JPS60110205A - Reaming harvester - Google Patents
Reaming harvesterInfo
- Publication number
- JPS60110205A JPS60110205A JP58216834A JP21683483A JPS60110205A JP S60110205 A JPS60110205 A JP S60110205A JP 58216834 A JP58216834 A JP 58216834A JP 21683483 A JP21683483 A JP 21683483A JP S60110205 A JPS60110205 A JP S60110205A
- Authority
- JP
- Japan
- Prior art keywords
- ground
- height
- reaping
- detected
- value
- 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
- 238000005520 cutting process Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 238000003306 harvesting Methods 0.000 claims description 6
- 230000007257 malfunction Effects 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000010902 straw Substances 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、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センサーを有し、こ
のセンサーによる対地高さ検出結果に基りて前ε刈取部
を自動的に昇降制御する手段を備えた刈取収穫機に関す
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a reaping harvester, and more specifically, in order to control the reaping height, it has a sensor that detects the height of the reaping section above the ground, and the result of the height above the ground detected by this sensor is The present invention relates to a reaping harvester equipped with means for automatically controlling the elevation of the front epsilon reaping section.
従来よジ、この種の刈取収穫機にあっては、超音波セン
サー等の対地高さ検出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
蕎さで自助的に行なうべく刈高さ制御が行なわれている
。 そして、設定された刈高さ、すなわち制御目標に対
する制御応答のハンチングを防止するため、あるいは刈
取部を昇降操作するアクチュエータの作＃頂度を少なく
して刈取部の昇降がなめらかに行なわれるようにするた
めに検出対地高さを平均化した検出対地高さに基いて刈
高さ制御を行なうことが考えられているが、この手段に
おいても十分でなく、以下に示すような不都合が有った
。Conventionally, in this type of reaping and harvesting machine, the cutting height is adjusted to a predetermined height by raising and lowering the reaping section based on the height above the ground detected by a height above the ground sensor such as an ultrasonic sensor. The cutting height is controlled to help the cutting process. In order to prevent hunting in the control response to the set mowing height, that is, the control target, or to reduce the height of operation of the actuator that raises and lowers the reaping section, the reaping section is raised and lowered smoothly. In order to achieve this, it has been considered to control the cutting height based on the detected height above the ground obtained by averaging the detected heights above the ground, but this method is not sufficient and has the following disadvantages. .
即ち、一般的にｌ＋ｎｌ場の地面状態は平坦では無く、
かつ、雑牟や徘ワラ等が有るために、対地高さを検出す
るセンサーの誤動作はある程度避けられないものであっ
た。 従って、検出対地高さ全てを平均化するとセンサ
ーの誤動作による異常値によって平均化された検出対地
高さの精度が悪くなるために、制御目標値に対する対地
高さの制御精度を良くできなかった。That is, in general, the ground state of the l+nl field is not flat;
In addition, due to the presence of debris and stray straw, malfunction of the sensor that detects the height above the ground was unavoidable to some extent. Therefore, when all detected heights above the ground are averaged, the accuracy of the averaged detected heights above the ground deteriorates due to abnormal values due to malfunction of the sensor, making it impossible to improve the control precision of the height above the ground relative to the control target value.
本発明は、上記実情を鑑みてなされたものであって、そ
の目的は、センサーの誤前作による検出対地高さの異常
値に影響されること無く刈高さ制御が可能な制御手段を
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 purpose is to provide a control means capable of controlling the mowing height without being affected by an abnormal value of the detected height above the ground due to an erroneous previous operation of the sensor. Our purpose is to provide reaping and harvesting machines.
上記目的を達成すべく、本発明による刈取収穫機は、前
記刈取部を昇降制御するに、所定個数の検出対地高さの
平均値に基いてＨＪ御するとともに、前記検出対地高さ
解析定値以上の大きな異常値が検出された場合−ｆｉｌ
ｌ記検出対地高さの平均値を算出するためのデータから
自動的に除外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/harvesting machine according to the present invention controls the elevation of the reaping section based on the average value of a predetermined number of detected heights above the ground, and also performs HJ control based on the average value of a predetermined number of detected heights above the ground. If a large abnormal value of -fil
The present invention is characterized in that it is provided with means for automatically excluding it from the data for calculating the average value of the detected heights above the ground.
上記特徴改に下記の即き優れた効果が発揮されるに至っ
た。The improvements in the above characteristics have led to the following excellent effects being exhibited.
即ち、Ｊ！４常に大きな検出値を自動的に除外して検出
対地高さを平均化することができるので算出された平均
値と実際の刈取部の対地筒さの平均値との一致性が艮く
なり、従って、制御目標値に対する刈取部の対地高さの
維持追従性が大幅に良くなるに至った。That is, J! 4. Since the detected height above the ground can be averaged by automatically excluding large detection values, the consistency between the calculated average value and the average value of the actual height of the cutting section above the ground becomes poor. Therefore, the ability to maintain and follow the height of the cutting section from the ground to the control target value has been significantly improved.
以下、本発明の実施例を図面に基いて説明するＯ
第１図は、刈取収穫機としてのコンバインの１１１都の
刈取部０）の側面図であって、刈取部＋１１は、引起し
装置（２）、刈取装置（３）、搬送装置（４）を有し、
その引起装置（２）の１１ｊ方には分草共（５）・・を
設け、この分草共１５１下端先端部が刈取装置ｆｉ＋の
支持フレーム（６）Ｋよ！ｌｌ同着されている。 そし
て、発憤器（７）と交信器（８）から成る対地高さ検出
センサーとしての超音波センサー（９１が、穀稈による
誤動作を起さない様に、前記分草共（５）の背後で、支
持７レーム（６）の上方に配置された状態で、取付けて
あり、この超音波センサー（９）による対地高さ検出結
果に基いて油圧シリング叫を作動させて、横軸芯（Ｐ）
周りに前記刈取部（１）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０尚、前記超音波センナ−（
９２は、第２図にも示すように、平面視形状が先細り状
で、かつ、横側壁を備えたカバー（Ａ）で上部および側
部全体を覆ってあり、刈取部に尋人される穀稈や雑草等
によって誤動作しないようにしである。Hereinafter, embodiments of the present invention will be explained based on the drawings. Fig. 1 is a side view of a reaping section 0) of a combine harvester as a reaping and harvesting machine. 2), has a reaping device (3) and a conveying device (4),
A weed divider (5) is provided on the 11j side of the pulling device (2), and the lower tip of this weed divider 151 is connected to the support frame (6) K of the reaping device fi+! It's been tied. Then, an ultrasonic sensor (91) as a height detection sensor above the ground, consisting of a generator (7) and a communication device (8), is placed behind the weeder (5) to prevent malfunction caused by the grain culms. , is installed above the support 7 frame (6), and the horizontal axis center (P) is activated by operating the hydraulic pressure based on the height detection result from the ground by this ultrasonic sensor (9).
The cutting height is adjusted by swinging the cutting section (1) around the ultrasonic sensor (1).
As shown in FIG. 2, the 92 has a tapered shape in plan view and has a cover (A) with lateral walls covering the entire upper and side portions, so that the grains to be harvested in the reaping section are covered with a cover (A). This is to prevent malfunctions due to culms, weeds, etc.
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１νり御システムについて
説明する。Hereinafter, a 1v control system that controls the cutting height based on the height detected above the ground by the ultrasonic sensor (9) will be described.
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１ｌｌ）に１１１記超音波
センサー（９）の受信器（８）からの信＋ｊ（ｌｌ−人
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リカの出力４Ｎ号を入力し
てあ夛、前記受信器（８〕による検出対地高さくＨ）の
所定個数（ｎ）の平均値（Ｈｍ）がポテンショメータａ
匂によって設定した基準目標値・（Ｈ’ｏ）となるよう
に、電磁バルブｔｅ８１を駆動して、前記油圧シリンダ
（ｌＯ）によって刈取部０＋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 sends signals from the receiver (8) of the ultrasonic sensor (9) 111 to the control device (1ll), which has a microcomputer as its main part, by human power, and also by controlling the cutting height. The average value (Hm) of the predetermined number (n) of the height above the ground detected by the receiver (8) is input by inputting the output number 4N of the potentiometer as a means for presetting the height above the ground (height above the ground). is potentiometer a
The electromagnetic valve te81 is driven to automatically raise and lower the reaping section 0+ using the hydraulic cylinder (lO) so that the reference target value (H'o) set by the smell is achieved.
前記検出対地高さＣＨ）は、第８図に示すように１前記
受信器（８）より対地高さくＨ）に対応した時間（１）
のｌＩ！ｉｌＩが” Ｌ″′で、かつ、所定周期（τ）
で繰返し出力されるパルス信号（Ｄ）として制御装置（
ｌｌに入力されるものであって、＋１＋記時間（１）を
計測することによって対地高さくＨ）を所定周期（τ）
で繰返しサンプリングするように構成しである。The detected height above the ground CH) is the time (1) corresponding to the height above the ground H) higher than the receiver (8) as shown in FIG.
No lI! ilI is "L"' and the predetermined period (τ)
The control device (
By measuring +1 + time (1), the height above ground (H) is set at a predetermined period (τ).
It is configured to sample repeatedly.
そしてｓ ＭＩＪ記制ａ装置（ｌｌ内に設けである前記
時間（【）をカクントするシリンダ（Ｃ＋） （図示せ
ず）のカクント可能な最大値を１ｒＪ記所定周期（τ）
以内の所定店地高さくＨｅ ）に対応する所定値（【ｅ
）に予め設定しておくとともに、このシリンダ（ｃｌ）
がオーバーフローするか否かに基いて検出対地高さくＨ
）が異常値か正常値かを判別するのである。Then, the maximum value that can be calculated by the cylinder (C+) (not shown) that calculates the above-mentioned time ([), which is provided in the MIJ record a device (ll), is 1rJ specified period (τ).
A predetermined value ([e
) in advance, and this cylinder (cl)
The detection height above the ground is determined based on whether or not overflow occurs.
) to determine whether it is an abnormal value or a normal value.
次に、ＮＩＪ記カクンタ（Ｃ＋）がオーバーフローを発
生しなかった場合は、このシリンダ（’ｃ Ｉ ）のカ
クント碩すなわち検出対地高さくＨＪを平均化すべく、
所定個数（ｎ）に達するまで制御装置＋１１）内に設け
であるメモリ（図示せず）に順次記憶するとともに、平
均値（Ｉｍ） ′ｆｒ、算出して、この平均値（Ｈｍ）
とｉＱ記ポテンショメータリ乃によって設定された制御
目標値（Ｈｏ）とが誤容差内に一致するように刈取郡＋
１１を昇降操作すべく電磁ノ（ルプｔｅ３１を駆動する
のである。Next, if the NIJ kakunta (C+) does not cause overflow, in order to average the kakunto of this cylinder ('c I), that is, the detection height HJ,
The average value (Im) 'fr is sequentially stored in a memory (not shown) provided in the control device + 11) until a predetermined number (n) is reached, and the average value (Hm) is calculated.
The control target value (Ho) set by the iQ potentiometer matches within the error difference.
The electromagnetic nozzle 31 is driven to raise and lower the 11.
一方、ｌ）＋］記カクンタ（ＣＩ ）がオーバー７０−
して、検出対地高さくＨ）が異常であることを検出する
と、このカクンタ（Ｃ１）と同様に制御装置１ｌｌ）内
に設けである発生異常値の個数（Ｅ）をカウントするカ
クンタ（Ｃ２）のカウント値（Ｅ）を増加させるととも
に、そのカウント値（ＩＪが所定値（Ｅｏ）以上である
か否かをチェックする。On the other hand, Kakunta (CI) is over 70-
When it is detected that the detected height above the ground (H) is abnormal, a kakunta (C2) is provided in the control device (1ll) similar to this kakunta (C1) to count the number of abnormal values (E) that have occurred. The count value (E) is increased, and it is checked whether the count value (IJ) is greater than or equal to a predetermined value (Eo).
そして、０１Ｊ記力クント値（Ｅｌが所定値（ＥＯ）以
上に達した場合は異常発生を示すフラグを“ｌ”にセッ
トして、警報装置０４Ｉを起動し、作業者にセンサー（
９）が誤動作していることを報知するのである。Then, when the 01J recorded value (El) reaches a predetermined value (EO) or higher, a flag indicating the occurrence of an abnormality is set to "l", the alarm device 04I is activated, and the worker is instructed to use the sensor (
9) is malfunctioning.
尚、前記発生異常値の個＆（Ｅ）をカウントするカクン
タ（Ｃ２）は、前記検出対地高さく【Ｉ）が所定値（Ｈ
ｅ）より小さい場合すなわち正常値の場合はそのカウン
ト値を減算して、連続してセンサー（９）が誤動作する
回数が増加しないと警報装置Ｈが起動されないようにす
るとともに、このカウント値（Ｅ）が負になった場合は
前記カクンタ（Ｃ２）および異常７ラグを９０”にリセ
ットして、センサー（９）の動作が正常に復帰した場合
は自動的に警報出力を停止すべく構成しである。In addition, the kakunta (C2) for counting the number of occurrence abnormal values &(E) is determined when the height above the detection ground [I] is a predetermined value (H
e) If it is smaller than the normal value, the count value is subtracted so that the alarm device H will not be activated unless the number of consecutive malfunctions of the sensor (9) increases, and this count value (E ) becomes negative, the above-mentioned kakunta (C2) and abnormality 7 lag are reset to 90", and when the operation of sensor (9) returns to normal, the alarm output is automatically stopped. be.
なお、第４図に以上説明した制御装置の前作を示すフロ
ーチャートである。Note that FIG. 4 is a flowchart showing a previous version of the control device described above.
４ 図面の簡即、なｉｔ男
図面は不発りＪＫ係る刈収収Ｐｔ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、第３図は対地高さ検出信号の説明図、そ
して、第４図は制御装置の動作を示すフローチャートで
ある。4 The simple drawings of the drawings show an example of the harvesting and collecting Pt machine related to the misfired JK, Figure 1 is a front side view of the combine harvester, Figure 2 is a block diagram of the control system, and Figure 3 is a block diagram of the control system. is an explanatory diagram of the height above ground detection signal, and FIG. 4 is a flowchart showing the operation of the control device.
ｉｌ＋・・・・・・刈収部、（９）・・・・・・対地高
さ検出センチ−１（１１）・・・・・・検出対地高さ、
（Ｈｍ片・・・・・−’ＩＬｊＱ値、（Ｈｅ、）・・・
・・・所定値、（ｎｌ・・・・・・所定個数。il+...Reaping section, (9)...Height above ground detection cm-1 (11)...Detection height above ground,
(Hm piece...-'ILjQ value, (He,)...
...Predetermined value, (nl...predetermined number.
代理人 弁理士 北 村 修 ｆ、４４ 図Agent: Patent Attorney Osamu Kitamura f, 44 figure
Claims (1)
検出するセンサー（９）を有し、このセンサー（９）に
よる対地高さ検゛出結果に基いて前記刈取部口】を自動
的に昇降制御す６手段を備えた刈取収穫機であって、前
記刈取部＋１１を昇降制御するに、所定個数（ｎ）の検
出対地高さくＨ）の平均値（Ｈｍ）に基いて制御すると
ともに、前記検出対地高さく）Ｉ）が所定値（Ｈｅ）以
上の大きな異常値が検出された場合は前記検出対地高さ
くＨ）の平均値（Ｈｍ）を算出するためのデータから自
動的に除外する手段を設けであることを特徴とする刈取
収穫機。In order to control the cutting height, there is a sensor (9) that detects the height of the cutting i 111 above the ground, and based on the detection result of the height above the ground by this sensor (9), the cutting section opening is automatically adjusted. The reaping/harvesting machine is equipped with six means for vertically controlling the vertical movement of the reaping section, and the vertical movement of the reaping section +11 is controlled based on the average value (Hm) of the detected heights above the ground (Hm) of a predetermined number (n). At the same time, if a large abnormal value of the detected height above the ground (I) is detected that is greater than a predetermined value (He), the average value (Hm) of the detected height above the ground (H) is automatically calculated from the data. A reaping harvester characterized by being provided with a means for excluding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58216834A JPS60110205A (en) | 1983-11-17 | 1983-11-17 | Reaming harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58216834A JPS60110205A (en) | 1983-11-17 | 1983-11-17 | Reaming harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60110205A true JPS60110205A (en) | 1985-06-15 |
| JPH0233336B2 JPH0233336B2 (en) | 1990-07-26 |
Family
ID=16694623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58216834A Granted JPS60110205A (en) | 1983-11-17 | 1983-11-17 | Reaming harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60110205A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5746149A (en) * | 1980-09-05 | 1982-03-16 | Iseki & Co Ltd | Measuring method for humidity in drier |
| JPS5882314A (en) * | 1981-11-10 | 1983-05-17 | Kubota Ltd | Controller for reaping height of reaping and harvesting machine |
| JPS5931619A (en) * | 1982-08-14 | 1984-02-20 | 株式会社クボタ | Reaming harvester |
-
1983
- 1983-11-17 JP JP58216834A patent/JPS60110205A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5746149A (en) * | 1980-09-05 | 1982-03-16 | Iseki & Co Ltd | Measuring method for humidity in drier |
| JPS5882314A (en) * | 1981-11-10 | 1983-05-17 | Kubota Ltd | Controller for reaping height of reaping and harvesting machine |
| JPS5931619A (en) * | 1982-08-14 | 1984-02-20 | 株式会社クボタ | Reaming harvester |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0233336B2 (en) | 1990-07-26 |
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