JP2001075646A - Automatic traveling device for work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a work vehicle to judge the soft state of a traveling read surface and pass while avoiding the soft part from the next traveling time. SOLUTION: This work vehicle is constituted so that the position of the work vehicle can be detected by providing a receiver for receiving radio waves from a GPS satellite at the arbitrary position of the work vehicle, and that the work vehicle can automatically travel at positions preliminarily set based on signals received by the receiving device. In this case, the work vehicle is provided with an inclination sensor 3 for detecting the inclination of the work vehicle at the arbitrary position of the work vehicle and a right and left inclination means 5 for almost horizontally maintaining a chassis 4 of the work vehicle based on the detection value of the inclination sensor 3. When the workload of the right and left inclination means 5 reaches a prescribed value or more, it is judged that the state of a road surface is a soft state, and the position of the soft part is stored so that the working vehicle can travel while avoiding the stored position of the soft part from the next time of traveling.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an automatic traveling device for a working vehicle.

[0002]

2. Description of the Related Art A conventional automatic traveling device for a work vehicle is simply called G
In this configuration, a radio wave from a PS satellite is received and the vehicle travels automatically at a preset position.

[0003]

In the automatic traveling device for a work vehicle as described above, the work vehicle is capable of automatically traveling.
When the upper surface of the traveling road is soft, the undercarriage of the working vehicle sinks to cause traveling resistance, resulting in loss of horsepower, and efficient traveling cannot be performed.

The present invention is intended to solve such a problem.

[0005]

SUMMARY OF THE INVENTION The present invention takes the following technical means in order to solve the above-mentioned problems. That is, a receiving device 2 capable of receiving radio waves from the GPS satellites 1 is provided at an arbitrary position of the work vehicle so that the position of the work vehicle can be detected, and based on a signal received by the reception device 2, In a work vehicle that automatically travels at a set position, an inclination sensor 3 for detecting the inclination of the work vehicle is provided at an arbitrary position of the work vehicle. When the operation amount of the left-right inclining means 5 is equal to or more than a predetermined value, it is determined that the road surface is in a soft state, the soft position is stored, and the soft position is stored. An automatic traveling device for a working vehicle, characterized in that the traveling device is configured to travel while avoiding the stored soft position.

[0006]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an overall view of the left side of a combine serving as an agricultural machine.

[0007] In front of the undercarriage 4 having the traveling device 6, a cutting device 7 for cutting the planted grain culm and transporting it to the rear, and a feed chain further rearward inheriting the grain culm transported from the cutting device 7 are taken. A supply / conveyance device 9 that conveys toward 8 is provided. A threshing apparatus 10 for threshing and sorting while transferring and conveying the grain stems conveyed from a supply and conveyance apparatus 9 by a feed chain 8 on the undercarriage 4, and a Glen tank for temporarily storing the grains that are threshed and selected by the threshing apparatus 10 11
And the operation unit 12 is placed. The engine is mounted on the front part of the chassis 4 so as to transmit the rotating parts of each device. The traveling device 6 is configured to be driven from an engine via a traveling transmission device 13. Further, an arbitrary position of the combine (in this embodiment, the operation unit 12
A receiving device 2 capable of receiving radio waves from GPS satellites 1 is provided on the upper surface of the cabin 12a.

[0008] When the work is started by running such a combine, the planted grain culm is cut off by the cutting device 7 and is conveyed rearward. Thereafter, it is taken over by the starting end of the feed chain 8 and is threshed while being pinched and conveyed. Threshing is performed by the apparatus 10. The grains selected by threshing in the threshing apparatus 10 are transported into the Glen tank 11 and temporarily stored therein. Traveling in the field may be manually performed by an operator, but as described above, since the radio wave from the GPS satellite 1 is configured to be able to be received, it is possible to automatically travel at a preset position. I have.

An elevating means for elevating and lowering the chassis 4 is provided between the traveling device 6 and the chassis 4. First, the traveling device 6 will be described with reference to FIG. Traveling device 6
Corresponds to a crawler 14 in the form of an endless belt, a driving sprocket 15 for rotating the crawler 14, a plurality of grounding wheels 16 provided at predetermined intervals to ground the crawler 14 on the ground, and corresponding to irregularities on the ground. A movable roller 17, a track roller frame 18 supporting the ground roller 16 and the movable roller 17, a moving sprocket 19 for applying tension to the crawler 14, an adjusting device 20 for adjusting the movement of the moving sprocket 19, and a crawler 14 is formed by supporting wheels 21 and the like for preventing sagging. The same configuration is provided in a pair on the left and right.

Next, the elevating means will be described with reference to FIGS. The elevating means is provided between the left and right traveling devices 6 and the chassis 4. A front arm 22 is loosely connected to a pin 23 at the front of the track roller frame 18, and a rear arm 24 is loosely connected to a pin 25 at the rear. The other end of the front arm 22 is loosely connected to a front rolling shaft 27 of a support 26 fixed to the chassis 4, and further, the arm 28 is loosely connected to the front rolling shaft 27. I have. The front arm 22 and the arm 28 are connected and fixed. The other end of the rear arm 24 is loosely connected to a rear rolling shaft 30 of a connecting arm 29 fixed to the chassis 4, and an arm 31 is loosely connected to the rear rolling shaft 30. . The rear arm 24 and the arm 31 are connected and fixed. The arm 28 and the arm 31 are loosely connected by a connecting rod 32. Further, an end of the piston rod 33 of the left / right tilting means 5 (hereinafter, referred to as a hydraulic cylinder) is provided at an end of the arm 31. It is loosely connected. The hydraulic cylinder 5 is loosely fitted to a plate 5 a loosely fitted to the chassis 4, and a plate 5 b is provided from the loosely fitted shaft center, and its end is connected to the pitching arm 34.

The plate 5b is for making the piston rod 33 of the hydraulic cylinder 5 movable.
The reason why the hydraulic cylinder 5 is suspended from the plate 5a is that the piston rod 33 of the hydraulic cylinder 5 does not move when the pitching hydraulic cylinder 35 is operated.

Therefore, when the piston rod 33 of the hydraulic cylinder 5 is extended, in the left side view of FIG.
Rotates clockwise to pull the connecting rod 32, which turns the arm 28 clockwise. Then, both the rear arm 24 and the front arm 22 rotate clockwise, whereby the track roller frame 18 is rotated.
Is lowered with respect to the chassis 4. When the piston rods 33 of the left and right hydraulic cylinders 5 are simultaneously extended, the chassis 4 rises with respect to the ground.

The piston rod 3 of the hydraulic cylinder 5
When the third roller 3 is contracted, the track roller frame 18 moves in a direction opposite to the above-described movement, so that the track roller frame 18 moves upward with respect to the chassis 4. When the piston rods 33 of the left and right hydraulic cylinders 5 are simultaneously shortened, the chassis 4 is lowered with respect to the ground.

The hydraulic cylinder 5 is also used for correcting when the combine is tilted left and right (rolling). For example, when the traveling device 6 of the combine tilts to the left due to the influence of the field, the chassis 4 also tilts to the left, and the operation unit 12 mounted on the chassis 4 also tilts to the left. The comfort of the operator on the boat is worsened, and the threshing device 10 is also inclined to the left, so that the sorting of the threshed grains is also worsened. So, in such a case,
The piston rod 33 of the left hydraulic cylinder 5 is extended to raise the left side of the chassis 4 to make the chassis 4 substantially parallel (rolling control). The inclination of the combine
It is detected by the inclination sensor 3 installed on the chassis 4. When the combine tilts to the right, the piston rod 33 of the right hydraulic cylinder 5 is extended to raise the right side of the chassis 4.

In the combine of this embodiment, the chassis 4
Since the front-rear inclination means for inclining the front-rear direction is provided, the front-rear inclination means will be described. Connecting arm 2
One end of 9 is connected to a pitching arm 34 by a pin 36, and the pitching arm 34 is loosely connected to the chassis 4 by a shaft 37. Specifically, the shaft 37 is rotatably supported on a traveling frame 38 by a bearing 39. Only the pitching arm 34 on the right side with respect to the forward direction of the combine projects upward (projection 34
a), the end of the piston rod 40 of the pitching hydraulic cylinder 35 loosely fitted to the chassis 4 is loosely fitted to the end thereof.

When the piston rod 40 is extended, the pitching arm 34 rotates clockwise about the shaft 37 as a fulcrum. Since the pin 36 also rotates clockwise with the pitching arm 34, the connecting arm 29, the rear rolling shaft 3
0, rear arm 24 and pin 25 are raised. The pin 25
Raises the rear part of the track roller frame 18, so that the distance between the rear part of the chassis 4 and the crawler 14 becomes shorter, and the vehicle chassis 4 (the entire combine) is inclined forward and downward.

When the piston rod 40 is shortened, the movement is reversed, and the distance between the rear portion of the chassis 4 and the crawler 14 is increased, and the vehicle body 4 (the entire combine) is inclined forward and downward.

Such a pitching movement is basically for making the inclination of the combine in the front-back direction substantially horizontal. When the field scene is a wetland, the combine also inclines in the front-rear direction as described above, and is intended to prevent this. The specific movement is that the tilt sensor 3 is
When the movement of the entire combine (in the combine) is detected, the horizontal position is detected.
Is tilted forward, the piston rod 40 of the pitching hydraulic cylinder 35 is extended, and the chassis 4 (entire combine) is leveled as a forward rising tilt.

When the undercarriage 4 is tilted rearward together with the traveling device 6, the piston rod 40 of the pitching hydraulic cylinder 35 is shortened, and the rear portion of the undercarriage 4 is moved upward with respect to the traveling device 6, so that the undercarriage is 4 (the whole combine) is made horizontal.

When the combine having the above-mentioned configuration travels in a field and works, there is basically no problem if the field is a dry field, but a problem occurs if the field is a wet field. That is, in the wetland state, the chassis 4 sinks together with the traveling device 6, and the chassis 4 comes into contact with the field scene, resulting in a large traveling resistance.

When the combine travels in the wetland, the chassis 4 is inclined. The inclination of the chassis 4 is corrected by the hydraulic cylinder 5 so that the chassis 4 is substantially horizontal. When the amount of movement is equal to or more than a predetermined value, the wetland condition is considerably intense. So, the position where the wetland condition is quite intense,
That is, a place where the amount of movement of the hydraulic cylinder 5 is equal to or more than the predetermined value is stored, and the next traveling is performed so as to avoid the stored place of the wetland. More specifically, the position of the combine is always confirmed by receiving the radio wave from the GPS satellite 1 by the reception / reception device 2 and storing the location where the amount of movement of the hydraulic cylinder 5 is large. Hydraulic cylinder 5
Is detected by the position sensor 5a.

As described above, since the position of the wetland is stored, it is possible to avoid the position of the wetland in the next traveling (automatic traveling). FIG. 5 is a plan view of the field, and the hatched portion 42 indicates the stored location of the intense wetland. When the culm in the field is cut and the inside of the Glen tank 11 is full of grains, the combine 44 travels to the truck 43, but at this time, avoids the location of the wetland (dotted line 45). Of course, since the vehicle is automatically driven by the GPS satellite 1, it is necessary to store the position of the truck 43.

Further, even when the operator runs the vehicle manually, an alarm may be issued or a sound may be issued in front of the wetland portion 42. Further, even if the warning is issued, if the worker tries to pass through the wetland portion 42, the traveling may be forcibly stopped.

Thus, the combine can run in the field stably. In particular, in a place in an ultra-wetland state, when passing once and then passing the second time, since the field scene is rough in the second passing, the running resistance becomes large and the running time is increased, Such time loss can be prevented.

Another embodiment for detecting the condition of a wetland is as follows:
The difference between the movement amounts of the left and right hydraulic cylinders 5 may be greater than or equal to a predetermined value. Further, although the undercarriage 4 is provided with the inclination sensor 3, the case where the detection value of the inclination sensor 3 is detected to be equal to or more than a predetermined value may be used.

In the embodiment shown in FIG. 5, the combine 44 moves in the direction of the track 43. In the embodiment shown in FIG. 6, however, the track 43 is also provided with a receiving device 2a capable of receiving radio waves from the GPS satellites 1. Here, the combine 44 and the track 43 recognize and confirm their respective locations and store them. Then, the combine 44 and the track 43 communicate with each other to confirm each other's current position. Then, it moves to a point A which is close to each other. That is, combine 4
4 moves as indicated by a dotted line 46, and the track 43 moves as indicated by a dotted line 47.
Move like. Thus, the combine 44 can approach the truck 43 in a short time, so that the work efficiency of the grain discharge is improved. In addition, the point A which is the optimum position is set to the combine
May be displayed on a monitor installed in the vehicle, and the operator may manually move the combine 44 or the truck 43 to the point A.

The structure of the combine 44 is provided with the Glen tank 11, but FIG. 7 shows an embodiment in which the hopper 48 is provided. In the case of the hopper 48, since the sack 49 is provided, it is necessary to replace the hopper 48 when the sack 49 becomes full. When replaced with the next paddy sack 49, the paddy sack 49 before being full is dropped on the field,
The position of the dropped location is configured to receive and store a radio wave from the GPS satellite 1. As a storage method, a switch 50 is provided at a place where the paddy bag 49 is attached and detached, and the switch 50 detects each time the paddy bag 49 is replaced, and stores the detected place.

The location stored in this manner is stored in track 4
3 and the truck 43 automatically travels and
To the place where is falling. Thereby, the collection of the paddy bags 49 can be efficiently executed.

The combine 44 may be configured so as to directly transmit to the truck 43 without storing the place where the paddy bag 49 has fallen. When the truck 43 does not run automatically, a configuration may be adopted in which the place where the paddy bags 49 are dropped is displayed on the monitor.

[Brief description of the drawings]

FIG. 1 is a left side view of the combine.

FIG. 2 is a left side view.

FIG. 3 is a left side view.

FIG. 4 is a plan view

FIG. 5 is a plan view

FIG. 6 is a plan view

FIG. 7 is a side view.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... GPS satellite, 2 ... Receiver, 3 ... Tilt sensor, 4 ...
Undercarriage, 5 ... Left and right tilt means

Continued on the front page F term (reference) 2B043 AA04 AB15 BA02 BA05 BB14 DA17 EA15 EA33 EB11 EC12 EC13 EC14 EC19 EE01 EE02 2B074 AA03 AB01 AC02 AD05 AD06 AF01 AF02 DA01 DA02 DC02 DC03 DC06 FA01 FA02 5H301 AA03 CC11 DD01 CC01 DD01 MM01 MM09 5J062 AA03 BB01 CC07

Claims (1)

[Claims] 1. A receiving device 2 capable of receiving radio waves from a GPS satellite 1 is provided at an arbitrary position of a work vehicle so that the position of the work vehicle can be detected. A work vehicle that automatically travels at a preset position on the basis of the work vehicle is provided with an inclination sensor 3 for detecting the inclination of the work vehicle at an arbitrary position of the work vehicle. When the operation amount of the left-right inclining means 5 is equal to or more than a predetermined value, it is determined that the road surface is in a soft state, and the soft position is stored. An automatic traveling device for a work vehicle, wherein the traveling vehicle is configured to travel while avoiding the stored soft position from traveling.