JPS60192510A - Reaming harvester - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Shukan 8A is a reaping harvester, specifically, a sensor for detecting the height of the reaping section above the ground in order to control the cutting height, and means for setting a control target value for the height above the ground. In order to maintain the height above the ground detected by the height above the ground sensor at the control target value, the mowing 13! This invention relates to a reaping and collecting machine equipped with means for automatically controlling the elevation of the harvesting section.

Conventionally, in this type of reaping and harvesting machine, the cutting height is controlled so that the cutting height is maintained at a predetermined height by raising and lowering the cutting section based on the height above the ground detected by the height above the ground detection sensor. is being carried out. If the reaping section is raised or lowered rapidly with respect to the set cutting height, that is, the control target, the mechanism may be damaged or the working traces may become poor, so the control is performed to follow the set cutting height at a relatively slow raising and lowering speed. As a result, there were inconveniences as shown below.

In other words, even if the control target value is readjusted during one cutting operation depending on the field condition and the grain culm condition #iK*, the height of the cutting section is adjusted at a slow lifting speed. Since the height above the ground is controlled, there is a delay in the actual height above the ground converging to the target value, and when the target value is readjusted, the operating feeling and the movement of the reaping section do not match, making it difficult to operate. It was.

Also, for example, if the field is in poor condition and there are steep irregularities on the ground or obstacles, even if you try to artificially raise the mowing section to avoid it, the rising speed will be slow. There was also the inconvenience of not being able to make it in time.

Therefore, in order to eliminate the above-mentioned inconvenience, the present applicant filed a patent application in 1973.
No. 8-198460 and the like have already proposed a reaping harvester equipped with means for controlling the raising and lowering of the reaping section continuously over a predetermined period of time when the control target value is changed.

However, it is not sufficient to provide means for continuously controlling the reaping section to move up and down when the target value is changed, and there are disadvantages as described below.

That is, since the means for continuously raising and lowering the reaping section when the target value is changed also serves as a part of the control means for automatically raising and lowering the reaping section, the target value and the detected value are If the actuator is driven intermittently so that the deviation of It may not work,
There is an inconvenience that the operating sensation and the actual movement of the reaping section may not match.

The present invention has been made in view of the above-mentioned circumstances, and a seventh object is to provide a reaping harvester equipped with a control means that has good responsiveness to the raising and lowering operation of the reaping section to an operation for changing a control target value. It is in.

In order to achieve the above object, the reaping/harvesting machine according to the present invention immediately lifts and lowers the reaping section when the control target value is changed, regardless of the magnitude of the deviation between the detected height above the ground and the control target value. It is characterized in that means for controlling the start is provided.

The above configuration will be explained below based on the functional block diagram shown in FIG. Note that the numbers and symbols shown in FIG. 1 are the same as those having the same functions shown in the drawings showing embodiments of the present invention described later.

That is, the deviation (jH) between the height above the ground detected by the basic KIfi height above the ground sensor (9) and the control target value (Ho) by the control target value setting means 02) is calculated by the deviation detecting means (ARK). , Elevating control sensor 1 signal calculation means (B)
The magnitude of the deviation (jH) and the target value (Ha) K
A control device configured to generate a signal for driving an actuator (6) that actually raises and lowers the reaping section in accordance with the direction of the cutter h Detecting the absence of change in the target value (H, l) by the target value change detection means (C) K,
It is configured to send a control signal (continuous flag) indicating the start of continuous lifting to the lifting control signal calculation means (B).

That is, when there is a change in the control target value, control is performed so that the reaping section immediately starts moving up and down, regardless of the magnitude of the deviation between the detected value and the target value. In other words, even if the reaping section is raised and lowered continuously or in an intermittent manner before changing the control target value, regardless of the control state, if the target value changes, The control for raising and lowering the reaping section is started from the beginning, and the raising and lowering starts immediately.

Because of the above characteristics, the following excellent effects have been achieved.

That is, when the control target value is changed, the reaping section immediately starts moving up and down regardless of the magnitude of the deviation of the detected value from the target value, so the response of the operation of the reaping section to the operation of changing the target value is good. As a result, the consistency between the operating feel and the actual movement of the reaping section has become extremely good.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 2 is a side view of the reaping section (fl) at the front of the combine as a reaping/harvesting machine, in which the reaping section (ll represents the pulling device (2), the reaping device (3), and the conveying device (4). A weeding tool (5) is provided in front of the pulling device (21), and the lower tip of this weeding tool (6) is fixed by the support frame (6) of the reaping device (1). has been done. And,
An ultrasonic sensor (9) as a ground height detection sensor consisting of a transmitter (7) and a receiver (8) is placed behind the weeding tool (6) so as not to malfunction due to grain culms. It is installed above the support frame (6), and the hydraulic cylinder (10) is operated based on the height detection result from the ground by this ultrasonic sensor (91K), and the horizontal axis center (P
) The mowing height is adjusted by swinging the mowing section [l) around the mowing section [l].

The control system that controls the cutting height based on the height detected by the ultrasonic sensor (3) No. 111 will be explained below.

As shown in Fig. 3, the control system inputs signals from the receiver (8) of the ultrasonic sensor (9) to a control device (Ill) whose main part is a microcomputer, and also inputs signals from the receiver (8) of the ultrasonic sensor (9). ) is inputted with the output signal of the potentiometer (121) as a means for presetting the sensor so that the receiver (detection height above the ground H by 81K) becomes the reference target value (Ho) set by the potentiometer 02)K. , the electromagnetic pulp (131) is driven, and the reaping part (1) is automatically raised and lowered by the hydraulic cylinder (101).

Then, each time the mowing height control loop is passed, it is memorized to detect whether or not the target value adjustment knob (12a) as an operating tool of the potentiometer (12) has been operated, that is, whether or not the target value has been changed. The potentiometer (I2 setting value (VR, ) and the newly sampled setting value (V
Rl), and if this comparison value is greater than a predetermined value (α), the electromagnetic pulp α field is controlled to be continuously driven so that the reaping part (1) is continuously raised and lowered. At the same time, the identification flag (continuous flag) for the operation is set to "1", and each of the seven lugs is reset to initialize the drive signal for the pulp 0'4 so that the lifting operation is started immediately.

Next, the newly sampled setting value (vRl
) is stored as a memory value (VR1), and a control target value (Ho
) is calculated, and the deviation (lH) between this target value (Ho) and the height H) above the ground detected by the ultrasonic sensor (9) is calculated.

Thereafter, based on the magnitude and sign of the deviation (lH), the lifting speed and operation direction (up/down>1 are set).

Then, check the size of the deviation (lH) again,
If it is less than a predetermined value (I9),
The continuous flag is reset and the electromagnetic pulp θ4 is controlled to be driven intermittently so that the reaping section (1) is moved up and down slowly.

Next, in order to set and check the duty ratio of the drive signal for the pulp 0 rise, corresponding to the lifting direction set based on the sign of the deviation (lH), its ON time and OFF
By calculating the time, the corresponding output signals for ascent, descent, and stop are generated.

In addition, if the continuous flag is set, the reaping section (
11 is raised and lowered continuously, the duty ratio calculation result of the drive signal for the pulp is ignored. On the other hand, if the continuous flag is repeatedly reset, the pulp O is driven intermittently. However, if the set value (VR,) of the potentiometer (12) is sampled and the value changes, the flag (ON777'' and OFF time) indicating the state of the drive signal of the pulp 01 is Since it has been reset and initialized, the lifting speed starts to rise or fall immediately at the latest in accordance with the magnitude of the deviation (lH) of the reaping unit 11).

Furthermore, in order to detect whether or not the potentiometer Q2) has been operated, that is, whether there is a change in the target value (Ho), the target value (Ho) itself is sampled and compared with the previous sampling value, as shown in this embodiment. Instead of a means to do so, a sensor for detecting changes in the operation of the knob (12a) may be provided separately.

By the way, in the cutting height control in this embodiment, in order to optimize the control response, the electromagnetic pulp (13) is
By automatically changing the drive gain (ON/OFF ratio of intermittent drive pulse current, etc.) in multiple stages, the larger the deviation (ΔH), the faster the reaping part f1+ is lowered. This drive gain is stored in a table in advance in the control device (memory (not shown) in f!to+l).
I remember it.

Incidentally, FIG. 4 is a 70-day diagram showing the operation of the control device (11) described above.

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping harvester according to the present invention, FIG. 1 is a functional block diagram showing the configuration of the present invention, FIG. 2 is a side view of the 1fJ section of the combine, and FIG. 3 is a block diagram of the control system. FIG. 4 is a flowchart showing the operation of the control device. fil...Reaping section, (9)...Ground height detection sensor? -1 (12)... Control target value setting means, (Ho)... Control target value, @)...
・Detection height above ground, (ΔH)...Curve/deviation, (I9)...
...Predetermined value. Agent Patent Attorney Shudai Kitamura 2nd Li Figure 4

Claims (1)

[Claims] ■ In order to control the cutting height, a sensor (9) for detecting the height above the ground of the cutting part f1) and a means (I21) for setting the control target value (Ho) for the height above the ground are provided. The reaping/harvesting machine is provided with means for automatically controlling the elevation of the reaping section +11 in order to maintain the height above the ground detected by the sensor (9) at a control target value (Ho). When the control target value (Ho) is changed, the height above the ground is immediately raised or lowered regardless of the magnitude of the deviation (H) between the detected height above the ground and the control target value (Ho). A reaping harvester, characterized in that it is provided with means for controlling to initiate the operation. ■ When the reaping part fil is immediately raised or lowered, if the deviation (ΔH) between the control target value (H,) and the detected height above the ground is greater than a predetermined value (β), the raising and lowering speed is increased. At the same time, if the deviation (aH) is less than the predetermined value (/9), the control target value (
The reaping/harvesting machine according to claim 0, characterized in that the lifting/lowering speed is automatically switched in accordance with the magnitude of the deviation (ΔH) with respect to Ho).