JPH0558685B2 - - Google Patents

Description

[Detailed Description of the Invention] (a) Industrial Application Field The present invention relates to a cutting height control device for a combine harvester, and more specifically, to a transmitter that transmits waves such as ultrasonic waves to the reaping section toward the field. The present invention relates to a mowing height control device equipped with a non-contact mowing height sensor including a receiver for receiving reflected waves of the mowing height sensor and a receiver for receiving reflected waves thereof.

(B) Prior art Generally, the cutting height control device of a combine harvester has a sensor arm hanging down from the lower surface of the cutting, and the height of the cutting part is detected by bringing the arm into contact with the field surface. , instead of the contact type sensor,
A cutting height control device has been devised that uses a non-contact sensor that uses waves such as ultrasonic waves to detect the height of the cutting section above the ground by measuring the transmission time from transmission to reception. .

The cutting height control device is configured such that the waves periodically and repeatedly transmitted from the transmitter are reflected from the field, and the average value of a predetermined number of heights from the ground detected based on the reflected waves is the cutting height. The electromagnetic valve is operated to operate the hydraulic cylinder device so that the reference target value set by a target setting device or the like is achieved, and the reaping section is automatically controlled to move up and down.

(C) Problems to be Solved by the Invention However, the above-mentioned conventional cutting height control device does not allow cutting during the cutting operation if the standard target value set by the cutting height target setting device is not appropriate. The lower part of the reaping section often enters the field, and as a result, there is a risk of problems such as mud clogging in the main part of the reaping section and deformation or damage of the divider, reaping frame, etc.

Therefore, the present invention is configured such that when the reaping section enters the field a predetermined number of times, the reaping section is forcibly raised and held at the raised position for a predetermined time,
It is an object of the present invention to provide a cutting height control device that eliminates the above-mentioned problems.

(d) Means for solving the problem The present invention has been made in view of the above-mentioned circumstances. For example, as shown in Fig. 1 and Fig. 2 a and b, In a combine harvester 1 equipped with a non-contact type mowing height sensor 23 consisting of a transmitter 21 that transmits waves such as ultrasonic waves towards the target, and a receiver 22 that receives the reflected waves, the transmitter 21 and the receiver 22 are placed across the frame 15 located at the bottom, and when the number of times the wave from the transmitter 21 does not reach the receiver 22 (X) reaches a predetermined number n, the reaping unit 7 is forcibly raised. The present invention is characterized in that it is provided with forcible raising means 43 to do so, and also provided with raised position holding means 44 which holds the reaping part 7 in the raised position for a predetermined time _T1 from the time of raising.

(E) Effect Based on the above-mentioned configuration, when the reaping unit 7, which is controlled to comply with a preset reference target value, enters the field scene G when performing reaping work by automatically controlling the elevation and lowering of the reaping unit 7, the reaping height sensor The transmitted wave from the transmitter 21 of 23 is blocked by the frame 15 etc. and transmitted to the receiver 22.
does not reach. Then, the number of interruptions, that is, the number of times the reaping section 7 enters the field scene X is counted, and when the number of times reaches a predetermined number n, the reaping section 7 is forcibly raised based on a signal from the forced lifting means 43, and Based on the signal from the raised position holding means 44, the raised position is held for a predetermined time _T1 .

(f) Examples Examples of the present invention will be described below with reference to the drawings.

As shown in FIG. 9, the combine 1 has a traveling body 3 supported by a crawler 2.
A driver's seat 5, a grain tank 6, and an engine are arranged on one side of the aircraft body 3 from the front. Furthermore, a reaping section 7 is supported in front of the traveling machine body 3 so as to be able to rise and fall freely, and a large number of dividers 9 are arranged in the reaping section 7 over almost the entire width of the machine body, and cutting blades and the like are installed. has been done. Further, in front of the driver's seat 5, an operating console 10 is installed, and a monolever 11 is provided on the operating console 10 to protrude upward. Spare side clutch levers 12, 12 are installed.

On the other hand, in the reaping section 7, as shown in FIGS. It is fixed and supported by. Further, a grain culm lifting device 16 is installed at the rear of the divider 9 and is fixed and supported by a support frame 17 fixed to the reaping frame 15, and the reaping frame 15 has a tip portion 15a that is light. It is bent so as to be substantially parallel to the field scene G together with the support rod 13. Furthermore, above the intermediate portion 15b of the frame 15 extending rearward at a predetermined angle with the field scene G, a partition plate 19 extending rearward of the support frame 17 is erected and fixed, and the upper end of the partition plate 19 A cutting height sensor 23 containing a transmitter 21 and a receiver 22 is installed in a case 20. The mowing height sensor 23 has its transmitter 21 and receiver 22 arranged side by side in the left-right direction of the machine so as to be perpendicular to the mowing frame 15, so that, as shown in FIGS. 3a and 3b, When the tip 15a of the reaping frame 15 does not contact the field G at all or contacts it lightly, the wave transmitted from the transmitter 21 passes through one side of the intermediate section 15b of the reaping frame 15, as shown by arrow A. It is reflected to the field scene G, and further passes through the other side of the intermediate portion 15b and is received by the receiver 22. Furthermore, as shown in FIGS. 4a and 4b, when the tip 15a enters the field scene G, the wave emitted from the transmitter 21 will move into the field as well as the tip 15a, as shown by the arrow B. The intermediate portion 15b, which has slightly bitten into the surface G, obstructs reflection from the field, so that it is not received by the receiver 22. Therefore, by counting the number of times the reaping frame 15 is not received by the receiver 22, it is possible to detect the number of times the reaping frame 15 enters the field scene. Further, as shown in FIGS. 2a and 2b, a direction sensor 27 having a sensor bar 26 is installed on a support plate 25 bolted to the rear end of the partition plate 19.

As shown in FIG. 1, a cutting height target setter 29 is connected to the A/D1 port of the CPU (microcomputer) 30, and a cutting height pilot lamp 31 is connected to the OUT1, and a cutting height target setter 29 is connected to the A/D1 port of the CPU (microcomputer) 30. are connected to manual cutting height switches 32u and 32d, respectively. In addition, the transmitter 21 of the cutting height sensor 23 is connected to the OUT2 port of the CPU 30 via the ultrasonic transmitter 33 and the drive circuit 35, and the receiver 22 is connected to the amplification detection circuit 36 and the pulse is shaped into a digital pulse. level conversion circuit 37
Connected to IN3 port via. Furthermore, a vehicle speed detection potentiometer 39 linked to the non-permanent speed change operation lever, a grain culm sensor 40 for detecting the presence or absence of reaped grain culms, and a reaping clutch switch 41 are provided.
It is connected to each port of CPU30, and
Each solenoid 42d, 4 of the cutting height control valve 42
2u is connected to OUT3 and OUT4 of the CPU 30. Furthermore, the CPU 30 is provided with a forced raising means 43 and a raised position holding means 44, and the forced raising means 43 controls the number of times the waves emitted from the transmitter 21 to the receiver 22 are interrupted, that is, the number of times the reaping section 7 enters the field scene. The number of times X is counted, and when the number of times reaches a predetermined number n, a signal is issued to the solenoid 42u to forcibly raise the reaping section 7. Furthermore, the reaping section 7 operates based on the signal from the raised position holding means 44,
It is held at the raised position for a predetermined time T ₁ from the time of raising. Further, the cutting height control valve 42 receives pressure oil from the hydraulic pump P and is in communication with a hydraulic cylinder device 45 for raising and lowering the cutting section.

Next, the operation of this embodiment will be explained based on the time chart shown in FIG. 5, the flowcharts shown in FIGS. 6a, b, and c, and FIG. 7.

The horizontal axis in FIG. 5 shows the passage of time, and on the vertical axis, C shows the timing pulse emitted from the CPU 30, D shows the transmission wave emitted from the driver 35, and E shows the transmission wave emitted from the receiver 22. Indicates the received wave received, and F is from the cutting height sensor 23.
The distance pulse sent to the CPU 30 is shown, A shows the interrupt timing of the interrupt, B shows the interrupt timing of the interrupt, and C shows the forced rise signal issued from the forced rise means 43.

Then, when the distance data, that is, the distance pulse is inputted to the CPU 30 from the cutting height sensor 23, a.
An interrupt is generated in the CPU 30, and first, the number of times X of data cancellation that occurs when a wave does not reach the receiver 22 from the transmitter 21 is cleared to 0 (S1). Then, each distance data is read based on receiving the reflected wave of the transmitted wave c emitted toward the field scene G from the transmitter 21 at predetermined time intervals while driving.
2. Average each distance data. Furthermore, if the distance data is not input even after a certain period of time T seconds has elapsed since the cutting height sensor 23 outputs the transmission signal, an interrupt is generated d, and the number of data cancellations X is incremented in step S4. In addition, in the main flow, a command is given to send out timing pulses for wave transmission from the transmitter 21 at a constant period of t seconds, and at S5, various data conversion steps are performed.
6, and automatic cutting height control S7 is performed. Furthermore, in the cutting height control, it is first determined whether automatic conditions (automatic cutting height switch, reaping clutch switch, etc.) are satisfied or not (S8), and if they are not satisfied,
The mowing height control valve 42 is operated to stop the hydraulic cylinder device 45 for raising and lowering the reaping section, thereby stopping the raising and lowering operations of the reaping section 7 (S9). If the automatic conditions are satisfied, it is determined whether the number of data cancellations X is n times or more, and S1
0, as a result, if the number of data cancellations Control operations of S11, raising of the reaping section 7 S12, lowering S13, and stopping are performed as appropriate. In addition, when the number of data cancellations X becomes n times or more, the solenoid 42u of the cutting height control valve 42 is turned on by the signal e of the forced lifting means 43 provided in the CPU 30, and this causes the solenoid 42u of the cutting height control valve 42 to The hydraulic cylinder device 45 is extended and the reaping section 7 is forcibly raised, and then
Based on the signal from the raised position holding means 44 provided in the CPU 30, the raised position is held for a predetermined time T1 seconds S14. Then, when the rising holding time T1 seconds has elapsed, the height H above the ground detected by the cutting height sensor 23 is compared with the set height h set by the cutting height target setter 29 in S15, and in S16, the height H above the ground detected by the cutting height sensor 23 is compared with the set height h set by the cutting height target setting device 29. The operations of raising S17, lowering S18, and stopping are performed again, and the reaping section 7 is appropriately controlled to the mowing height set by the mowing height target setting device 29. The data cancel state described above occurs when the reaping section 7 enters the field scene G and the waves transmitted from the transmitter 21 are no longer able to reach the receiver 22, as shown in FIGS. 4a and 4b. It happens.

Further, in this embodiment, when the number of data cancellations X becomes n times or more, the hydraulic cylinder device 4 for lifting the reaping section 4 is
5, the reaping section 7 is forcibly raised, and the reaping section 7 is held in the raised position for T ₁ second based on the signal from the raised position holding means 44, but as shown in FIG. As shown in FIG. 2, the raising holding time T1 by the raising position holding means 44 is increased or decreased in proportion to the cutting height setting value by the cutting height target setting device 29, thereby achieving low mowing by reaping lodging grain culms, etc. It may be configured to prevent problems such as when the reaping section 7 is forcibly raised too much and the reaping section 7 is forcibly raised to a high level during work.

(g) Effects of the Invention As explained above, according to the present invention, when the number of times X that the wave from the transmitter 21 does not reach the receiver 22 reaches the predetermined number n, the reaping section 7 is moved by the forced raising means. 43, and remains in the raised position for a predetermined time T by means of raising holding means 44.
Since the structure is configured to hold only 1, it is possible that during automatic cutting height control, the reaping unit 7 frequently enters the field scene G because the reference target value set by the cutting height target setting device 29 is not appropriate. In this case, the reaping section 7 can be raised immediately when the number of plunges reaches a predetermined number, and this may prevent mud from accumulating in the reaping section 7 and make it impossible to reap, or damage the divider 9, cutting blades, etc. Damage and deformation can be prevented. Furthermore, even if the reception of waves from the transmitter 21 becomes uncertain due to the state of the field scene G when the frame 15 enters, or if there is a delay in the response of the hydraulic system, the predetermined time _T1 By raising, the reaping section 7 can be reliably raised.

Further, the predetermined time T ₁ for forcibly raising the cutting section based on the raising position holding means 44 is determined by the cutting height target setting device 29
If the mowing height is configured to increase or decrease in proportion to the set cutting height, the amount of forced rise of the reaping unit 7 will be too large when working with a low mowing setting for reaping lodging grain culms. It is possible to reliably prevent problems such as high cutting.

[Brief explanation of the drawing]

Fig. 1 is a system configuration diagram according to the present invention, Fig. 2 is a diagram showing the main parts of the reaping section, where a is a plan view thereof, b is a side view thereof, and Fig. 3 is a view of the reaping section that does not enter the field. FIG. 4 is a diagram showing the transmission and reception of ultrasonic waves at the time when the reaping section enters the field, a is a side view thereof, b is a front view thereof, FIG. Its side view, b is its front view. Furthermore, FIG. 5 is a time chart according to the present invention, FIGS. 6 a, b, c, and 7 are flow charts showing its operation, and FIG. It is a figure showing the correlation of the cutting height setting value by a setter. FIG. 9 is a perspective view showing the entire combine harvester. DESCRIPTION OF SYMBOLS 1... Combine harvester, 7... Reaping part, 15... Frame (reaping frame), 21... Transmitter, 2
2...Receiver, 23...Mowing height sensor, 43...
Forced raising means, 44... Raised position holding means, G...
...Field scene.

Claims (1)

[Claims] 1. A combine harvester equipped with a non-contact mowing height sensor in the reaping section, consisting of a transmitter that emits waves such as ultrasonic waves towards the field, and a receiver that receives the reflected waves. The transmitter and the receiver are arranged with a frame located at the bottom in between, and when the number of times that the wave from the transmitter does not reach the receiver reaches a predetermined number of times, the reaping section is forcibly operated. 1. A mowing height control device for a combine harvester, characterized in that a forcible raising means for raising the mowing section at a height of 100 cm is provided, and a raised position holding means for holding the reaping section at the raised position for a predetermined period of time from the time of said raising. 2. The combine harvester according to claim 1, wherein the predetermined time for holding the reaping part raised based on the raised position holding means increases or decreases in proportion to the cutting height set by the cutting height target setting device. Cutting height control device.