地面反射した超音波を同高さで各別忙受けるように設
けたものである。 そして、この場合、処理回路を構成
するに、超音波が両受信器（９）、（９）に到達する時
間のうちの最も短い側のものを対地高さと判別するよう
に構成することになる。Fig. 4 shows that seven transmitters (8) are provided, and two receivers (9) receive ultrasonic waves reflected from the ground at different locations in the width direction of the vehicle, each at the same height. It was set up like this. In this case, the processing circuit is configured to determine the shortest time for the ultrasonic waves to reach both receivers (9), (9) as the height above the ground. .
本発明を実施するに、１つの受信器１９）に対して発信
器＋８） を３個以上に設けてもよく、又、７つの発信
器（８）に対して受信器＋９１’（ｒＪ個以上設けても
よく、そして、異なる複数個所の対地高さを検出させる
に、車体横巾方向における複数箇所を検出させる他、車
体前後方向における複数箇所全検出させるようにｌ〜で
もよい。In carrying out the present invention, three or more transmitters +8) may be provided for one receiver 19), or receivers +91' (rJ or more) may be provided for seven transmitters (8). In addition, in order to detect the height above the ground at a plurality of different locations, in addition to detecting a plurality of locations in the width direction of the vehicle body, it is also possible to detect all of the multiple locations in the longitudinal direction of the vehicle body.
又、実施例では、処理回路によって昇降用駆動装置とし
ての流体圧シリンダ（７）全作動させるものを例示した
が、例えば、検出対地高さを発光ダイオード等を用いて
数字によって表示する装置を作動させるようにしたり、
あるいは、対地高さ全合成育成によって発生する装置全
作動させるようにして、作業者に知らせるようにしても
よい。In addition, in the embodiment, the processing circuit fully operates the fluid pressure cylinder (7) as a lifting drive device, but for example, a device that displays the detected height above the ground numerically using a light emitting diode or the like may be operated. or
Alternatively, the operator may be notified by activating all the devices generated by the total height above ground synthetic growth.
又、本発明の対地高さ検出装置は、コンバインの刈取部
囚の対地高さを検出することに使用する他、乗用型耕耘
機における耕耘装置の対地高さや、乗用型田植機におけ
る苗植付装置の対地高さを検出することに使用してもよ
い。In addition, the height-to-ground detection device of the present invention can be used to detect the height to the ground of the reaping section of a combine harvester, as well as to detect the height to the ground of a tilling device in a riding-type tiller, and for planting seedlings in a riding-type rice transplanter. It may also be used to detect the height of the device above the ground.
図面は本発明【係る作業車の対地高さ検出装置の実施例
を例示し、第１図はコンバイン前部の側面図、第２図は
発信器夫々の装着部を示す概略正面図、第８図はブロッ
ク図、第４図は別の実施例の概略正面図である。
（７）・・・・・・作業装置昇降用駆動装置、（８）・
・・・・・発信器、（９）・・・・・・受信器、囚・・
・・・・作業装置。
３９The drawings illustrate an embodiment of the height-above-the-ground detection device for a work vehicle according to the present invention; FIG. 1 is a side view of the front part of a combine harvester, FIG. The figure is a block diagram, and FIG. 4 is a schematic front view of another embodiment. (7)... Drive device for lifting and lowering work equipment, (8).
...transmitter, (9) ...receiver, prisoner...
...Working equipment. 39
Claims (1)
）、及び、前記投射された超音波のうち地面発射したも
のを受ける受信器（９）の夫々を、対車体昇降操作自在
な作業装置囚に、一体昇降自在に付設すると共に、前記
発信器（８）から投射された超音波が前記受信器１９）
に到達するまでの時間を前記作業装置囚の対地高さと判
別して処理する処理回路を設けた作業車の対地高さ検出
装置であって、前記受信器（９）の７個に対して、前記
発信器（８）の複数個を、同高さから同時に異なる箇所
に向けて超音波を投射するように設ける、あるいは、ｍ
前記発信器（８）の７個に対して、前記受信器（９）の
複数個を、異なる箇所で地面反射した超音波を同高さで
各別に受けるように設けると共に１前記処理回路を、前
記複数個の発信器（８）から各別投射された超音波のう
ち先に受信器（９）に到達するものの時間、あるいは、
超音波が前記複数個の受信器（９）に到達する時間のう
ちの最も短い側の時間全対地高さと判別して処理するよ
うに構成しであることを特徴とする作業車の対地高さ検
出装置。 ■ 前記処理回路が、表示装置を作動させるものである
ことを特徴とする特許請求の範囲第０項に記載の作業車
の対地高さ検出装置。 ■ 前記処理回路が、前記作業装置（５）の対地高さを
設定範囲内に維持させるように、作業装置昇降用駆動装
置（７）を作動させるものであることを特徴とする特許
請求の範囲第０項に記載の作業車の対地高さ検出装置。[Claims] ■ A transmitter (8
) and a receiver (9) that receives the ground-emitted ultrasonic waves are attached to a working device that can be freely raised and lowered relative to the vehicle, and the transmitter ( The ultrasonic waves projected from 8) are transmitted to the receiver 19).
A ground height detecting device for a working vehicle, which is provided with a processing circuit for determining and processing the time taken to reach the above ground height as the height above the ground of the working device prisoner, and for seven of the receivers (9), A plurality of the transmitters (8) are provided so as to simultaneously project ultrasonic waves to different locations from the same height, or
A plurality of receivers (9) are provided for each of the seven transmitters (8) so as to receive ultrasonic waves reflected from the ground at different locations at the same height, and one processing circuit is provided. The time of the ultrasonic wave separately projected from the plurality of transmitters (8) that reaches the receiver (9) first, or
The height above the ground of the work vehicle is characterized in that the height above the ground of the work vehicle is configured to be processed by determining the shortest time of the time for the ultrasonic wave to reach the plurality of receivers (9) as the total height above the ground. Detection device. (2) The ground height detection device for a work vehicle according to claim 0, wherein the processing circuit operates a display device. (1) The processing circuit operates a drive device for lifting and lowering the working device (7) so as to maintain the height of the working device (5) above the ground within a set range. The ground height detection device for a work vehicle according to item 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23014382A JPS59116008A (en) | 1982-12-22 | 1982-12-22 | Detector for height of working car to ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23014382A JPS59116008A (en) | 1982-12-22 | 1982-12-22 | Detector for height of working car to ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59116008A true JPS59116008A (en) | 1984-07-04 |
| JPH0116124B2 JPH0116124B2 (en) | 1989-03-23 |
Family
ID=16903255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23014382A Granted JPS59116008A (en) | 1982-12-22 | 1982-12-22 | Detector for height of working car to ground |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59116008A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6474910A (en) * | 1987-09-14 | 1989-03-20 | Seirei Ind | Apparatus for controlling height of ground-working vehicle |
| EP0613612A1 (en) * | 1993-03-05 | 1994-09-07 | Franz Kleine Maschinenfabrik GmbH & Co. | Agricultural machine, in particular a beet harvester |
| FR2859874A1 (en) * | 2003-09-19 | 2005-03-25 | Moreau Jean Ets | Agricultural machine for collecting e.g. beets, has ultrasonic sensors at height above ground to provide signal representing height of support beam from ground, and hydraulic cylinders to automatically adjust height |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4889277U (en) * | 1972-01-29 | 1973-10-27 | ||
| JPS49117061U (en) * | 1973-01-31 | 1974-10-05 |
-
1982
- 1982-12-22 JP JP23014382A patent/JPS59116008A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4889277U (en) * | 1972-01-29 | 1973-10-27 | ||
| JPS49117061U (en) * | 1973-01-31 | 1974-10-05 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6474910A (en) * | 1987-09-14 | 1989-03-20 | Seirei Ind | Apparatus for controlling height of ground-working vehicle |
| EP0613612A1 (en) * | 1993-03-05 | 1994-09-07 | Franz Kleine Maschinenfabrik GmbH & Co. | Agricultural machine, in particular a beet harvester |
| FR2859874A1 (en) * | 2003-09-19 | 2005-03-25 | Moreau Jean Ets | Agricultural machine for collecting e.g. beets, has ultrasonic sensors at height above ground to provide signal representing height of support beam from ground, and hydraulic cylinders to automatically adjust height |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0116124B2 (en) | 1989-03-23 |
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| JPH0224414Y2 (en) |