JPH078068A - Reaping height controller for reaping harvester - Google Patents

Abstract

PURPOSE:To rapidly and precisely set control conditions according to crop conditions such as rice plant, barley or wheat. CONSTITUTION:This reaping height controller is equipped with a lifting and lowering driving means 6 for lifting, lowering and driving a reaping part relatively to a mobile machine body, a reaping height sensing means 8 for sensing the ground height of the reaping part and a crop condition selecting means (SW) for alternatively selecting plural crop conditions. A controlling means capable of controlling the operation of the lifting, lowering and driving means 6 based on the information from the reaping height sensing means 8 so as to maintain the ground height of the reaping height at a proper height selects plural control conditions preset for each of the plural crop conditions as a combination of the control sensitivity with a dead zone width based on the information from the crop condition selecting means (SW), performs the height control of the reaping part and further sets the control sensitivity by the combination of a sensed time interval of reaping height sensing with the reaping height sensing means 8 with the lifting or lowering speed of the lifting, lowering and driving means 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevating and lowering drive means for vertically moving a mowing section with respect to a traveling machine body, a mowing height detecting means for detecting a ground height of the mowing section, and a mowing height detecting means therefor. Based on the above information, the control means for controlling the operation of the elevating and lowering drive means so as to maintain the ground height of the mowing section at an appropriate height, and a cutting height control device for a mowing harvester.

[0002]

2. Description of the Related Art In the above-mentioned cutting height control device of a harvesting machine, field conditions and working conditions such as cutting speed are different depending on crop conditions such as rice, wheat and soybeans to be cut. It is necessary to set an appropriate control condition according to the difference in the required content of the cutting height control due to the difference.
By the way, the difference in the above working conditions means that, for example, rice is planted in paddy fields and the soil is in good condition in the field, but wheat and soybean are planted in fields and the soil is not in good condition in the field. Strong demand for mowing, but low demand for low mowing in wheat, and
Wheat and soybeans are cut under high-speed conditions, while rice is cut under medium-speed or lower conditions. Then, conventionally, in order to set the cutting height control condition, for example, the sampling time (detection time interval) of the cutting height detection information of the cutting height detection means
Or a dead band width in the detection operation, or an adjusting means such as a plurality of switches for individually changing and adjusting each control condition such as the ascending / descending speed of the ascending / descending driving means (hydraulic cylinder, etc.),
An operator operates these adjusting means to set control conditions.

[0003]

However, in the above-mentioned prior art, it is necessary to operate the plurality of adjusting means provided for adjusting each control condition one by one to set the control condition for the cutting height control. However, the condition setting work is troublesome and time-consuming, and there is a problem that an incorrect control condition may be set due to an operator's mistake.

The present invention has been made in view of the above circumstances, and an object thereof is to make it possible to quickly and appropriately set an appropriate control condition in accordance with each crop condition such as rice and wheat. It is to eliminate the drawbacks of the above-mentioned conventional technology.

[0005]

A first characteristic configuration of a cutting height control device for a harvesting and harvesting machine according to the present invention is provided with crop condition selecting means for selectively selecting a plurality of crop conditions. The control means selects a plurality of control conditions preset for each of the plurality of crop conditions based on the information of the crop condition selection means as a combination of the control sensitivity and the dead zone width, and the height of the mowing unit. Is configured to perform control.

The second characteristic constitution provides a preferable means of the first characteristic constitution, and the control means comprises:
The control sensitivity is set according to a combination of a detection time interval for detecting the cutting height by the cutting height detecting means and a lifting speed of the lifting driving means.

[0007]

According to the first characteristic construction of the present invention, the control means selects the crop condition selecting means from among a plurality of control conditions preset for each of the crop conditions as a combination of the control sensitivity and the dead zone width. A control condition corresponding to one crop condition selected from a plurality of crop conditions is selected, and the mowing unit is selected according to the selected control conditions, that is, the control sensitivity of the cutting height control and the dead zone width of the cutting height detection. The operation of the elevating and lowering drive means is controlled so as to maintain the height above ground to an appropriate height.

According to the second characteristic configuration, the control means sets the control sensitivity set by a combination of the detection time interval of the cutting height detection by the cutting height detection means and the ascending / descending speed of the ascending / descending driving means, and the dead zone. From the plurality of control conditions preset for each of the plurality of crop conditions as a combination with the width,
A control condition corresponding to one crop condition selected from a plurality of crop conditions by the crop condition selecting means is selected, and the selected control condition, that is, a detection time interval for cutting height detection, a dead zone width, and raising / lowering of the raising / lowering drive means. According to each speed condition, the operation of the elevating and lowering drive means is controlled so as to maintain the ground height of the mowing section at an appropriate height.

[0009]

Therefore, according to the first characteristic configuration of the present invention, the crop condition selecting means can select the crop condition which is the object to be cut by a simple operation to match the crop condition,
Appropriate control conditions are set for the control sensitivity and dead zone, so the control condition setting work is more cumbersome and time consuming than in the case of operating multiple adjustment means for each control condition one by one as in the past. There is no possibility that an inappropriate control condition is set due to a malfunction or an operator's mistake, so that a cutting height control device of a reaper harvester having excellent operability and reliability has been obtained.

According to the second characteristic configuration, the control sensitivity is appropriately set by a combination of the detection time interval of the cutting height detection by the cutting height detection means and the ascending / descending speed of the ascending / descending driving means. Suitable means for achieving the effect of the first characteristic configuration can be obtained.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an ordinary combine harvester as a harvesting machine will be described below with reference to the drawings.
As shown in FIG. 4, the ordinary combine harvester includes a pair of left and right crawler traveling devices 2L and 2R in the lower part of the traveling machine body 1, a cutting section 3 in the front, and a threshing section 4 in the upper part.

The cutting unit 3 is a rotary scraping reel 3a for scraping crops such as soybeans, a clipper-type cutting blade 3b, an auger 3c for pulling the cut crops from left and right to a substantially central portion, and conveying the crops upward. The feed conveyor 3d includes a rotary beater 3e for discharging the conveyed crop onto the supply conveyor 4a of the threshing unit 4. The rear part of the reaping unit 3 is pivotally attached to the traveling machine body 1 about the horizontal axis P1 and the front part of the reaping unit 3 is driven up and down by the reaper unit lifting cylinder 6 such as a hydraulic cylinder. It is provided to be adjustable up and down with respect to 1. In other words, the reaping unit lifting cylinder 6 constitutes a lifting drive unit that drives the reaping unit 3 up and down with respect to the traveling machine body 1.

The threshing unit 4 comprises a supply conveyor 4a, a threshing rotor 4b, a sorting device 4c and the like. The crops supplied from the supply conveyor 4a are shredded by the threshing rotor 4b and the like and sorted by the sorting device 4c. Sorted processed grain (first item)
Is recovered from the first screw auger 4d. The processed product (No. 2) mixed with immature grains and straw waste is further squeezed by the No. 2 processing rotor 4e, sorted and recovered from the No. 2 screw auger 4f.

Behind the cutting blade 3b of the mowing unit 3, the mowing unit 3 is provided.
A grounding-type sensor for detecting the ground height of the vehicle is provided. Specifically, as shown in FIGS. 5 and 6, a sled-shaped plate member 7 provided at the center in the lateral direction of the machine body, a cutting height sensor 8 including a potentiometer, and the like are provided. The front part of the plate member 7 is rotatably supported by the mowing part 3 about the horizontal axis P2, and the rear part of the plate member 7 swings up and down while being in contact with the ground, and the cutting height sensor 8 is a plate. The rotation angle of the member 7 around the horizontal axis P2 is converted into a resistance value. That is, the rotation angle of the plate member 7, that is, the ground height of the horizontal axis P2 portion can be detected from the resistance value of the cutting height sensor 8, and the ground height of the horizontal axis P2 portion is the ground level of the cutting portion 3. Since it corresponds to the ground height, the cutting height sensor 8 constitutes cutting height detection means for detecting the ground height of the mowing unit 3. In addition, in FIG.
Reference numeral 19 is a hydraulic cylinder that pulls up and holds the plate member 7 when it is not necessary to detect the height above ground.

As shown in FIG. 1, a control means 9 utilizing a microcomputer is provided, and the control means 9 includes:
The cutting height detection value hs from the cutting height sensor 8 is input. In addition, a threshing switch 20 that detects the operating state of a threshing lever (not shown) that is manually operated to turn on and off the threshing unit 4, and a mode in which the height of the mowing unit 3 is automatically controlled and manually raised and lowered. Detects the operating state of the mowing height automatic / manual switch 13 for switching to the mode and the reaper raising / lowering side of the reaper raising / lowering lever (not shown) operated to raise or lower the reaper 3 in the manual mode. A cropping section raising switch 21a and a cutting section lowering switch 21b, a cutting height adjusting volume VR for inputting a target value H0 of cutting height, and a crop for selectively selecting three crop conditions of rice, wheat and soybean. A crop changeover switch SW as condition selecting means is provided, and each signal of these switches is also input to the control means 9.

On the other hand, the control means 9 outputs a signal HUP for raising the mowing section 3 to the mowing section raising solenoid valve 15, whereby oil from the hydraulic pump 14 is sent to the mowing section elevating cylinder 6. The signal H is supplied and driven to rise, and the signal H for lowering the reaper 3 is also generated.
DN is output to the mowing section lowering solenoid valve 18, whereby the oil from the mowing section elevating cylinder 6 flows to the hydraulic pump 14 and is driven downward. The control means 9 outputs a signal HUP or a signal HDN to raise or lower the cutting unit 3 when a manual operation of the cutting raising / lowering lever is detected by the cutting unit raising switch 21a or the cutting unit lowering switch 21b. Let

With the above-mentioned input / output configuration, in the automatic mode, the control means 9 properly adjusts the ground height of the reaping section 3 based on the information of the cutting height sensor 8 (cutting height detection value hs). It is configured to control the operation of the reaper section lifting cylinder 6 so as to maintain the height (specifically, the target value H0). In addition, the control means 9 has a control sensitivity (that is, a control sensitivity when operating the reaper section lifting cylinder 6 based on the information of the cutting height detection value hs of the cutting height sensor 8),
As a combination with the dead band width (that is, the dead band width in the cutting height detection operation by the cutting height sensor 8), 3 of the rice, wheat and soybeans is used.
A plurality of preset control conditions for each crop condition are selected based on the information of the crop changeover switch SW, and the height control of the mowing unit 3 is executed. Then, the control means 9 is configured to set the control sensitivity according to a combination of the detection time interval of the cutting height detection by the cutting height sensor 8 and the ascending / descending speed of the reaper section lifting cylinder 6.

The control means 9 will be described in detail. As shown in FIG. 2, the sampling time corresponding to the detection time interval of the cutting height detection of the cutting height sensor 8 and the ascending / descending speed of the cutting section elevating cylinder 6 are shown. And the combination of the numerical values of the three control parameters of the dead band width in the detection operation of the cutting height sensor 8,
It is set as a control condition for each crop condition of rice, wheat and soybean. And regarding the sampling time,
The sensor data hs is captured every 80 ms or 40 ms, and 16 or 8 times of the captured data is averaged to obtain the cutting height detection value HS. In other words, 1280 for rice
One cutting height detection value is obtained every ms (80 ms × 16 times), one cutting height detection value is obtained every 640 ms (40 ms × 16) in wheat, and 320 ms (40 ms × 8) in soybean.
One cutting height detection value is obtained every time. Therefore, rice,
In the order of wheat and soybean, the detection time interval for cutting height detection is shortened, the cutting height detection speed is increased, and the control sensitivity of cutting height control based on this cutting height detection information is increased.

As for the ascending / descending speed, the ascending / descending solenoid valves 15 and 18 are turned on to drive the reaper section raising / lowering cylinder 6 to ascend or descend, and the solenoid valves 15 and 18 are turned off to stop the drive. Ratio of OFF time, in other words, total time of ON time and OFF time 2
The up-and-down speed is changed by changing the ratio of ON time to 00 ms (that is, the duty ratio). In other words, for rice, the ON time is 100 ms and the duty ratio is 50% (100 ms / 2
On the other hand, for wheat and soybean, the ON time is 120 ms and the duty ratio is 60% (120 ms / 20
0 ms) and the rising speed is higher than that of rice. Therefore, the control sensitivity when controlling the cutting height is higher in wheat and soybean than in rice.

The dead band width of rice and soybeans is ±
The width is as narrow as 7 mm and as wide as ± 10 mm for wheat, so that it can meet the demand for low cutting, where the cutting height is adjusted to be low when cutting rice and soybeans compared to wheat.

As mentioned above, rice, wheat, and soybean are in this order.
Alternatively, the control sensitivity of wheat and soybean is higher than that of rice because the condition of the field is poorer for wheat and soybean than for rice, and the cutting speed for wheat and soybean is faster than that for rice. This is because work is performed, and the cutting height is promptly corrected to appropriately deal with this difference in conditions.

The automatic cutting height control of the control means 9 will be described with reference to the flow chart shown in FIG. 3. The state of the threshing switch 13 is checked, and if it is in the OFF state, control is not performed. If the threshing switch 13 is in the ON state, the crop condition selected by the crop changeover switch SW is input, and a preset combination of control parameters (see FIG. 2).
Select the control parameter according to the input crop condition from (Ref.). Then, the cutting height detection value HS is obtained from the detection data hs of the cutting height sensor 8 according to the condition of the control parameter.

Next, the cutting height detection value HS thus obtained is compared with the target value H0, and the absolute value of the difference (HS-H0) between the cutting height detection value HS and the target value H0 is sufficiently small, that is, If it is within the dead zone, it is determined that the height of the mowing unit 3 above ground is substantially appropriate, and the process returns to the main routine without driving the cylinder. Difference between cutting height detection value HS and target value H0 (HS-H0)
If the cutting height detection value HS is smaller than the target value H0, the ground height of the mowing unit 3 is lower than the appropriate height, and therefore the mowing unit elevating cylinder 6 is driven to move upwards. If the detected value HS is larger than the target value H0, the ground height of the mowing unit 3 is higher than the appropriate height, and therefore the mowing unit elevating cylinder 6 is driven downward.

Another embodiment will be described below. In the above-described embodiment, the lifting drive means (mowing section lifting cylinder 6) is composed of a hydraulic cylinder, but it may be composed of, for example, an electric motor other than this.

In the above embodiment, the cutting height detecting means (cutting height sensor 8) is provided at the central portion in the lateral direction of the machine body, but other than this, for example, a pair of left and right (two locations) in the lateral direction of the machine body. It may be provided.

Further, cutting height detection means (cutting height sensor 8)
Is not limited to the grounding type sensor as in the embodiment, but a non-grounding type sensor such as an ultrasonic sensor may be used.

In the above embodiment, the crop condition selection means SW is shown to select three conditions of rice, wheat and soybean as a plurality of crop conditions. The number is not limited and can be increased or decreased as appropriate. Further, the specific means may be a plurality of push button switches arranged corresponding to the number of crop conditions, other than the rotary switch.

In the above-mentioned embodiment, the detection time interval (sensor sampling time) for the cutting height detection by the cutting height detection means (cutting height sensor 8) and the ascending / descending speed of the ascending / descending driving means (the reaper section lifting cylinder 6). Although the control sensitivity is set by the combination with the above, the control sensitivity is not limited to this. For example, the control sensitivity may be set by changing only one of the detection time interval and the ascending / descending speed, or the control sensitivity is set by combining the detection time interval and the ascending / descending speed with other control parameters. You may do it.

In the above embodiment, the present invention is applied to a normal combine harvester as a harvester, but the present invention is not limited to this, and can be naturally applied to other combine harvesters and harvesters other than combine harvesters.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram of a combine cutting height control device.

FIG. 2 is an explanatory diagram of cutting height control conditions for each crop condition.

FIG. 3 is a flowchart of control operation.

FIG. 4 is a side view of the combine (partial perspective view).

FIG. 5 is a schematic side view of cutting height detection means.

FIG. 6 is a schematic plan view of cutting height detection means.

[Explanation of symbols]

 3 Mowing Unit 1 Traveling Vehicle 6 Elevating / Driving Means 8 Cutting Height Detecting Means 9 Control Means SW Crop Condition Selecting Means

Claims (2)

[Claims] 1. A raising and lowering drive means (6) for raising and lowering a reaper (3) with respect to a traveling body (1), and the reaper (3).
Based on the information of the cutting height detecting means (8) for detecting the ground height of the above, and the cutting height detecting means (8), the ground height of the reaping section (3) is maintained at an appropriate height. A crop height control device for a harvesting harvester, comprising: a control means (9) for controlling the operation of the elevating and lowering drive means (6), the crop condition selecting device selectively selecting a plurality of crop conditions. Means (SW) is provided, and the control means (9) sets a plurality of preset control conditions for each of the plurality of crop conditions as a combination of the control sensitivity and the dead zone width, and the crop condition selection means (SW). ), And the cutting height control device of the reaper harvester configured to perform height control of the reaping section (3). 2. The control means (9) adjusts the control sensitivity by a combination of a detection time interval of the cutting height detection by the cutting height detection means (8) and a lifting speed of the lifting driving means (6). The cutting height control device for a reaper harvester according to claim 1, which is configured to be set.