JPH028682B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The disclosed technology belongs to the technical field of automatically adjusting the cutting height of a pre-treatment section of an agricultural machine such as a combine harvester.

<Summary of the gist> The present invention utilizes a lever-type grain culm detection sensor that detects grain culms growing in a field and switches on/off a control clutch, and an automatic system linked to a hydraulic lifting device in a pre-processing section. This invention relates to an automatic cutting height control device for a pre-processing section of a running agricultural machine, and in particular, a wave emitting/receiving device such as an ultrasonic wave detects the height from the field in a non-contact manner using the vibration waves and calculates the average value of the height. The arithmetic processing unit determines and processes the data, and operates the hydraulic lifting device appropriately.On the other hand, in horizontal mowing, the wave control device transmits the vibration wave or to stop receiving, and
Relating to an automatic cutting height control device for a pre-processing section of a self-propelled agricultural machine, in which the field irradiation area of the vibration wave is set within the grain culm sensing area of the lever, and the field level detection and grain culm sensing are set in the same detection area and the function is stopped. It is an invention.

<Prior art> As is well known, the cutting height of the pre-processing section of agricultural machinery such as a combine harvester while in motion is conventionally determined by rotating a sensor lever extending downward from the divider of the pre-processing section along the shape of the field. The hydraulic lifting device was operated and adjusted according to the amount of rotation.

<Problems to be Solved by the Invention> Therefore, there was a problem in that the pretreatment section mechanically moved up and down in response to upheavals and depressions in the field, and a stable posture could not be maintained.

On the other hand, when working in wet fields, the lever had the disadvantage that it sank due to its own weight, making it impossible to accurately measure the cutting height.

Further, the pre-processing section is provided with a grain culm detection sensor, and the automatic steering control device turns on/off the steering clutch according to the sensing state of the grain culm by the sensor, and adjusts the posture of the pre-processing section with respect to the grain culm. It is designed to hold the body in a proper posture.

<Objective of the invention> The object of the invention is to solve the problem of cutting height control of the pre-processing section of a self-propelled agricultural machine such as a combine harvester based on the above-mentioned conventional technology, and to solve the problem of cutting height control in a stable manner regardless of dry or wet fields. To provide an automatic cutting height control device for a pre-processing section of a self-propelled agricultural machine, which is useful for the field of agricultural machinery technology application in the agricultural industry by making it possible to reliably set the cutting height in the same posture and during row cutting work. This is what I am trying to do.

<Means/effects for solving the problems> In order to solve the problems mentioned above, the structure of the present invention, which is summarized in the scope of the above claims in accordance with the above-mentioned object,
The reflection time of the vibration waves irradiated by the wave emitting/receiving device installed in the pre-processing section of the self-propelled agricultural machine is measured, and then,
The arithmetic processing unit calculates the average of the measured values via the input interface and uses it as a set value.If a variation exceeding the set value is detected, the pre-processing hydraulic lifting device is operated up and down in a predetermined manner. A lever-type grain culm sensing sensor, which is installed with a lever horizontally movable and offset left and right, activates the wave starting/stopping device for the wave generating/receiving device when the grain culm is not detected, and the function is disabled during horizontal mowing. In this way, the irradiation area of the vibration wave is set in the vicinity of the traverse area of the lever that rotates when the grain culm comes into contact with it, so that the left and right levers are simultaneously operated by the grain culm. When the grain culm detection sensor detects horizontal mowing, the wave starting/stopping device stops transmitting or receiving vibration waves to prevent erroneous measurement of the cutting height. It is something that

<Example> Next, an example of the present invention will be described below based on the drawings. In addition, in each drawing, the same reference numerals are used to describe the same parts.

Reference numeral 1 denotes a combine harvester as a self-propelled agricultural machine, and a pre-processing section 2 for two-row cutting is provided at the front of the machine, with dividers 3, 3', and 4 attached on both sides and in the middle of the lower tip. A link 8 of a hydraulic lifting device 7 to an after-treatment device 6 mounted on a rear crawler 5;
They are connected via a hydraulic cylinder 9 that engages with the link 8.

Further, the post-processing device 6 includes a pre-processing section 2 and a conveying device 1.
A threshing section 11, a grain tank 12, and the like are provided which are connected to each other via the grain tank 1.

In addition, 13 is a field and 14 is a grain culm.

As shown in FIG. 4, the divider 3 on one side is equipped with automatic cutting height control (AHC) of the pre-processing section 2.
The device 15 is attached with a well-known appropriate ultrasonic wave emitting/receiving device 16 as a wave emitting/receiving device which forms one of the gist of the present invention which will be described later.

Further, as shown in FIG. 3, a grain culm detection sensor 17 is connected to an automatic steering control device 18, which will be described later, at the lower part of the intermediate divider 4, and levers 19, 19, which can be freely pivoted back and forth to the left and right, are connected to the bottom of the intermediate divider 4. The ultrasonic wave transmitting/receiving device 16 is attached to the grain culm sensing area width ΔX in the front-rear direction of both levers 19, 19.
It is attached to the aircraft with the inside as the irradiation area.

On the other hand, an ultrasonic ON/OFF switch 21 as a wave starting/stopping device is electrically connected to the ultrasonic transmitting/receiving device 16.

In addition, 22 in Figure 4 is field 1 between the row-cut grain culms.
3. This is a recess such as a stone trace formed by submersion.

As shown in FIG. 6, the automatic steering control (ADC) device 18 has a cutting height setting volume 23 and is outputted from an input interface 24 via a central processing unit (CPU) 25. It is electrically connected to the device 26, and one of the circuits from the output device 26 is connected to the contact point of the lever 19 of the grain culm detection sensor 17 so that the hydraulic lifting device 7 can be operated in the grain culm sensing state. and the other is connected to the ultrasonic ON/OFF switch 21.
Furthermore, the levers 19, 19 of the grain culm detection sensor 17
When the contact point is short-circuited, the grain culm detection sensor 17
is a well-known running clutch 27 connected to the crawler 5.
input interface 24 to enable operation.
It is connected to the.

Further, the AHC device 15 receives the reflected signal of the vibration wave from the ultrasonic wave transmitting/receiving device 16 through an input interface 24.
The data is input to the arithmetic processing unit 28 via the central processing unit (CPU) 25, and the output device 2
6 is electrically connected to a hydraulic control device 29 linked to a hydraulic cylinder 9 of a pre-processing section hydraulic lifting device 7.

Both levers 19, 19 are connected to the grain culm 14,
In the short-circuit state caused by 14, it becomes a kind of horizontal mowing sensor,
The ultrasonic ON/OFF switch 21 is turned off.

In the above, combine harvester 1 is used for row cutting work.
When the cutting height is set in advance to a predetermined value using the setting volume 23 and the machine is run in the field 13, the ultrasonic wave emitted by the ultrasonic transmitting/receiving device 16 of the automatic cutting height control (AHC) device 15 is transmitted. The ultrasonic wave is reflected and received from the field 13, and the received signal is sent to the input interface 24. From the input interface 24, the central processing unit (CPU) 25 measures the reflection time of the ultrasonic wave and also processes the ultrasonic waves into the arithmetic processing unit. At 28, for example, if the average value exceeds a variation amount set separately from the set value three times, a predetermined operating current is supplied from the output device 26 to the hydraulic control device 29.

Then, the hydraulic cylinder 9 is actuated by pressure oil supplied from the hydraulic control device 29, and the cutting height of the pre-processing section 2 is adjusted to the set position.

Additionally, as shown in FIG. 4, an ultrasonic transmitting and receiving device 16
The ultrasonic wave passes over the recess 22 formed in the field 13, and the ultrasonic wave irradiates a wide area of the field 13 to measure the average value, so the cutting height is not measured from the depth.

Therefore, during horizontal mowing work, the grain culms 14,
The planting row gap of 14 is generally narrower than that of row mowing, and the level of the field 13 does not change much, and the levers 19, 19 provided on the divider 4 almost simultaneously sense the grain culms 14, 14. .

Then, both levers 19, 19 operate as a type of horizontal mowing sensor, and the central processing unit (CPU) 25 transmits ultrasonic waves from the output device 26 based on the signal.
The ON/OFF switch 21 is energized to cut off the output of ultrasonic waves.

Therefore, as shown in FIG.
4 planting rows are misaligned and divider 4 is one grain culm 14
Even if the stock price of
Height is not detected due to this action.

This is true even when there is a lodging grain culm.

In this way, in the case of horizontal mowing, field level detection is stopped and mowing height adjustment is not required.

Of course, even in horizontal cutting, the lever 19
It goes without saying that if it is in the sensing state, the ultrasonic waves operate normally, and if the field level is detected where the average exceeds the set fluctuation amount, the hydraulic lifting device 7 is raised or lowered.

It goes without saying that the embodiments of the present invention are not limited to the above-mentioned embodiments. For example, the wave emitting/receiving device may not only be provided in the grain culm sensing area behind the grain culm sensing sensor, but also be capable of transmitting electromagnetic waves. Various modes can be adopted, such as a transmitting/receiving device, a wave control device controlling the receiving side, or operating to weaken the output of the vibration wave.

<Effects of the Invention> As described above, according to the present invention, in the automatic cutting height control device of the pre-processing section of a self-propelled agricultural machine during row mowing work, the wave emitting/receiving device basically controls the field and the pre-processing section using its vibration waves. The cutting height is measured in a non-contact manner and the hydraulic lifting device in the pre-treatment section is activated, so the cutting height can be adjusted from above the water surface when working in wet fields, and from the surface of the field when working in wet fields, regardless of the soft or hard surface of the field. The excellent effect of being able to accurately calculate the results is achieved.

In addition, during horizontal mowing work, the wave starting/stopping device connected to the wave emitting/receiving device is linked to the horizontal mowing detection operation of the grain culm sensing sensor, and when the grain culm is not detected, the output of the wave emitting/receiving device or the reflected wave is The receiving input is stopped and no measurements are taken, so there is no erroneous measurement due to the narrow grain culm gap, the cutting height is maintained at the position immediately before the grain culm detection, and therefore the handling depth during threshing is always the same. It has the excellent effect of being able to easily carry out stable harvesting work without causing any unhandled grain or shedding.

At this time, since the vibration wave irradiation area of the wave emitting/receiving device is located within the sensing area of the grain culm detection sensor, even if the grain culm is lodging, or if the divider breaks into the grain culm, etc. As long as the grain culm detection sensor detects grain culms outside of normal detection, the cutting height will not be measured. An excellent effect is achieved in that a uniquely stable posture is maintained.

Therefore, when the grain culm is detected, the cutting height adjustment is not stopped, but the field is widely sensed to cover a wide sensing area, and as long as this is done, the set cutting height is maintained regardless of the footprints in the field, etc. There is an effect that it can be done.

[Brief explanation of drawings]

The drawings are explanatory diagrams of one embodiment of the present invention, and FIGS. 1 and 2 are schematic plan side views of a combine harvester, FIG. 3 is an enlarged schematic plan view of section A in FIG. 1, and FIG. 4 is an enlarged schematic plan view of section A in FIG. 5 is a front view of the wave control device in operation in FIG. 4, and FIG. 6 is a circuit diagram. 29... Steering clutch, 18... Automatic steering control device, 17... Grain culm sensing sensor, 2... Pre-processing section, 7... Hydraulic lifting device, 24... Input interface, 15... Cutting height Automatic control device, 16...
Wave generation/reception device, 21... Wave generation/stop device, 28...
...Arithmetic processing unit.

Claims (1)

[Claims] 1. In an automatic cutting height control device of a pre-processing section of a self-propelled agricultural machine that is linked to a grain culm detection sensor of an automatic steering control device connected to a steering clutch and a lifting device of a pre-processing section, a wave emitting/receiving device and a A wave starting/stopping device for the wave generating/receiving device is provided, and the wave generating/receiving device is electrically connected to the hydraulic lifting device of the pre-processing section and to the arithmetic processing unit via an input interface, while the wave generating/receiving device The start/stop device is electrically connected to the grain culm detection sensor, and in horizontal mowing, the lever-type grain culm detection sensor, which is equipped with a lever that can freely rotate in the horizontal direction, is activated when the grain culm is not detected, and the function is stopped. The irradiation area of the wave emitting/receiving device is located within an area corresponding to the grain culm sensing area of the longitudinal rotation range of the lever of the grain culm sensing sensor. Automatic cutting height control device for the pre-treatment section of self-propelled agricultural machinery.