JP2003274724A - Combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve problems that a delay in control is caused to result in remaining unreaped harvests when left and right heights are greatly deviated from each set height because the control speed is the same even when tilted to any position in conventional left and right height control of a reaping part and to provide a combine harvester. <P>SOLUTION: The combine harvester is equipped with a pair of left and right lifting and lowering driving means 25L and 25R designed to independently change left and right supporting heights of a machine body, car height detecting means 26L and 26R for detecting the left and right supporting heights, a machine height setting means 62 for setting the car height of the machine body, a reaping height setting means 63 for setting the height of the reaping part 4, a lifting and lowering driving means 27 for lifting and lowering the reaping part 4, means 34L and 34R for detecting left and right ground heights of the reaping part 4, a storing means 61 for storing each detected value and a controlling means 60 connected thereto for controlling the lifting and lowering driving means 25L and 25R. The combine harvester controls the reaping height. In the combine harvester, lifting and lowering control is performed so that the reaping part 4 is lowered at a high speed until ground contact members of the means for detecting the ground heights contact the ground and then at a low speed after the means for detecting the ground heights contact the ground until the set height is reached. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine harvester capable of controlling the left and right inclination angles of a machine body, in which the control speed for adjusting the inclination angle of the mowing part to the inclination of the field scene is changed according to the ground distance. And to prevent control delays and improve cutting accuracy.

[0002]

2. Description of the Related Art In a conventional combine harvester for soybeans, soybeans also produce fruits near the surface of the ground, so it is desirable to cut and harvest from soybean plants as close to the ground surface as possible. When harvesting, as shown in FIG. 15, if the left and right ridge heights are different, one row can be cut and harvested from the base of the plant, but the other will be harvested at a position above the ground. It may occur, or on the contrary, it may plunge into the soil and damage the reaping part. In addition, if the cutting part is thrust into the soil during work, soil, stones, etc. will be mixed into the harvested product, and the harvested product will be soiled.
Soil and stones are mixed with the harvested product, which deteriorates the quality and the commercial value.

In order to solve such a problem, actuators for raising and lowering the machine body are arranged on a pair of left and right traveling devices such as a crawler traveling device, and an inclination detecting means is arranged on the machine body. Further, in the mowing section, the mowing section is arranged so that it can be raised and lowered with respect to the machine body, and the mowing section can be moved up and down by an actuator for raising and lowering. Height detecting means (36L / 36R) is provided, and the inclination angle detecting means, the ground height detecting means, the machine body elevation drive actuator, and the mowing section elevation drive actuator are respectively connected to the control means, and the mowing section is provided. There is a known technique for making the field parallel to the field scene. For example, Patent 26
75220 technology.

[0004]

However, in such a combine, since the drive speed of the actuator for raising and lowering the body is constant, the drive speed is set high in the harvesting work in the field where the ground surface is uneven. That is, when the difference from the ground surface is small, chattering or overshoot easily occurs when trying to rapidly adjust to the slope of the field, and if the drive speed is set low, the difference from the ground surface When it is large, it takes time to be parallel even if the machine body lifting actuator is driven so as to be parallel to the ground surface, the followability is poor, and the work efficiency is reduced. Therefore, even at an intermediate speed between the two, when the traveling speed is high, the followability is slow, and depending on the operator, the followability is felt fast or slow. Therefore, a control device having excellent followability with respect to various conditions such as control speed and operator request has been desired.

[0005]

The problems to be solved by the present invention are as described above. Next, the means for solving the problems will be described. That is, in claim 1, a pair of left and right elevating and lowering drive means capable of independently changing the left and right support heights of the body, vehicle height detection means for detecting the left and right support heights, and vehicle height of the body are set. This machine height setting means, cutting height setting means for setting the height of the mowing section, lifting drive means for raising and lowering the mowing section, means for detecting the left and right ground height of the mowing section, and each of the above-mentioned detections. In the combine for controlling the cutting height by providing a storage means for storing a value and a control means for controlling the elevation drive means in connection with the storage means, at a height at which the grounding member of the ground height detecting means is grounded. Descend at high speed,
The ground height detecting means controls the ascending / descending at a low speed up to the set height after the ground contact.

According to a second aspect of the present invention, the reaper is lowered from the highest position to store the respective detection values of the left and right ground height detecting means in the storage means at the time of initial setting, and the value of the left or right detecting means is used as a reference. As a result, the other detection value is converted into a reference value and controlled.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Next, embodiments of the invention will be described.
FIG. 1 is a side view showing the overall structure of a combine according to the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is a cutting height (ground height).
FIG. 4 is a side view of the detecting means, FIG. 4 is a hydraulic circuit diagram, FIG. 5 is a control block diagram, FIG. 6 is a diagram showing the inside of the operating unit, FIG. 7 is a flow chart diagram at the time of traveling, and FIG. 8 is the height of the left and right ground height sensors. And FIG. 9 shows the relationship between the left and right sensor values and the other, and FIG. 9 is a flowchart for correcting the output values of the left and right ground height sensors, FIG. FIG. 11 is a diagram showing the relationship between the cutting height and the output sensor value, FIG. 12 is a flowchart diagram of the parallel-to-ground control, FIG. 13 is a diagram showing the relationship between the left and right sensor values and the output voltage, and FIG. 14 is the absolute horizontal control. It is a flowchart figure.

First, the overall structure of the combine according to the present invention will be described with reference to FIGS. A chassis 10 is mounted on the crawler type traveling device 1.
0 is equipped with a threshing unit 2, and in front of the threshing unit 2,
A mowing unit 4 is continuously provided via the feeder chamber 3, a grain tank 5 is mounted on the lateral side of the threshing unit 2, and an operating unit 6 is continuously provided on the front side of the grain tank 5. It is covered with a cabin.

Further, a rocking / sorting device 9 is disposed below the threshing section 2, and a bucket type fried grain conveyor 7 is provided from the first conveyor horizontally provided below the swinging / sorting device 9. The fine grain such as the first product sorted by the swing sorting device 9 is transported to the grain tank 5 and can be stored therein.
A screw-type carry-out conveyor is axially mounted on the lower part of the grain tank 5, and the terminal end of the carry-out conveyor is connected to the lower part of the grain discharge device 13 provided upright at the rear part thereof through a transfer case. There is.

The grain discharging device 13 is provided as a bucket type elevator with a discharging port at the upper part, and the relay conveying device 1 is provided from the discharging port.
4 is connected to the base of the conveyor type discharging device 15 through 4,
The conveyor type discharging device 15 is adapted to discharge the grains in the grain tank 5. The conveyor type discharge device 1
5 It is configured to be able to rotate up and down and turn.

A pair of left and right crawler type traveling devices 1 are disposed, and a drive sprocket 20 and a track frame 24 are driven by the power transmitted from the transmission case.
The driven sprocket 21 mounted on the rear part of the vehicle through a tension mechanism, the idler wheels 22, 22, ... Which are arranged on the track frame 24, are wound between the drive sprocket 20, the idler sprocket 21, and the idler wheel 22. It is composed of a crawler belt 23 and the like. A hydraulic cylinder 25L is provided between the left and right track frames 24 and the chassis 10 to serve as means for raising and lowering the machine body support height.
.25R, swing link mechanism, and vehicle height detection means 26L, 26
R is provided, and the hydraulic cylinders 25L and 25R are controlled by the control means 60 described later,
By extending 25R, the front and rear bell cranks constituting the swing link mechanism are rotated, the track frame 24 is moved in parallel downward, and the machine body can be raised. On the contrary, when the hydraulic cylinders 25L and 25R are contracted, the track frame 24 is moved upward and the machine body can be lowered.

The mowing section 4 has an auger case 30 arranged at the front of the feeder chamber 3, a transverse feed auger is housed in the auger case 30, and a cutting blade 3 is provided at a lower front portion of the auger case 30.
1 is arranged, the divider 32 is projected forward from both sides thereof, and the take-up reel 33 is arranged above and below the auger case 30 so that the take-up reel 33 can be moved up and down. A reel elevating cylinder 39 is provided between the auger case 30 and the take-up reel 33. Place and take in reel 33
Can be raised and lowered. Further, a hydraulic cylinder 27 is arranged between the lower portion of the feeder chamber 3 and the chassis frame 10 as an elevating and lowering driving means for the cutting unit 4. A plurality of ground height (cutting height) detecting means 34 are arranged below the cutting unit 4. In this embodiment, the ground height detecting means 34 is provided on the left and right sides.
Since the L and 34R are symmetrically arranged, one of them will be described.

The ground height detecting means 34 is an angle sensor 35 such as a potentiometer or a rotary encoder, a grounding member 36 arranged at the bottom of the auger case 30, a connecting mechanism 37 for connecting the grounding member 36 and the angle sensor 35, and the like. It is composed of The angle sensor 35 is the auger case 30.
The sensor arm 35a is fixed to the outside of the side plate and has a sensor arm 35a protruding from the angle sensor 35. A plurality of ground members 36 are provided in the left-right direction. As shown in FIG. 3, in this embodiment, the ground members 36 are symmetrically extended from the lateral center of the body to both sides.
It is composed of a wide plate-like sled member bent in an arcuate shape in a side view. The ground member 36 has a pivot shaft 40 laterally provided at the front portion thereof, is pivotally supported by a support member 41 provided at the bottom of the auger case 30, and extends rearward from the pivot shaft 40. A base portion of an arm 42 is fixed to a side end portion of the pivot shaft 40 and extends rearward, a connecting rod 43 is pivotally supported at the other end of the arm 42, and a spring 44 is attached to the connecting rod 43. It is externally fitted to reduce the shock at the time of grounding, the other end of the connecting rod 43 is connected to one end of the interlocking arm 45, and the middle part of the interlocking arm 45 is pivotally supported on the side surface of the auger case 30 by a shaft 46. The other end of the interlocking arm 45 is in contact with the sensor arm 35a of the angle sensor 35.

In this way, the cutting unit 4 is lowered,
When the ground member 36 contacts the ground surface, the sensor arm 3 is moved through the arm 42, the connecting rod 43, and the interlocking arm 45.
Since 5a is rotated and the rotation of the sensor arm 35a is proportional to the rotation of the ground portion 36, the angle of rotation is detected by the angle sensor 35 so that the ground height can be detected. A state in which the grounding portion 36 is rotated downward to the maximum is a state in which the grounding portion 36 is not in contact with the ground, and a state in which the grounding portion 36 is rotated to the minimum (a state in which it is rotated upward to the maximum) is the bottom surface of the mowing portion 4. Is in contact with.

As shown in FIG. 6, a round steering wheel type steering handle 90 is arranged in front of a seat 91 in the driving section 6, and a main transmission is provided on a side column 92 on the side of the seat 91. Lever 93 and auxiliary transmission lever 9
4, work clutch lever 70, and work clutch lever 7
Switch 71 as means for detecting ON / OFF of 0
And a cutting height setting means 51 including a volume and the like, and an automatic cutting height switch 99 for switching between automatic and manual cutting.
And a horizontal set switch 96 and a volume control unit, which is composed of a cross lever and is capable of manually changing the vehicle height of the machine body by rotating in the front-rear direction and the inclination by rotating in the left-right direction. A machine inclination angle setting means 97 and a reference height (vehicle height) setting means 50 of the machine are arranged.

Further, the main shifting lever 93 is provided with a mowing section elevating and lowering operation means 64 comprising a lever switch for elevating and lowering the mowing section 4 so as to be operable while shifting gears.
An automatic lift switch 65, which is an automatic raising operation means for automatically raising the cutting unit to a set height, and the cutting unit 4.
An automatic set switch 98 for automatically lowering the height is set, and the setting means, operation switches, etc. are connected to the control means (controller) 60 as shown in FIG. The raising position of the mowing unit by the automatic lift switch 65 can be set by, for example, positioning the mowing unit 4 at a desired height by the mowing unit elevating / lowering operation means 64 and turning on the automatic lift switch 65. Further, the lowering position can be set by lowering the mowing unit 4 to a desired height by the mowing unit elevating / lowering operation means 64 and turning on the auto set switch 98. Further, a height sensor 69 for detecting the height of the mowing unit 4 is arranged near the rotation base of the mowing unit 4, and an inclination sensor 29 for detecting the inclination of the machine body is arranged at an arbitrary place of the machine.

Further, a high position sensor 66 for detecting that the height of the mowing section 4 has been raised to the highest position is arranged at the elevating and rotating base of the mowing section 4 and is connected to the controller 60. In this embodiment, a high position sensor 66 is arranged on the upper rear part of the feeder chamber 3 on the front part of the threshing chamber, and the high position sensor 66 is turned on when the mowing unit 4 is lifted and reaches the maximum lift position.

Next, the hydraulic circuit and the control device will be described with reference to FIGS. 4 and 5. The hydraulic cylinders 25L and 25R, which serve as lifting drive means for changing the support height of the machine body, are connected to hydraulic pumps via electromagnetic switching valves 52L and 52R, respectively, and the solenoids of the electromagnetic switching valves 52L and 52R serve as control means. It is connected to the controller 60, and the electromagnetic switching valves 52L and 52R are switched by a control signal from the controller 60. This switching control will be described later.

A hydraulic cylinder 27, which serves as a lifting drive means for changing the height of the reaping section 4, is connected to a hydraulic pump via an electromagnetic valve 53, and a solenoid of the electromagnetic valve 53 is connected to a controller 60 to lift and lower the cutting unit 4. Controlled. Further, the hydraulic cylinder 39 for lifting the reel is provided with an electromagnetic valve 54.
The hydraulic cylinder 55 for raising and lowering the auger is connected to the electromagnetic valve 56, and the hydraulic motor 5 for driving the discharge conveyor is connected.
7 is connected to an electromagnetic valve 58, and the solenoid of each electromagnetic valve is connected to and controlled by a controller.

An electronic governor type diesel engine is used as the engine, and an overload can be detected by detecting a rack position by a rack position sensor 67, and an alarm device 68 is activated when the overload occurs. It is configured. The rack position sensor 67 and an alarm device 68 including a buzzer, a lamp, etc. are the controller 6
It is connected to 0, and is controlled by the alarm device 68 not to give an alarm at the time of traveling to be described later. In other words, if the load exceeds the set load during work, the engine stalls or the transmission device, the processing device, or the like is damaged, so the alarm device 68 issues an alarm, but the work clutch is turned on. At times, it is easy to overload. However, the load on the threshing device and the rocking sorting device is almost small during traveling, and the engine itself has plenty of room. It does not even cause damage. At this time, if an alarm is frequently issued, it will be unpleasant for the operator.

Therefore, in the present embodiment, when it is detected that the vehicle is in a traveling state, which will be described later, the alarm device 68 is controlled so as not to give an alarm even if an overload occurs. That is, when the cutting height detecting means 34 is not grounded, and the set time has elapsed after the elevating operation means 64 was switched to the up position, or the high position sensor 66 is turned on or the automatic lift switch 65 is turned on. At this time, the drive signal to the alarm device 68 is turned off.

During the mowing operation, when traveling to the end of the field, the mowing section elevating operation means (elevating lever) 64 is operated, and this operation signal is transmitted to the controller 60 or the automatic lift switch 65 is operated. By
The electromagnetic valve 53 is switched from the controller 60 to extend the hydraulic cylinder 27 and the cutting unit 4 is raised. When the reaper 4 is raised to the highest position, the high position sensor 66
Turns on. Then, the reaper 4 is raised and the grounding member 3
When 6L and 36R are separated from the surface of the earth and are not grounded, that is, when the cutting height detection means 34L and 34R detect the maximum value, it is determined that the vehicle is traveling, and the parallel ground control is switched to the absolute horizontal control to perform control. To do. Alternatively, the aircraft is set to the reference height from the ground parallel control.

The absolute horizontal control or the reference height of the machine is that the machine is in a state where the machine is parallel to the ground at the end of the field at the end of the field when the machine is traveling, and the machine is tilted to the outside of the turn. Since it tilts and becomes unstable, try to turn the aircraft horizontally when turning, or align the aircraft at a reference height and make it parallel to the ground, and try to turn while maintaining a stable attitude. Then, at the time of starting the cutting of the next strip, the tip is prevented from sticking to the ground when the cutting unit is lowered to perform the cutting work.

Next, the specific control will be described. First, as shown in FIG. 7, when the mowing section elevating / lowering operation means 64 is manually operated to elevate / lower the mowing section 4 (130),
It is controlled by the manual operation control mode (131). Then, due to the input from the high position sensor 66, the cutting unit 4 is not in the high position (132), and the automatic lift switch 65 is turned off.
If not (133) and the manual raising switch has not been operated for more than the set time (134), the mowing unit is in the lowered position, and the mowing work in this state is performed by the ground parallel control (135). . When the mowing unit 4 is in the high position (132), the automatic lift switch is turned on (133), or the manual raising switch is operated for a set time or longer (134), and the cutting height is When the ground members 36L and 36R of the detection means 34 are not in contact (136 and 137), absolute horizontal control or control with the machine body as the reference height is performed. The ground parallel control and the absolute horizontal control will be described later.

Angle sensor 35 for detecting the height above ground
Are arranged for each grounding member 36, and in this embodiment, two are arranged on the left and right and are respectively connected to the controller 60. The angle sensors 35L and 35R have variations in the output values of the sensors themselves, and errors occur when they are attached. Therefore, even if the ground height of the mowing unit 4 is the same on the left and right, the output values on the left and right differ, and It was sometimes impossible to keep it parallel to. Therefore, in the present invention, at the time of initial setting, the mowing unit 4 is moved up and down, and the respective measurement ranges of the left and right angle sensors 35L and 35R at that time are set as follows.
Each of them is stored in the storage means 61 provided in the controller 60, and the detected value of one of the left and right is used as a reference, and the detected value of the other is converted into a value on the reference side for ground control.

That is, the left and right angle sensors 35L.3
Each detected value (output voltage) of 5R has a characteristic as shown in FIG. 8 with respect to the height above ground. Then, the value B of either one of the left and right sensors (the right side in this embodiment) is used as a reference, and the value (A) of the other (left side) is calculated so that the mowing unit 4 matches the value B at the same height, and the control is performed. Input it. In other words, the value A of the other sensor is converted (corrected) to be the same as the value detected by the one sensor.

That is, as shown in FIG. 7, the controller 6
Control with 0. First, at the time of initial setting, with the machine body horizontal, on the horizontal ground, the mowing unit 4 is descended from the highest position and descended until the ground members 36, 36 hit the bottom plate of the auger case 30 (501). An angle sensor 35L for the same stroke of the hydraulic cylinder 27 when it descends
-Read the detection values A and B of 35R (502). The value of A for B is stored at the same height from the detected values A and B (503), and the initialization is completed (504). In the ground control during work, when B1 is used as a reference, when A1 is input from the angle sensor 35L, B1 at the value of A1 is controlled and input as the detection of the angle sensor 35L. is there. However, at the time of the initial setting, the characteristics of A and the characteristics of B can be expressed by an arithmetic expression, and the value of B can be calculated from the value of A to be used as the control input.

It is also possible to perform the processing of (503) during parallel control to the ground. That is, it is also possible to read the stored values of the detected values A and B during the ground parallel control, obtain A for B from the conversion formula, and control as the control input. In this case, the values of A and B that are not converted can be used for other control, and an operation to restore them can be omitted. In this way, the left and right sensors receive the same control input for the same stroke change, and when performing tilt control, it is possible to work while controlling the left and right heights with an accurate left and right angle. .

Next, a description will be given of the case of parallel control to the ground.
When performing the mowing work while horizontally controlling the mowing unit 4 with respect to the ground, if the field scene (ridges) is uneven, as shown in FIG. 15, the mowing unit is high in the left-right direction so as not to plunge into the ground. The ground height is controlled according to the height of the side. However, in the case of harvesting soybeans and the like, fruits are cut off because the seedlings on the lower side also bear fruit. Therefore,
By controlling the mowing part 4 to be parallel to the ground and performing the mowing operation (parallel control to the ground), the uncut part is reduced as much as possible and it is prevented from plunging into the field scene. At this time, if the height difference between the left and right is large, one of the ground members 36 on the left and right floats above the ground surface. in this case,
If the elevation control speed is the same regardless of whether the angle difference between the left and right ground contact members in the ground parallel control is large or small, the control delay occurs when the difference is large, and the uncut portion increases.

Therefore, according to the present invention, one of the left and right ground members 36 is provided.
Is grounded, but if the other grounding member floats above the ground, the actuator (hydraulic cylinder 25
The L.25R) is driven to be grounded so that the control delay is minimized.

Next, the height control of the mowing unit 4 will be described first in detail regarding the mowing control. In FIG. 11, x is the target height, x5 is the lower limit of the dead zone, x6 is the upper limit of the dead zone, x4 is the lower limit that is lower than the set height and is processed at low speed, and x7 is the upper limit. Figure 10
At, read the stored value of each sensor (210),
It is judged whether or not the conditions for shifting the cutting unit to the automatic cutting height control are satisfied (211), and if the shifting conditions are satisfied, the detection values A and B of the sensors 35L and 35R are read (212), and the above-described. As described above, the value of A is converted to the value of B (213) to correct the error (B may be converted to A).

Next, in order to move the cutting unit 4 up and down so that the lower left and right sides of the cutting unit 4 are adjusted to the target height, A and B are compared (214). If B is large (right is high If)
Adjust to A on the lower side (left side). At this time, A and x4 are compared in order to determine whether the distance is far from the target value x (215), and if lower than x4, the speed is increased at high speed (216) to reduce the control delay. When it is not lower than x4, it is compared with x5 (217), and when it is lower than x5, it is raised at a low speed (218) and is raised so that hunting or the like does not occur. When it is not lower than x5, it is compared with x6 (219), and when it is lower than x6, it is in the dead zone, so the lifting is stopped (220). When it is higher than x6, it is compared with x7 (221), and when it is lower than x7, it slows down so as not to hunt (222), x
When the value is higher than 7, the value is far from the target value, and therefore the speed is lowered at high speed so as not to cause a control delay (223).

In the step (214), A
If B is smaller and the left is lower than 230, B is compared with x4 (230). Similarly, if B is lower than x4, the speed increases rapidly (231), and if B is higher, it is compared with x5. (232), if it is lower than x5, the speed increases slowly (23
3) If it is higher, it is compared with x6 (234), and if it is lower than x6, it is located in the dead zone, and therefore the lifting is stopped (235). When it is higher than x6, it is compared with x7 (236), and when it is lower than x7, it slows down (23
7) If the value is high, the value is far from the target value, and therefore the vehicle descends at high speed (238).

Next, the ground parallel control will be described. In addition, in FIG. 11, the height at which the ground member 36 is separated from the ground surface is x1, and in FIG. 13, the left and right sensors 35L, 35
The positive low speed drive limit value (dead zone upper limit value) of the difference between the R detection values is x2, the negative low speed drive limit value (dead zone lower limit value) is x3, and the value of the angle sensor 35L that detects the left ground height Is A, and the value of the right angle sensor 35R is B.

As shown in FIG. 12, as described above, the mowing unit 4
When performing the mowing work with the lowering position, read the detection values of the left and right sensors 35L and 35R (25
0), the sensor value is converted so as to match with one of the left and right as described above (251). Next, the ground member 36L on the left side
Is higher than or equal to the height x1 which is away from the surface of the earth (252), and if the height is equal to or higher than that, it means that the ground contact member 36L floats above the surface of the earth and deviates more than the set height.
Tilt the machine to the left at high speed (253). Also, compare with the height x1 at which the right ground member 36R is separated from the ground surface (2
54) If the height is the same or higher, it means that the ground contact member 36R floats above the surface of the earth and deviates more than the set height, so the machine is tilted rightward at a high speed (255).

Next, in order to compare the left and right heights, the difference between the height A on the left side and the height B on the right side is compared with the upper dead zone value x2 (256), and the difference is more than the upper dead zone x2. If it is larger, the left side is higher, and therefore the vehicle is inclined leftward at a low speed so as to approach the set height (257). Further, the difference is compared with the lower limit x3 of the dead zone (258), and when the difference is smaller than the upper limit x3 of the dead zone, the right side is high, and therefore the vehicle is inclined rightward at a low speed so as to approach the set height (259). ). When it is smaller than the upper limit x2 and larger than the lower limit x3, the drive is stopped and the inclination is maintained because it is in the dead zone.

In this way, the left and right heights are detected by the grounding member 36, and when the mowing section 4 is far away from the set height, it is lowered at a high speed to eliminate the control delay, and then the left and right heights are compared. Then, when it is out of the dead zone, it is moved up and down at a low speed so that hunting or the like does not occur and the cutting accuracy is improved. Although the hydraulic cylinders 25L and 25R are driven to expand and contract in order to tilt the machine body to the left and right, if either one of the left and right sides is at the lower limit of descent, it cannot be lowered even if trying to lower it. It is controlled to raise. On the other hand, if it is at the upper limit, it cannot be raised even if trying to raise it, so the other side is controlled to be lowered. Therefore, as mentioned above,
Left tilt and right tilt mean that the drive of the actuator is controlled so that the side is lowered.

Next, the absolute horizontal control of the machine body will be described with reference to FIG.
More will be described. First, since manual operation is prioritized during automatic control, the machine can be tilted by rotating the manual operation lever (operating means 95) to the left or right, and the manual operation lever 95 is OFF (301), and the horizontal set switch is set. If 96 is not turned on (302), tilting is controlled by the angle set by the machine tilt setting means 97. That is, the value of the inclination angle sensor, the left and right support heights, and the set angle are read (310), and if the angle is within a predetermined angle from the set inclination angle, that is, if it is in the so-called dead zone, that angle is maintained, and it is out of the dead zone. (311), if it is lowering to the right than the set angle, the right side is raised (314), and if the left side is lowering, it is raised by the left hydraulic cylinder (31).
3). When the horizontal switch 96 is turned on (30
2) Read the value from the tilt angle sensor 29 of the airframe and the left and right support heights (304), and within the dead zone with respect to the horizontal (3
If it is 05), the angle is maintained, if it is falling to the left, it is raised to the left (306), and if it is falling to the right, it is raised to the right.

However, in the case of the absolute horizontal control or the set inclination angle control, the other side is moved up and down with reference to the left and right one side, and when the one side is positioned at the ascending or descending limit, the other side is moved. Drive up and down to be horizontal or at a set angle. Further, when the distance is larger than the horizontal or the set angle, the elevation drive speed is increased, and the elevation speed is decreased near the horizontal or the set angle so that the tilt control is accurately performed. Also, in the case of automatic horizontal control or set tilt angle control, when the aircraft is different from the horizontal or set angle, raise the left and right sides to the horizontal or set angle unless the aircraft is at the upper limit. A method can also be adopted. Alternatively, on the contrary, the descending priority method may be adopted. It is also possible to adopt fuzzy control according to a specific fuzzy rule.

As described above, in the automatic control state, when the horizontal setting switch is turned on and the mowing operation is performed, the ground height detecting means 34 detects the ground height,
Performing parallel control to the ground, harvesting at a predetermined height above the ground and harvesting. Then, in order to go around to the end of the field, the cutting unit is operated by the automatic lift switch 65, the cutting raising / lowering operation unit 64 is moved up, or
When the ascending position is detected and the ground members 36L and 36R are separated from the surface of the earth and become non-ground, absolute horizontal control is performed. Alternatively, instead of the absolute horizontal control, the hydraulic cylinders 25L and 25R are expanded / contracted so that the machine body becomes the reference height, and the machine body is elevated / lowered so that the machine body can travel in a stable state during traveling. is there.

[0041]

Since the present invention is constructed as described above, it has the following effects. That is, as in claim 1, a pair of left and right elevating and lowering driving means capable of independently changing the left and right supporting heights of the machine body, a vehicle height detecting means for detecting the left and right supporting heights, and a vehicle height of the machine body are set. This machine height setting means,
Mowing height setting means for setting the height of the mowing section, elevating and lowering driving means for elevating and lowering the mowing section, means for detecting left and right ground height of the mowing section, and storage means for storing the respective detected values, In a combine for controlling cutting height, which is connected to these to control the ascending / descending driving means, at a height at which the grounding member of the ground height detecting means touches down, it descends at a high speed, After the detection means touches the ground, it moves up and down at a set speed at a low speed.Therefore, if it is far from the set height, the cutting section can be moved to the set area quickly to reduce the control delay and improve the responsiveness. You can leave less,
Work efficiency can be improved. Further, since the speed is controlled at a low speed in the range close to the set height, hunting, overshoot, etc. can be prevented, stable control becomes possible, and working accuracy improves.

Further, as described in claim 2, the reaper is lowered from the highest position and the respective detection values of the left and right ground height detecting means are stored in the storage means at the time of initial setting. Since the other detection value is converted to the reference value based on the value and controlled, it is possible to eliminate the variation between the left and right of the detection means, eliminate the left and right height deviation, and height control accuracy. Can be higher. Further, since the left and right can be processed separately, the responsiveness becomes faster and the control delay can be almost eliminated. Also, by adjusting the strokes of the left and right grounding members from the initial setting value, it is possible to control only one of the left and right sides to a high position or a low position,
The left and right can be controlled evenly.

[Brief description of drawings]

FIG. 1 is a side view showing an overall configuration of a combine according to the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a side view of a ground height detecting means.

FIG. 4 is a hydraulic circuit diagram.

FIG. 5 is a control block diagram.

FIG. 6 is a diagram showing the inside of a driving unit.

FIG. 7 is a flow chart at the time of traveling.

FIG. 8 is a diagram showing the relationship between the heights of the left and right ground height sensors and the output values, in which one of the left and right sensor values is matched with the other.

FIG. 9 is a flow chart diagram for correcting the output values of the left and right ground height sensors.

FIG. 10 is a flowchart of a lifting drive control of a reaper.

FIG. 11 is a diagram showing a relationship between a cutting height and an output sensor value.

FIG. 12 is a flowchart of a parallel ground control.

FIG. 13 is a diagram showing a relationship between a difference between left and right sensor values and an output voltage.

FIG. 14 is a flowchart of absolute horizontal control.

FIG. 15 is a front view of a combine that shows conventional cutting.

[Explanation of symbols]

4 reaper 25L / 25R lifting drive means 26L / 26R Vehicle height detection means 27 Lifting drive means 34L / 34R Ground height detection means 60 control means 61 storage means 62 Height setting means for this machine 63 Cutting height setting means

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) A01D 69/00 302 A01D 69/00 302Z F term (reference) 2B074 AA05 AB01 AC02 AF02 CA01 CB02 CG02 DA01 DA02 DB04 DE03 EA04 EA11 EC01 FA01 FB01 FC01 FC02 2B076 AA04 CA03 CC13 DA16 EC23 ED30 2B382 GA03 GA10 GC03 GC04 GD02 HB02 HF02 HF04 HF23 LA02 LA05 LA12 LB02 LB16 LC05 LD02 LD06 MA30

Claims (2)

[Claims] 1. A pair of left and right ascending / descending driving means capable of independently changing the left and right support heights of the machine body, a vehicle height detection means for detecting the left and right support heights, and a machine height for setting the vehicle height of the machine body. Setting means, cutting height setting means for setting the height of the mowing section, elevating and lowering driving means for raising and lowering the mowing section, means for detecting left and right ground height of the mowing section, and storage of each detected value. In the combine for controlling the cutting height by providing the storage means and the control means for controlling the ascending / descending driving means connected to these, the descending speed is high at the height at which the grounding member of the ground height detecting means is grounded. However, the combine is characterized in that the ground height detecting means is controlled to move up and down at a set height at a low speed after the ground contact. 2. The reaper is lowered from the highest position to store the respective detection values of the left and right ground height detecting means in the storage means at the time of initial setting, and the value of one of the left and right detection means is used as a reference for the other. The combine according to claim 1, wherein the detected value is converted into a value on the reference side and controlled.