JPH08140413A - Controller for lifting and lowering of ground working part in working mobile car - Google Patents

Abstract

PURPOSE: To provide a lifting and lowering controller, capable of preventing an engine stop from occurring due to a too large operating depth in a ground working part and the ground working part from idle driving due to a too small operating depth and improved in operating accuracy by installing an absolute height controlling mode in a controlling part for controlling the lifting and lowering of the ground working part. CONSTITUTION: This controller is obtained by equipping controlling parts 22 and 23A for controlling the lifting and lowering of a ground working part 4 connected to a mobile machine body with a mode automatic selecting means capable of selecting an absolute height controlling mode for automatically controlling the lifting and lowering of the ground working part 4 based on a signal sensed with a laser receptor 15 for sensing the absolute height, a ground height controlling mode for automatically controlling the lifting and lowering of the ground working part 4 based on a signal sensed with a ground sensor for sensing the ground height and selecting the absolute ground height controlling mode when the height sensed with the ground sensor is within the set range and selecting the ground height controlling mode when the height sensed with the ground sensor is outside the set range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting / lowering control device for a ground working part in a traveling vehicle for work such as agricultural machinery and construction machinery.

[0002]

2. Description of the Related Art Recently, when carrying out work such as leveling, leveling, and plowing using a work vehicle of this kind, a horizontal or arbitrary inclination is provided at a predetermined place on the work site. While installing a projector for projecting laser light in the direction, the working part of the working vehicle is provided with a photoreceiver for receiving the laser light to detect the absolute height of the working part based on the laser light, It has been proposed to employ a so-called laser control system that automatically raises and lowers the working unit based on the absolute height detection. Therefore, it is conceivable to perform leveling work on the cultivator by laser-controlling a ground work machine such as a rotary. However, if the ground work machine such as a rotary is automatically lifted and controlled only by the laser control, unevenness in the field scene or the like may occur. If the ground height (work depth) of the ground work machine changes based on this, and it becomes too deep, so-called engine stall may occur due to overload, or the ground work machine may be damaged. However, when it becomes too shallow, there is a disadvantage that the ground work machine is driven in the air.

[0003]

SUMMARY OF THE INVENTION The present invention was devised with the object of providing an elevator control device for a working unit in a working vehicle capable of overcoming these problems in view of the above circumstances. In a traveling vehicle for work, which comprises a control unit for controlling elevation of a ground working unit connected to the traveling machine body, the control unit controls the ground based on a detection signal of a laser receiver for detecting an absolute height. Absolute height control mode that automatically raises and lowers the working unit, and ground height control mode that automatically raises and lowers the ground working unit based on the detection signal of the ground sensor that detects the ground height. If the detected height is within the setting range, the absolute height control mode is selected, and if the detected height of the ground sensor is outside the set range, the ground height control mode is selected. Established It is an feature. With this configuration, the present invention eliminates the inconvenience that the working depth of the ground working unit becomes too deep and an engine stall occurs or the ground working unit is damaged in controlling the absolute height of the ground working unit. In addition, the work depth can be prevented from becoming too shallow and the ground work unit can be prevented from being idly driven.

[0004]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, 1 is a traveling machine body of a tractor including a crawler traveling device 2, and a rear working machine (second work machine) such as a rotary for cultivating a field scene through a lifting link mechanism 3 is provided at a rear portion of the traveling machine body 1. (Part) 4 is vertically movable. The rear working machine 4 moves up and down based on the vertical swing of the lift arm 6 associated with the expansion and contraction operation of the lift arm cylinder 5, while the lift rod cylinder 7 interposed between the lift arm 6 and the lifting link mechanism 4 is lifted. Although tilted to the left and right based on the expansion and contraction operation, all of these basic configurations are conventional.

Reference numeral 8 denotes a pair of left and right support arms pivotally supported on the front portion of the traveling machine body 1 so as to be vertically swingable. The front end portions of the support arms 8 are used to perform work such as leveling and leveling. Blades (first working unit) 9 are provided. And
The blade 9 performs a lift operation (elevating operation) associated with the extension / contraction operation of the lift cylinder 10, an angle operation associated with the extension / contraction operation of the angle cylinder 11 (an operation of displacing either left or right of the blade 9 back and forth), and an extension / contraction operation of the tilt cylinder 12. A tilting operation (displacement of either the right or left of the blade 9 up and down) or the like can be performed, but a lift angle (a swinging angle of the support arm 8) is detected at the pivotal support portion of the support arm 8. Lift angle sensor 13 is provided.

Reference numeral 14 is a mast which is erected on the blade 9, and a light receiver 15 having a predetermined light receiving width in the vertical direction is provided at an upper end portion of the mast 14. on the other hand,
A light projector 16 for rotating and projecting a laser beam in a horizontal direction or an arbitrary tilt direction is installed at a predetermined location of a work site or a field, and the laser beam projected from the light projector 16 is received by the light receiver 15. In addition, the blade 9 with the laser light as a reference based on the detection of the height of light received by the light receiver 15
The height of the mast, that is, the absolute height is detected.
Since a mast cylinder 17 which can be expanded and contracted is installed in the vehicle, the height of the blade 9 with respect to the light receiver 15 is adjusted by operating a mast cylinder switch 19 arranged near the driver's seat 18, which will be described later. The control height (set height) of the blade 9 based on the blade control can be changed.

By the way, in this embodiment, the mast 1
4, the light receiver 15 and the mast cylinder 17 are configured as an assembly that is attachable to and detachable from the blade 9, and the assembly can be selectively attached to the rear working machine 4 described above. It is also possible to detect the absolute height of the rear working machine 4 by using the light receiver 15.

Further, 20 is an indicator provided near the driver's seat 18, and the indicator 20 is the light receiver 15
The height of the blade 9 is displayed on the basis of the laser light based on the detection signal input from. That is, on the display surface 20a of the display device 20, a plurality of light emitting display portions 20b to 20f are arranged in parallel in the vertical direction at a predetermined interval,
Then, when the deviation amount with respect to the laser light is within the allowable range (for example, −5 mm to +5 mm), the display surface 20
The central light emitting display unit 20b located at the center of a is turned on (or blinked), and the deviation amount exceeds the allowable range and is within the laser light detection range (for example, -5 mm to
-95 mm, +5 mm to +95 mm),
Of the light emitting display units 20c and 20d vertically adjacent to the central light emitting display unit 20b, those corresponding to the shift direction are turned on (or blinked), and when the shift amount exceeds the laser light detection range. Of the light emitting display sections 20e and 20f located at the upper and lower ends of the display surface 20a, the one corresponding to the shift direction is turned on (or blinked).
Is configured to let.

Furthermore, reference numeral 21 denotes a reader (discriminator) which is mounted on the display surface 20a of the display device 20 and discriminates the height display state displayed on the display surface 20a. On the surface 21a, the light emitting display portions 20b to 20
A plurality of light receiving elements 21b are arranged in parallel so as to face each other. Then, each light receiving element 21b reads and detects the light emitting display of each of the light emitting display sections 20b to 20f, and inputs the detection signal to the first control section 22 described later via a predetermined interface circuit. . As another embodiment of the reader, as shown in FIG. 4, the display operation of each of the light emitting display units 20b to 20f of the display device 20 is taken into the transistor circuit and each display operation signal is sent to the first control unit 22.
May be input.

On the other hand, 23 is a side panel disposed on the side of the driver's seat 18, and at the front part of the side panel 23, a position lever 24 for raising and lowering the rear working machine 4 is arranged. On the other hand, in the rear part, in the rear part, an automatic plowing depth switch 25 for ON / OFF operation of an automatic plowing depth control described later, an automatic tilting switch 26 for ON / OFF manipulation of an automatic tilting control described later, and an automatic tilting control. The operation tools such as the tilt setting volume 27 for setting the target tilt of the side panel 23 are arranged in a state of being covered by the openable / closable transparent cover 28. A raising / lowering operation switch 29 for raising and lowering 4 by a one-touch operation, and a working depth setting volume 30 having a knob larger than those of other operating tools are provided. The operation signal of each operation tool is input to the second control section 23A dedicated to the rear working machine 4, and the side panel 2
Regarding the configuration and the function of No. 3, the one of Japanese Utility Model Laid-Open No. 4-42425 is cited.

Further, 31 is a blade operation panel, on which a blade lift lever 32 for raising and lowering the blade 9 and a laser control (a blade control and a rotary laser control described later) are turned on. Laser control switch 33 for turning off,
A mode selector switch 34 for switching the blade control mode and the rotary control mode, a sensitivity selector switch 35 for switching the control sensitivity of laser control, a speed adjusting volume 36 for adjusting the operating speed of laser control, and the above-mentioned mast cylinder switch. Although the operation tools such as 19 are provided, the blade operation panel 31 of the present embodiment is provided near the inside of the front part of the side panel 23 by utilizing the space between the driver seat 18 and the side panel 23. The operating tools of the rear working machine 4 and the operating tools of the blade 9 are clearly arranged in a concentrated manner on one side of the driver's seat 18.

Further, although 37 to 40 are switches for performing the above-described angle operation and tilt operation, since each switch 37 to 40 is provided at the grip portion of the blade lift lever 32, a single blade lift is provided. Lever 3
When the switch 2 is turned on, the blade 9 can be lifted, angled, and tilted. In this embodiment, the ascending / descending speed of the blade 9 changes according to the operation amount of the blade lift lever 32, and when the hand is released, the blade 9 is returned to the neutral position N and the ascending / descending of the blade 9 is stopped. Also, the switches 37, 38
The angle posture can be switched between right front and left front with, and the tilt posture can be switched between upper right and lower right with switches 39 and 40.

The second control section 23A is an existing one constructed by using a so-called microcomputer, but this one is based on the ground swing angle of the rear cover 4a and the working depth (ground level) of the rear working machine 4 is determined. Height sensor 41 for detecting the height), an arm angle sensor 42 for detecting the vertical swing angle of the lift arm 6, a rod length sensor 43 for detecting the rod length of the lift rod cylinder 7, and a lateral inclination of the machine body. While inputting a signal from a tilt sensor 44 that detects the position, a position sensor 45 that detects the lever angle of the position lever 24, an operation tool or the like provided on the side panel 23,
Based on these input signals, an operation signal is output to a hydraulic valve (not shown) that controls the operation of the lift arm cylinder 5, the lift rod cylinder 7, etc. described above. That is, in the second control unit 23A,
Position control (to control the height of the rear work implement 4) based on the detection signal of the arm angle sensor 42 so as to maintain the set height of the position lever 24 (set height control), and the set tillage set by the tilling depth setting volume 30. Plow depth automatic control (ground height control) that automatically raises and lowers the rear working unit 4 based on the detection signal of the tillage depth sensor 41 so as to maintain the depth, and maintains the set inclination set by the inclination setting volume 27. Based on the detection signal of the tilt sensor 44, control such as tilt automatic control for automatically tilting the rear working machine 4 is executed.

On the other hand, the first control section 22 is also constructed by using a microcomputer, which detects the lever angle of the lift angle sensor 13, the reader 21, and the blade lift lever 32 described above. Signals are input from the lever angle sensor 46, a manual operation tool provided on the blade operation panel 31, etc., and the lift cylinder 10, the angle cylinder 11, the tilt cylinder 12, the mast cylinder 17, etc. described above are judged based on these input signals. An operation signal is output to a hydraulic valve (not shown) that controls the operation of the. That is, the first control unit 22 executes the blade control (absolute height control) for automatically raising and lowering the blade 9 so as to keep the laser detection height of the light receiver 15 constant. In the state where the light receiver 15 is mounted on the rear working machine 4 and the connection connector 47 provided on the first control unit 22 is connected to the connection connector 48 provided on the second control unit 23A via the cable 49, The combined use of the first control unit 22 and the second control unit 23A allows the rear work implement 4 to be automatically combined with automatic lifting control (rotary laser control based on the detection signal of the light receiver 15 and plowing depth based on the detection signal of the plowing depth sensor 41). The contents of the mode switching control and the rotary control added to the first control unit 22 for that purpose will be described in detail below with reference to a flowchart. In this embodiment, the connection connector 48 of the second control unit 23A is used only for the connection with the first control unit 22, and the existing connector 5 is used.
Since it is provided independently of 0 and 51, there is an advantage that the laser control system can easily be made optional.

Now, the mode switching control is performed by the photodetector 15
It is for switching the control target (the blade 9 or the rear working machine 4) of the laser control by the first control unit 22 according to the mounting position of. Therefore, in the mode switching control, the ON state of the laser control switch 33 is confirmed and the operating position of the mode switching switch 34 is determined. Then, when the operation position of the mode changeover switch 34 is the blade position (front position), the blade control mode is switched, while when it is the rotary position (rear position), the rotary control mode is switched. The connection state between the one control unit 22 and the second control unit 23A is determined, and when it is determined that the connection state is not established, the blade control mode is preferentially set regardless of the operation position of the mode changeover switch 34. It is designed to switch. That is, in order to enable the operation of the mode changeover switch 34 only when the first control unit 22 and the second control unit 23A are connected, it is not assumed that the rear working machine 4 is laser-controlled ( Even if the temporary control mode changeover switch 34 is erroneously operated to the rotary position while the first control unit 22 and the second control unit 23A are not connected, the blade control can be executed without being affected by the erroneous operation. Has become.

By the way, when the rotary control mode is selected in the mode switching, in the present embodiment, the light receiver 15 is moved up and down in association with the setting operation of the working depth setting volume 30. That is, as shown in FIG.
The mast cylinder 17 is automatically expanded / contracted according to the set value of the working depth setting volume 30, but in such a case, the rear working machine 4 is combined with the first control unit 22 and the second control unit 23A. Since the setting operation tool for automatically raising and lowering control of the machine and the setting operation tool for automatically raising and lowering the rear working machine 4 only by the second control unit 23A are shared by the working depth setting volume 30, the setting can be made without any discomfort. Can be operated.

When the mode switching control is completed, the rotary control is subsequently executed. In the rotary control,
First, it is determined whether or not the rotary control mode is set. If the determination is YES, the operation position of the automatic plowing depth switch 25 is the automatic control position (in the present embodiment, the rotary operation arbitrary position of the automatic plowing depth switch 25). To set the automatic control position). If the position is other than the automatic control position, the work start flag for determining the work start is set, and the position control described above is executed in preference to other controls (rotary laser control or plowing depth automatic control). To do. That is, even when the rear working machine 4 is automatically lifted and lowered based on the rotary laser control or the plowing depth automatic control, the manual lifting operation by the position lever 24 is prioritized.

Further, when the position lever 24 is operated to the automatic control position, it is subsequently judged whether or not the work is started based on the work start flag, and the judgment is YES.
In the case of, it is determined whether or not the height of the rear working machine 4 (light receiver 15) is within the laser light detection range. If this determination is NO, the rotary laser control based on the detection signal of the light receiver 15 is not executed, and the automatic plowing depth control based on the detection signal of the plowing depth sensor 41 is preferentially executed. ing. That is, at the beginning of work, until the rear working machine 4 reaches the laser light detection range, execution of the rotary laser control is restricted to prevent malfunction due to laser light non-detection, and instead, tillage depth is reached. To avoid the occurrence of a blank period in the automatic lifting control by executing automatic control, and to switch to the rotary laser control automatically when the execution condition (plow depth sensor value is within the setting range) described later is complete. , The same operation as the conventional one in which the rear working machine 4 is automatically lifted and lowered only by the automatic working depth control (position lever 2
4), it is possible to perform combined automatic lifting control by rotary laser control and plowing depth automatic control.

On the other hand, when the rear working machine 4 reaches the laser beam detection range, the work start flag is reset to enter the normal working state. In the normal working state, the working depth sensor 41 is used.
It is determined whether or not the detected value of is within a preset setting range (laser control allowable range), and if the determination is YES, the rotary laser control is executed, while if it is NO, the culturing is performed. It is designed to perform deep automatic control. That is, basically, the rotary laser control is preferentially executed to perform the absolute height control based on the laser light, but the rear working machine 4
When the working depth is too shallow or too deep, the automatic working depth control is executed to perform the combined automatic lifting control of automatically returning the working depth of the rear working unit 4 to the set range. Therefore, so-called engine stall (engine stop due to overload) due to abnormal deep plowing and idling of the rear working machine 4 due to abnormal shallow plowing can be prevented.

In the embodiment of the present invention constructed as described above, when the rear working machine 4 is laser-controlled, it is judged whether or not the detection value of the working depth sensor 41 is within a preset setting range. If the judgment is YES, the rotary laser control is executed, while if the judgment is NO, the plowing depth automatic control is executed. Therefore, basically, the rotary laser control is executed preferentially. When the working depth of the rear working machine 4 largely changes based on the unevenness of the rear working machine 4 or the like, the working depth automatic control is executed and the working depth of the rear working machine 4 is automatically returned to within the set range. As a result, engine stall due to abnormal deep plowing and damage to the rear working unit 4 can be prevented, or idling of the rear working unit 4 due to abnormal shallow plowing can be prevented.

Moreover, since the upper limit value, the lower limit value and the setting width of the setting range can be freely set to correspond to the mechanical characteristics and the working machine type, regardless of the mechanical characteristics and the working machine type. Stable control can be performed, and the occurrence of so-called hunting (repeating operation of overshooting) associated with the pitching (front and rear inclination) of the machine body can be prevented as much as possible based on the setting of the setting range. .

Further, at the beginning of work, until the rear working machine 4 reaches the laser light detection range, execution of rotary laser control is restricted and priority is given to automatic plowing depth control. Perhaps it is possible to prevent malfunctions based on the detection, or to avoid the occurrence of a blank period in the automatic lifting control. Moreover, the rear working machine 4 is within the laser light detection range and the working depth sensor value is within the set range. In order to automatically switch to rotary laser control at a different stage, automatic lifting control of the rear working unit 4 is performed only by automatic plowing depth control. A combined automatic lifting control by rotary laser control and automatic plowing depth control is performed in the same manner as the conventional operation. It can be performed.

[0023]

In summary, since the present invention is constructed as described above, the absolute height control for automatically raising and lowering the ground working unit based on the detection signal of the laser receiver for detecting the absolute height is provided. It has a mode and a ground height control mode for automatically raising and lowering the ground working unit based on the detection signal of the ground sensor for detecting the ground height, and the height of the ground sensor is within the set range. In this case, the absolute height control mode is selected, while when the detected height of the ground sensor is out of the set range, the ground height control mode is selected. That is, in performing absolute height control of the ground work unit, if the ground height of the ground work unit changes significantly based on the unevenness of the field, etc., the ground height control is executed to perform the ground height work of the ground work unit. The combined automatic lifting control is performed to automatically return the height to the set range. Therefore, the working depth of the ground working unit becomes too deep, and an engine stall occurs,
It is not possible to eliminate the inconvenience that the ground working unit is damaged, and it is also possible to prevent the ground working unit from being idled due to the working depth becoming too shallow.

Further, the work start judging means for judging the work start, the ground height control priority means for preferentially executing the ground height control mode at the work start, and the working portion height within the laser receiving range, In addition, if the absolute height control start means for starting the absolute height control mode when the detection height of the ground sensor is within the set range is provided, the ground working unit reaches the laser receiving range at the beginning of work. It is permissible to restrict the execution of absolute height control until that time to prevent erroneous operation due to laser non-detection, or instead execute a height to ground control and cause a blank period in automatic lifting control. Can be avoided, and the working part height is within the laser receiving range,
In addition, since absolute height control is automatically started when the detection height of the ground sensor falls within the set range, there is no fear of complicating the operation.

[Brief description of drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a perspective view of a display and a reader.

FIG. 3 is a side view of a display equipped with a reader.

FIG. 4 is a circuit diagram showing another example of a reader (discriminator).

FIG. 5 is a plan view of an operating space.

FIG. 6 is a perspective view showing a side panel and a blade operation panel.

FIG. 7 is a side view of the same.

FIG. 8 is a plan view of a side panel.

FIG. 9 is a side view of a blade operation panel.

FIG. 10 is a block diagram showing the concept of control operation.

FIG. 11 is a block diagram showing inputs and outputs of a first control unit and a second control unit.

FIG. 12 is a flowchart showing mode switching control.

FIG. 13 is a graph showing the relationship between the set value of the working depth setting volume and the operating length of the mast cylinder.

FIG. 14 is a flowchart showing rotary control.

FIG. 15 is a side view of the rear working machine showing a laser control range in rotary control.

[Explanation of symbols]

 1 Traveling Machine Body 4 Rear Working Machine 9 Blade 15 Light Receiver 16 Projector 20 Indicator 21 Reader 22 First Control Section 23A Second Control Section 34 Mode Selection Switch 41 Tillage Depth Sensor

Claims (2)

[Claims] 1. A working vehicle comprising a control unit for controlling elevation of a ground work unit connected to a traveling machine body, wherein the control unit is based on a detection signal of a laser receiver for detecting an absolute height. Absolute height control mode that automatically raises and lowers the ground work unit, and ground height control mode that automatically raises and lowers the ground work unit based on the detection signal of the ground sensor that detects the ground height. If the detection height of is within the setting range, the absolute height control mode is selected, and if the detection height of the ground sensor is outside the setting range, the ground height control mode is selected. An elevator control device for a ground work unit in a work vehicle, characterized by being provided with. 2. The control unit according to claim 1, wherein a work start judging means for judging a work start, a ground height control priority means for preferentially executing a ground height control mode at the start of work, and a work section height. Is within the laser receiving range, and the absolute height control start means for starting the absolute height control mode when the detection height of the ground sensor is within the setting range is provided for work traveling. A lifting control device for the ground work part of a vehicle.