JP2001145402A - Posture-controlling device in agricultural implement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an adequate control hardly causing hunting or the like to be carried out by removing components of the swing of a machine body or an implement, included in the output signal of a sensor used for a posture control of a seedling transplanter and other agricultural implements. SOLUTION: This posture-controlling device in the agricultural implement, capable of controlling the posture of the traveling machine body or the implements based on the output from the sensor for controlling the posture is constituted so that a filter may be installed for removing frequency components of the swing included in the output signal from the sensor, and the posture may be controlled based on the signal after treating the signal with the filter. When the amount of the frequency components of the swing, included in the output signal from the sensor are more than a prescribed amount, the sensitivity of the posture control may be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural work machine, and more particularly to a control device used for controlling the attitude of a body such as a rice transplanter or a working device for planting seedlings.

[0002]

2. Description of the Related Art Agricultural working machines, such as rice transplanters, are widely known in which a seedling planting device is connected to a traveling section (machine body) so as to be able to move up and down and rotate (roll) around an axis in the front-rear direction. This type of rice transplanter seedling is controlled so that the attitude of the seedling planting part is always kept parallel to the field scene in order to properly transplant the seedling.

For example, as described in Japanese Patent Application Laid-Open No. 6-133612, a running section is provided with an inclination angular velocity sensor for detecting and outputting an inclination angular velocity of the running section, and the seedling mounting section is provided with a seedling mounting section. A technique is known in which a left-right inclination sensor for detecting the left-right inclination angle of a section with respect to a field scene is provided, and the left-right rotation (rolling) of the seedling placement section is controlled in accordance with the detection values of these two attitude control sensors.

[0004]

The output signals of these attitude control sensors are generated not only by the change in the attitude due to the unevenness of the tillage but also by the change in the attitude due to the change in the unevenness and the lateral movement of the planting section. The shaking to be included. Since the fluctuation has a periodicity, hunting may occur when an adjustment output is performed while the posture is returning.

Accordingly, the present invention solves the problem of hunting by performing attitude control by using a signal from which an oscillating component of a machine body or a working device included in an output signal of a sensor used for attitude control of the agricultural work machine is removed. The task is to eliminate it.

[0006]

That is, the first aspect of the present invention is as follows.
An agricultural work machine according to the invention is an agricultural work machine attitude control device that controls the attitude of a traveling vehicle body or a work device based on an output from an attitude control sensor, wherein a frequency component of a swing included in an output signal from the sensor is provided. The filter is configured to control the attitude based on a signal processed by the filter.

According to the present invention, since the attitude control is performed using the signal after removing the frequency component of the vibration of the airframe or the working device from the output signal of the attitude control sensor, hunting does not occur even if there is a vibration. Accurate control can be performed.

According to a second aspect of the present invention, there is provided an agricultural work machine attitude control device for controlling the attitude of a traveling vehicle body or a working device based on an output from an attitude control sensor. Is characterized in that the sensitivity of the posture control is made insensitive when the frequency component of the fluctuation contained in the control signal is larger than a predetermined amount.

According to the present invention, when the frequency component is large, the sensitivity of the attitude control is made insensitive, so that hunting hardly occurs. In any of the above cases, if the control is performed by changing the frequency value of the shaking according to the running speed, noise can be appropriately removed according to the running speed, so that appropriate attitude control can be performed.

[0010]

Preferred embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 show a seedling transplanter as an example of an agricultural working machine to which the present invention has been applied.
In the seedling transplanter 1, a seedling planting part 4 for paddy rice is mounted on a rear side of a traveling body 2 which is a traveling part via a lifting link device 3 so as to be able to move up and down and to be rotatable around a longitudinal axis. ,
A fertilizer device 5 is provided on the rear upper side of the traveling vehicle body 2 and is configured as a fertilizer rice transplanter as a whole.

The traveling vehicle body 2 is a four-wheel drive vehicle provided with a pair of left and right front wheels 10, 10 and rear wheels 11, 11, which are driving wheels, and is a transmission case 1 disposed at a front portion of the body.
Front wheel final cases 13 and 13 are provided on the left and right sides of the vehicle 2, and the front wheels 10 and 10 are mounted on the case so as to be able to turn, and the right and left rear ends of a main frame 15 fixedly connected to the rear surface of the transmission case 12. Rear wheel gear cases 18, 18 are freely rotatable around a front-rear horizontal rear wheel rolling shaft supported at the center, and the rear wheels 11, 11 are mounted on the rear wheel gear case.

The rotational power of the engine 20 mounted on the main frame 15 is transmitted to the transmission case 12 via the first belt transmission 21 and the second transmission 23 and transmitted by the transmission in the transmission case. After shifting, a part of the front wheel final case 13,1
3 to drive the front wheels 10, 10, another part is transmitted to the rear wheel gear cases 18, 18 to drive the rear wheels 11, 11, and the remaining external take-out power is transmitted to the planting clutch 25. Then, the planting transmission shaft 26 is used for the seedling planting section 4.
And the power is transmitted to the fertilizer application device 5 by the fertilizer transmission shaft 27.

The upper part of the engine 20 has an engine cover 30.
, And a seat 31 is provided thereon.
A front cover 32 containing various operating mechanisms is provided in front of the seat 31, and a handle 34 for steering the front wheels 10, 10 is provided above the front cover 32. Engine cover 3
0 and the lower left and right sides of the front cover 32 are horizontal floor steps 35. The rear part of the floor step 35 is a rear step 36 also serving as a rear wheel fender. On the left and right sides of the front of the traveling vehicle body 2, spare seedling mounting tables 37, 37 on which seedlings for replenishment are mounted are provided. The traveling speed of the traveling vehicle body is measured by the vehicle speed sensor 38, and the acceleration of the traveling vehicle body at the right and left inclination angles is calculated by the inclination angle speed sensor 3
9 respectively.

The elevating link device 3 has a parallel link configuration, and includes one upper link 40 and a pair of left and right lower links 41 and 4.
1 is provided. These links 40, 41, 41 are rotatably attached to a rear-view portal type link base frame 42 erected at the rear end of the main frame 15 at the base side, and a vertical frame 43 is connected to the tip side. ing. A front end of a connection shaft 44 rotatably supported by a transmission case 60 described later is inserted and connected to a lower end of the vertical frame 43. Swing arm 4 integrally formed with support member fixed to main frame 15 and upper link 40
A lifting hydraulic cylinder 46 is provided between the tip and the front end of the seedling 5 and the upper link 40 rotates up and down by hydraulically expanding and contracting the cylinder. I do. The lifting hydraulic cylinder 46 is controlled by a hydraulic valve 47 provided above the link base frame 42.

The connection shaft 44 is slightly downward and substantially in the front-rear direction, and the seedling planting portion 4 is rotatably supported on the connection shaft 44 as a fulcrum. Above the vertical frame 43, a double rod-type rolling hydraulic cylinder 50 is provided in the left-right direction with the cylinder fixed to the vertical frame. Then, both left and right rods 5 of the cylinder
0a, 50a and right and left support portions 67a, 67a of the seedling mounting frame 67 described later are connected via links 51, 51. The rolling hydraulic cylinder 50 operates with hydraulic oil supplied by a hydraulic pump 53 driven by a motor 52. When the rolling hydraulic cylinder 50 operates and the rods 50a, 50a slide left and right, the seedling planting part 4 rolls around the connection shaft 44. The left-right inclination angle of the seedling placement part 4 is detected by a left-right inclination sensor 54 installed on the transmission case 60. The operation amount of the rolling hydraulic cylinder 50 is detected by a stroke sensor 55.

The seedling planting section 4 has a six-row planting structure, a transmission case 60 also serving as a frame, and a reciprocating right and left reciprocating work for placing seedlings and supplying seedlings one by one to the seedling outlets 61a,. Stand 6
1. A seedling planting device 62,... For planting seedlings supplied to the seedling outlets 61a,.
It is provided with individual leveling floats 63, 64, 64 and the like. When the airframe advances while the floats are in contact with the mud surface of the field, the floats slide while leveling the mud surface, and seedlings are planted at the leveling ground by the seedling planting devices 62,. Each of the floats 63, 64, 64 is rotatably mounted so that the front end moves up and down in accordance with the unevenness of the surface of the field, and the vertical movement of the front of the center float 63 is detected by the grounding sensor 65 during the planting operation. The planting depth of the seedlings is always kept constant by switching the hydraulic valve that controls the raising and lowering hydraulic cylinder 46 in accordance with the detection result to move the planting portion 4 up and down.

The seedling mounting table 61 is provided so as to be inclined so that the front side is higher. The support rail 66 is disposed on the upper side of the transmission case 60 and a seedling having a base fixed to the transmission case 60. Rollers 68, 68 provided at the upper end of the mounting frame 67 are slidably supported left and right. By reciprocating the laterally moving rod 69 whose both ends are connected to the back side of the seedling mounting table 61 by the operating mechanism in the transmission case 60, the seedling mounting table 61 can reciprocate left and right. When the seedling mounting table 61 reciprocates left and right, the lowest seedlings of the seedling mounting table are supplied to the seedling outlets 61a,. When all the seedlings in one horizontal row are supplied, the seedling feed belts 61b,... Provided for each row are activated, and the seedlings are transferred one step downward.

The fertilizer applicator 5 is provided with a fertilizer tank 70 commonly used for each section.
The fertilizer in the fertilizer is fed downward by a fixed amount by a fertilizer feeding section 71, and the fed fertilizer is transferred to fertilizer guides 74,... Through fertilizer hoses 73,. .. Provided on the front side of the guide are dropped into a fertilizing groove formed near the side portion of the seedling attachment strip.

At the time of planting operation, the raising and lowering control for controlling the height of the seedling planting portion 4 to the ground according to the unevenness of the topsoil surface, and the rotation around the connecting shaft 44 of the seedling planting portion 4 according to the left and right inclination of the topsoil surface. Rolling control for controlling the posture is performed to keep the planting depth of the seedling constant. FIG. 5 is a block diagram of the seedling plant position control device. Information from the sensors 38, 39, 54, and 65 is input to a controller 80 including a CPU, a memory, and the like. Based on the information, the controller 80 performs the following control, and the lifting hydraulic valve 47 and the rolling motor 52 are controlled. Output to

First, regarding the lifting control, the grounding sensor 6
An output signal is output to the hydraulic valve 47 so that the detected value of 5 falls within the dead zone of the predetermined target value. For example, when the center float 63 moves upward, the hydraulic valve 47 is driven in the direction in which the lifting hydraulic cylinder 46 extends, and the seedling placement part 4 is raised. Conversely, when the center float 63 moves down, the hydraulic valve 47 is driven in the direction in which the lifting hydraulic cylinder 46 contracts, and the seedling placement section 4 is lowered. As a result, the ground height of the entire seedling planting section is kept constant.

At the time of the raising and lowering control, the raising and lowering control is performed only after the seedling planting section 4 has touched the ground once.
After detecting the contact of the seedling planting section 4, the inclination angular velocity sensor 3
9 to judge the left / right inclination state of the traveling vehicle body 2, and when the traveling vehicle body 2 is not suddenly inclined, the ascent / descent control is performed based on the current contact sensor value, and the traveling vehicle body 2 is inclined rapidly and the contact sensor value is constant. When it fluctuates as described above, elevation control is performed based on the ground sensor value immediately before the fluctuation. The criterion for determining whether or not the traveling vehicle body 2 is sharply inclined is, for example, about ± (left and right) 1.1 degrees / millisecond as the inclination angular velocity sensor value.

The traveling body 2 is sharply inclined when the wheels fall into the unevenness of the cultivator or get on. In such a case, the seedling placement part 4 is also inclined following the traveling body 2. However, a situation such as the seedling planting part 4 floating from the topsoil surface occurs. However, since it is temporary, and the wheel returns to the original state immediately after passing through the unevenness of the cultivator, the ground relation of the seedling planting section 4 temporarily changes as described above. On the other hand, it is not preferable to raise and lower the seedling planting section based on the current contact sensor value faithfully each time, since the raising and lowering control becomes unstable. Therefore, once the ground contact of the seedling planting part 4 is detected, even if the traveling vehicle body 2 is temporarily inclined suddenly and the ground contact sensor value fluctuates greatly, the seedling planting part 4 is not affected.
Is considered to be in the normal ground state, and the elevation control may be performed based on the ground sensor value immediately before the change.

Next, the rolling control will be described.
This rolling control is basically performed based on the detection value of the inclination angular velocity sensor 39 which is a posture detection sensor and the left and right inclination sensor 5.
4, the output amount to the motor 52 is determined based on a predetermined rule, and the right and left inclination sensor 54 is placed in the dead zone of a predetermined target value (usually horizontal) so that the seedling planting section can be set. Roll 4 In this case, when the left-right inclination changes abruptly, it is preferable to control based on the detection result of the inclination angular velocity sensor 39. The control method using the tilt angular velocity sensor and the left-right tilt sensor is described in, for example, the above-mentioned Japanese Patent Application Laid-Open No. Hei 6-133612.

The output signals of the attitude control sensors (tilt sensor, tilt angular velocity sensor, etc.) include, in addition to the change in attitude due to the unevenness of the cultivator, the change in attitude due to the change in the unevenness and the lateral movement of the planting section. The shaking caused by this is included.
6A and 6B show output signals of the angular velocity sensor and the inclination sensor. FIG. 6A shows a case where a planting operation is performed, and FIG. 6B shows a case where the vehicle is running without planting. Represent. The peak indicated by the arrow in FIG. 6A indicates the shaking due to planting. Since the shaking due to the change in the posture has periodicity, hunting may occur when an output for adjusting the inclination is made in a state where the posture is returned. For this reason, in order to perform appropriate posture control, it is necessary to remove such a periodic swing component.

FIG. 7 shows the change over time of the output voltage of the tilt sensor. This output signal includes signals of various frequencies. It is. Also, the upper side of the vertical axis indicates “upper right”,
The lower side indicates “left-up”. As can be seen from this figure, this output has a periodicity, and if the attitude is controlled based on this signal, it will be too inclined to the opposite side. In the present invention, attitude control is performed using a signal from which this low-frequency component has been removed by a filter. That is, an output signal from the tilt sensor, which is a posture detection sensor, is input to the CPU through the filter circuit, and is output to the tilt actuator (motor 52) based on this signal. Therefore, appropriate control that does not cause hunting can be performed. This filter may be a hard filter,
It may be processed by software.

Next, the shaking of the body changes depending on the hardness of the field, the amount of seedlings placed on the seedling mounting table 61, the running speed of the vehicle body 2, and the like. FIGS. 9A and 9B show that the state of shaking changes depending on the working conditions, and B and C in these figures represent shaking caused by planting. Thus, even the shaking caused by the same planting changes depending on other working conditions. Therefore, if the adjustment state of the attitude control remains the same, the adjustment of the attitude and the movement of the body are reversed, and there may be a problem that the swing is amplified. Such a problem is solved by making the sensitivity of the attitude control insensitive when the frequency component of the fluctuation included in the output signal from the sensor is larger than a predetermined amount. Specifically, for example, the width of the neutral (dead zone) of the attitude control, the output time of the attitude control signal, the flow rate (duty ratio) to the hydraulic actuator, and the like may be changed. As described above, by changing the adjustment state of the posture control according to the state of the swing, stable control can be performed without being affected by the work condition.

FIG. 8 is a flowchart for changing the adjustment state of the attitude control. The output of the attitude detection sensor (tilt sensor, angular velocity sensor, etc.) is measured, and the frequency analysis (sensor signal in a specific frequency band is performed). May be used) to determine whether or not the magnitude of the shaking frequency is larger than a set value. If the frequency of the shaking is large, the sensitivity of the posture adjustment is made insensitive, otherwise, the adjustment amount is kept at the standard.

In any of the above attitude control methods, it is preferable that the control be performed by changing the frequency value of the shaking according to the vehicle speed. Specifically, a plurality of filters having different frequency characteristics for removing noise included in the posture detection signal are provided, and the vehicle speed (the position of the shift lever, the calculation speed,
The filter to be used may be changed according to the ground speed. The configuration of this filter may be hardware or software.

FIG. 10 is a block diagram for this control, and FIG. 11 is a flowchart of the control, in which a vehicle speed detection signal of a vehicle speed setting unit (which may detect an actual ground speed) is compared with a set value a. If less than a, use filter A
The filter B is used if it is between b and b, and the filter C is used if it is b or more. Although the shaking of the airframe differs depending on the vehicle speed even if the unevenness of the field is the same, stable attitude control can be performed by selecting a filter according to the vehicle speed and performing attitude control.

[0030]

As described above, according to the attitude control apparatus for an agricultural work machine according to the present invention, the signal after removing noise such as the frequency component of the vibration of the machine body or the work apparatus from the output signal of the attitude sensor is used. Since the posture control is performed, hunting or the like does not occur, and appropriate control according to the working conditions can be performed.

[Brief description of the drawings]

FIG. 1 is a side view of a seedling transplanter.

FIG. 2 is a plan view of the seedling transplanter.

FIG. 3 is a side view of a main part of the lifting link device and a seedling planting part.

FIG. 4 is a rear view of a main part of the lifting link device and a seedling planting part.

FIG. 5 is a block diagram of a posture control device.

6A and 6B are graphs showing a relationship between a frequency and an output value of a posture sensor, wherein FIG. 6A shows a planting state, and FIG. 6B shows a running state without planting.

FIG. 7 is a graph showing a frequency component of fluctuation.

FIG. 8 is a flowchart for changing a posture adjustment amount in accordance with the magnitude of shaking.

FIG. 9 is a graph showing that the magnitude of the frequency portion of the swing in the output of the attitude sensor changes depending on the work state.

FIG. 10 is a block diagram illustrating a main part of a control device provided with a vehicle speed setting unit.

FIG. 11 is a flowchart for control based on vehicle speed.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Seedling transplanter 2 Running body (running part) 3 Elevating link device 4 Seedling planting part 5 Fertilizer device 38 Vehicle speed sensor 39 Inclined angular velocity sensor 44 Connecting shaft (axis in the front-back direction) 47 Hydraulic valve for elevating 52 Rolling motor 54 Left and right Tilt angle sensor 55 Stroke sensor 65 Ground sensor 80 Controller

Claims (3)

[Claims] An attitude control device for an agricultural work machine that controls the attitude of a traveling vehicle body or a working device based on an output from an attitude control sensor, wherein a frequency component of a swing included in an output signal from the sensor is removed. An attitude control device for an agricultural work machine, comprising: a filter, wherein the attitude is controlled based on a signal processed by the filter. 2. An attitude control device for an agricultural work machine for controlling the attitude of a traveling vehicle body or a working device based on an output from an attitude control sensor, wherein a swing frequency component included in an output signal from the sensor is a predetermined amount. The attitude control device for an agricultural work machine, characterized in that the sensitivity of the attitude control is made insensitive when the number is larger than the threshold value. 3. The system according to claim 1, wherein the control is performed by changing the frequency component value of the shaking according to the traveling speed of the traveling vehicle body.
Or the attitude | position control apparatus of the agricultural working machine of 2.