JPS59232019A - Reaming harvester - Google Patents
Reaming harvesterInfo
- Publication number
- JPS59232019A JPS59232019A JP58106507A JP10650783A JPS59232019A JP S59232019 A JPS59232019 A JP S59232019A JP 58106507 A JP58106507 A JP 58106507A JP 10650783 A JP10650783 A JP 10650783A JP S59232019 A JPS59232019 A JP S59232019A
- Authority
- JP
- Japan
- Prior art keywords
- height
- reaping
- ground
- ultrasonic sensor
- range
- 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
- 238000005259 measurement Methods 0.000 claims description 4
- 238000003306 harvesting Methods 0.000 claims description 2
- 210000004761 scalp Anatomy 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 6
- 238000009333 weeding Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Landscapes
- Harvester Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (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】
本発明は刈取収穫機１．詳しくは、刈高さを制御するた
めに刈取部の対地高さを検出する超音波センサーを設け
である刈取収穫機に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a reaping harvester 1. Specifically, the present invention relates to a reaping harvester that is equipped with an ultrasonic sensor that detects the height of the reaping section above the ground in order to control the reaping height.
従来より、この種の刈取収穫機にあっては、超音波セン
サーによる対地高さ検出結果に基いて刈取部を昇降する
ことによって刈高さを所定の高さで行なうべく刈高さ制
御が行なわれているが、従来構成のものにおいては以下
に示すような不都合があった。Conventionally, in this type of reaping/harvesting machine, cutting height has been controlled to keep the cutting height at a predetermined height by raising and lowering the cutting section based on the height detected above the ground by an ultrasonic sensor. However, the conventional configuration has the following disadvantages.
即ち、超音波センサーの対地高さ検出結果に基いて直ち
に刈取部を昇降操作すべく制御していたので、不必要に
刈取装置が昇降していわゆるハンチングを起こしたり、
誤まって刈取部を下降させすぎて地面に突込ませてしま
う場合が有った。In other words, since the reaping unit was controlled to be raised and lowered immediately based on the height detected by the ultrasonic sensor, the reaping unit was raised and lowered unnecessarily, causing so-called hunting.
There were cases in which the cutting section was lowered too far by mistake, causing it to fall into the ground.
本発明は上記実情に鑑みてなされたものであって、その
目的は適切な制御応答で刈高さ制御を行うことが可能な
手段を備えた刈取収穫機を提供することにある。The present invention has been made in view of the above-mentioned circumstances, and its object is to provide a reaping harvester equipped with a means capable of controlling the cutting height with an appropriate control response.
上記目的を達成すべく、本発明による刈取部Ｔ４Ｉｉｊ
Ａは、前記超音波センサーによって検出された対地高さ
が基準値を含む所定高さ範囲外そある回数を計測し、こ
の回数の計測結果に基いて前記検出対地高さが所定高さ
範皿外となる頭皮を検出する手段を設けである点に特徴
を有する。In order to achieve the above object, the reaping part T4Iij according to the present invention
A measures the number of times that the height above the ground detected by the ultrasonic sensor falls outside the predetermined height range including the reference value, and based on the measurement result of this number of times, the detected height above the ground falls within the predetermined height range. It is characterized in that it is provided with means for detecting the outer scalp.
上記特徴故に、下記の如き優れた効果が発揮されるに至
った。Because of the above characteristics, the following excellent effects have been achieved.
即ち、検出対地高さが基準の高さ範囲からはずれる傾度
を検出する手段を設けであるので、その傾度検出結果に
基いて、刈取部の昇降速度を変更することによって自動
的に適切な制御応答となるようにする午とが可能になっ
た。In other words, since a means is provided to detect an inclination in which the detected height above the ground deviates from the standard height range, an appropriate control response is automatically made by changing the elevation speed of the reaping section based on the inclination detection result. It is now possible to make the day look like this.
以下、本発明の実施例を図面に基いて説明する。Embodiments of the present invention will be described below with reference to the drawings.
第１図は、刈取収穫機としてのコンバインの前部の刈取
部ｔｌ＋の側面図であって、刈取部１１１は、引起し装
置（２）、刈取装置ＩＢ１％４を送装置（４）を有し、
その引起装置（２）の前方には分草具（５）・・を設け
、この分草具（５）下端先端部が刈取装置ｉｌ＋の支持
フレーム（６）によシ固着されている。 そして、発信
器（７）と受信器（８）から成る超音波センサー（９）
が、穀稈による誤動作を起さない様に、前記分草具（５
）の背後で、支持フレーム（６）の上方に配置された状
患で、取付けてあり、この超音波センサー（３）による
対地高さ検出結果に基いて油圧シリンダ（１０）を作動
させて、横軸芯（Ｐ１周りに前記刈取部Ｉｌ＋を揺動す
ることによって刈高さを調節すべく構成しである。FIG. 1 is a side view of the front reaping part tl+ of a combine as a reaping harvester, and the reaping part 111 has a pulling device (2), a reaping device IB1%4 and a feeding device (4). death,
A weeding tool (5) is provided in front of the pulling device (2), and the lower tip of the weeding tool (5) is fixed to the support frame (6) of the reaping device il+. and an ultrasonic sensor (9) consisting of a transmitter (7) and a receiver (8).
However, in order to prevent malfunctions caused by grain culms, the weeding tool (5
), the hydraulic cylinder (10) is operated based on the height above the ground detected by the ultrasonic sensor (3). The cutting height is adjusted by swinging the cutting section Il+ around the horizontal axis (P1).
以下、前記超音波センサー（９）による対地高さ検出結
果に基いて刈高さを制御する制御システムについて説明
する。Hereinafter, a control system for controlling the cutting height based on the detection result of the height above the ground by the ultrasonic sensor (9) will be explained.
第２図に示すように、制御システムはマイクロコンピュ
ータを主要部とする制御装置（川に前記超音波センサー
（３）の受信器（８）からの信号を入力するとともに、
刈高さく対地高さ）を予め設定する手段としてのポテン
ショメータ（１２）の出力信号を入力してあり、前記受
信器＋８１ Ｋよる検出対地高さく６）がポテンショメ
ータ（１匂によって設定した基準値（〜となるように、
電磁パルプ轢を駆動して、前記油圧シリンダ（１０）に
よって刈取部（１）を自動的に昇降操作すべく構成しで
ある。As shown in FIG. 2, the control system includes a control device (main part of which is a microcomputer) that inputs signals from the receiver (8) of the ultrasonic sensor (3) and
The output signal of the potentiometer (12) as a means for presetting the cutting height (height above the ground) is input, and the detection height above the ground (6) by the receiver +81 so that ~
The electromagnetic pulp track is driven and the reaping section (1) is automatically raised and lowered by the hydraulic cylinder (10).
そして、前記制御装置（川によって、検出対地高さく６
）が基準値（Ｈ［ｌ）を含む所定高さ範囲（±Δ）以外
である回数（１）および範囲内である回数（ｊ）をその
対地高さ計測毎にカウントして、この回数（ｉ）、（ｊ
）の合計（ｉ十ｊ）が所定回数（５）に達し、かつ、こ
の合計（１＋ｊ ）に所定比手吹）を乗算した値が、所
定範囲（±Δ）外であった回数（１）以下であった場合
、すなわち、対地高さく６）が基準範囲（±ｌ）以外で
あった頻度が所定以上に々つた場合は、警報装置０４）
を作動させて刈高さの設定が良くないことを作業者に知
らせるとともに、前記刈取部（１）を下降させる方向へ
の油圧シリンダ（ｌＯ）の作動速度を上昇方向における
よりも遅く寿るように電磁パルプ（１ｍの駆動ゲインを
自動的に低下させるのである。And the control device (by the river, the detection height above the ground is 6
) is outside the predetermined height range (±Δ) including the reference value (H[l) (1) and the number of times (j) is within the range is counted for each height above ground measurement, and this number ( i), (j
) has reached the predetermined number of times (5), and the number of times (1) that the value obtained by multiplying this total (1+j) by the predetermined ratio (hand blowing) is outside the predetermined range (±Δ) If the height above the ground 6) is outside the standard range (±l), the alarm device 04)
to inform the operator that the mowing height setting is not good, and to make the operating speed of the hydraulic cylinder (lO) in the direction of lowering the reaping part (1) slower than in the upward direction. The electromagnetic pulp (1m) drive gain is automatically reduced.
従って、刈取部１１１の昇降制御を行なうに、設定した
刈高さが適切Ｔあるかどうかをチェックするとともに、
適切な制御応答となるように刈取部１１１の下降速度が
自動的に青金側に設定されることとなり、誤まって刈取
部（１）を地面に突込ませるというような不都合を未然
に防止できるに至った。Therefore, when controlling the elevation of the reaping section 111, it is checked whether the set cutting height is at an appropriate T.
The descending speed of the reaping section 111 is automatically set to the blue/gold side so as to provide an appropriate control response, and it is possible to prevent inconveniences such as accidentally pushing the reaping section (1) into the ground. reached.
尚、第３図は以上説明した制御装置（１１）の動作を示
すフローチャートである。Incidentally, FIG. 3 is a flowchart showing the operation of the control device (11) described above.
又、前記検出対地高さく６）が所定範囲（±Δ）外とな
る傾度が所定以上になったことを検出した場（６）−
合に、基準値（■を自動的に高くするように構成しても
よい。In addition, when it is detected that the slope of the detected height above the ground 6) is outside the predetermined range (±Δ) is greater than or equal to a predetermined value (6)-, the reference value (■) is automatically increased. may be configured.
更に又、前記傾度をチェックするに、所定時間毎の前記
基準範囲（±Δ）外となる対地高さく６）の検出回数（
量）のカウント値が所定回数以上であるかどうかによっ
て行なうべく構成してもよい。Furthermore, when checking the above-mentioned inclination, the number of detections (6) of heights above the ground that are outside the above-mentioned reference range (±Δ) every predetermined time
It may be configured to perform this depending on whether the count value of the amount) is equal to or greater than a predetermined number of times.
図面は本発明に係る刈取収穫機の実施例を示し、第１図
はコンバインの前部側面図、第２図は制御システムのブ
ロック図、そして、＄３図は制御装置の動作を示す７０
−チャートである。
１１１・・・・・・刈取部−（釦・・・・・・超音波セ
ンサー、（６）・・・・・・検出対地高さ、（八）・・
・・・・基準値、（±Δ）・・・・・・所定高さ範囲、
（ｉ）・・・・・・計測回数。The drawings show an embodiment of the reaping harvester according to the present invention, in which FIG. 1 is a front side view of the combine, FIG. 2 is a block diagram of the control system, and FIG. 3 shows the operation of the control device.
-It is a chart. 111... Reaping part - (button... Ultrasonic sensor, (6)... Detection height above ground, (8)...
...Reference value, (±Δ) ...Specified height range,
(i)...Number of measurements.
Claims (1)
する超音波センサー（９）を設けである刈取収穫機であ
って、前記超音波センサー（９）によって検出された対
地高さく自）が基準値（樽を含む所定高さ範囲（士〕）
外である回数（ｉ）を計測し、この回数（ｉ）の計測結
果に基いて、前記検出対地高さく旬が所定高さ範囲（士
））外となる頭皮を検出する手段を設けである刈取収穫
機。The reaping/harvesting machine is equipped with an ultrasonic sensor (9) for detecting the height of the reaping section 111 above the ground in order to control the cutting height, and the height above the ground detected by the ultrasonic sensor (9) is ) is the standard value (predetermined height range including barrels)
means for measuring the number of times (i) in which the height is outside the range, and detecting a scalp where the detected height above the ground is outside a predetermined height range (2) based on the measurement result of the number of times (i). Reaping harvester.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58106507A JPS59232019A (en) | 1983-06-13 | 1983-06-13 | Reaming harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58106507A JPS59232019A (en) | 1983-06-13 | 1983-06-13 | Reaming harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59232019A true JPS59232019A (en) | 1984-12-26 |
| JPH0363330B2 JPH0363330B2 (en) | 1991-09-30 |
Family
ID=14435338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58106507A Granted JPS59232019A (en) | 1983-06-13 | 1983-06-13 | Reaming harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59232019A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53138920U (en) * | 1977-04-06 | 1978-11-02 | ||
| JPS5758125A (en) * | 1980-09-26 | 1982-04-07 | Canon Inc | Electrooptic device and its sealing method |
| JPS5882315A (en) * | 1981-11-10 | 1983-05-17 | Kubota Ltd | Controller for reaping height of reaping and harvesting machine |
| JPS5899801A (en) * | 1981-12-09 | 1983-06-14 | Yanmar Agricult Equip Co Ltd | Automatic controller of agricultural machine |
-
1983
- 1983-06-13 JP JP58106507A patent/JPS59232019A/en active Granted
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53138920U (en) * | 1977-04-06 | 1978-11-02 | ||
| JPS5758125A (en) * | 1980-09-26 | 1982-04-07 | Canon Inc | Electrooptic device and its sealing method |
| JPS5882315A (en) * | 1981-11-10 | 1983-05-17 | Kubota Ltd | Controller for reaping height of reaping and harvesting machine |
| JPS5899801A (en) * | 1981-12-09 | 1983-06-14 | Yanmar Agricult Equip Co Ltd | Automatic controller of agricultural machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0363330B2 (en) | 1991-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2479803A1 (en) | Harvesting machine comprising a monitoring device for monitoring the sharpness of cutting blades and/or their distance to a counter-cutter | |
| EP0260113A2 (en) | Ultrasonic height control system | |
| EP0735384B1 (en) | Adaptive thresholding for metal detection | |
| US3906710A (en) | Height-of-cut control for a crop harvesting implement | |
| JPS59232019A (en) | Reaming harvester | |
| JPS59232021A (en) | Reaming harvester | |
| JPS602113A (en) | Reamine harvester | |
| JPS6134971Y2 (en) | ||
| JP2855680B2 (en) | Combine cutting height control device | |
| JPS6087706A (en) | Reaming harvester | |
| JP2955441B2 (en) | Cutting height control device of reaper and harvester | |
| JP2955439B2 (en) | Cutting height control device of reaper and harvester | |
| JPH0233333B2 (en) | ||
| JPS59120019A (en) | Reaming harvester | |
| JP2955440B2 (en) | Cutting height control device of reaper and harvester | |
| JPH0215884B2 (en) | ||
| JPS59232020A (en) | Reaming harvester | |
| JPH0127625Y2 (en) | ||
| JPS6134972Y2 (en) | ||
| JPS6211019A (en) | Method for controlling reaping height in combine | |
| JPH0123241Y2 (en) | ||
| JPS5942813A (en) | Reaming harvester | |
| JPS61199714A (en) | Reaping height automatic controller of harvester | |
| JPS6087708A (en) | Reaming harvester | |
| JPS6091914A (en) | Reaming harvester |