JP2001157501A - Mobile vehicle for working - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate the need for addition of an exclusively used sensor input part or a lifting and lowering control software when a wording implement is subjected to lifting and lowering control by using a working implement height sensor of a kind different from the existing one. SOLUTION: This mobile vehicle for working is obtained by converting a detected signal from a laser receiver 23 through a signal converter 26 into a detected signal having the interchangeability with a plowing depth sensor 9, inputting the resultant converted signal to an input part 12 for the plowing depth sensor 9 and controlling the lifting and lowering of the working implement 3 with a plowing depth automatic controlling means when installing the laser receiver 23 for detecting the height of the working implement 3 based on the received height of laser beans projected from a laser projector 24 in the working implement 3 in a tractor equipped with the input part 12 for the plowing depth sensor 9 for inputting the detected signal of the plowing depth sensor 9 and the plowing depth automatic controlling means for automatically controlling the lifting and lowering of the working implement 3 based on the detected signal inputted from the input part 12 for the plowing depth sensor 9 in a mobile machine body 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of working vehicles such as tractors.

[0002]

2. Description of the Related Art Conventionally, this kind of working traveling vehicle includes:
For example, a sensor input unit for inputting a detection signal of a work machine height sensor (a tillage depth sensor, etc.) to a traveling machine such as a tractor capable of vertically connecting a work machine, and a detection signal input from the sensor input unit Lifting and lowering control means (such as automatic plowing depth control) for raising and lowering the working machine based on
Recently, a different type of work machine height sensor (laser type height sensor, etc.) is provided in the work machine according to work conditions and the type of work machine, and based on a detection signal of the work machine height sensor. It has been proposed to raise and lower the working machine.

[0003]

However, when a different type of work machine height sensor is provided in a work machine, a sensor input unit and elevation control software corresponding to the sensor are required, resulting in an increase in cost. There was an inconvenience that existing working vehicles could not cope with.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has been made to solve these problems. A work traveling vehicle, comprising: a sensor input unit for inputting a detection signal of a work machine height sensor; and lifting control means for controlling lifting and lowering of the work machine based on the detection signal input from the sensor input unit. In providing a different type of work equipment height sensor, the detection signal of the work equipment height sensor is converted to a detection signal compatible with the existing work equipment height sensor via signal conversion means, The conversion signal is input to the sensor input unit, and the work machine is vertically controlled by existing lifting control means. In other words, when raising and lowering the work equipment using a different type of work equipment height sensor, the existing sensor input unit and elevation control means can be used. Not only can the cost be reduced compared to adding additional parts and lifting control software, but it is also possible to execute lifting control using a different type of work equipment height sensor even on existing work vehicles become. Further, an input unit for a tillage depth sensor for inputting a detection signal of a tillage depth sensor to a traveling machine capable of vertically connecting a work implement, and a work implement based on a detection signal input from the input unit for the tillage depth sensor. Depth automatic control means for automatically raising and lowering the work, and a working traveling vehicle including a working depth setting device for setting a target working depth of the working depth control, a laser projector emits light to the working machine. In providing a laser-type height sensor that detects the height of the working machine based on the reception height of the laser light, a detection signal of the laser-type height sensor is used to convert a detection signal of the laser-type height sensor into a signal compatible with the tillage depth sensor via a signal conversion unit. While converting the work signal into a certain detection signal, the converted signal is input to the input unit for the tillage depth sensor, and the work implement is vertically controlled by the tillage depth automatic control means, and further, the elevation control based on the detection signal of the laser type height sensor. Set the target height of It is characterized in that. In other words, when the working machine is controlled to move up and down using the laser height sensor, the existing input unit for the plowing depth sensor, the automatic plowing depth control means, the plowing depth setting device, and the like can be used. It is not possible to reduce the cost compared to adding a sensor input unit corresponding to the height sensor, elevation control software, height setting device, etc. Can be performed.

[0005]

Next, a first embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling body of a tractor, and a working machine (rotary) 3 is connected to a rear portion of the traveling body 1 via a lifting link mechanism 2. The work machine 3 moves up and down in accordance with the hydraulic operation of the lift arm 4 that suspends the lifting link mechanism 2, and all of these basic configurations are conventional.

The working machine 3 includes a cultivating shaft 6 to which a plurality of cultivating claws 5 are attached, a cultivating cover 7 that covers the cultivating shaft 6, and a rear cover provided at the rear end of the cultivating cover 7 so as to be able to swing up and down. 8, a cultivation depth sensor (potentiometer) 9 for detecting the cultivation depth (ground work height) of the work implement 3 based on the swing angle of the rear cover 8 and the like. The tillage depth sensor 9 is provided with a connector 11 via a cable 10. By connecting the connector 11 to a tillage depth sensor input unit 12 provided at a rear portion of the traveling machine body 1,
Although the detection signal of the tillage depth sensor 9 is input to the control device 13 described later, since the tillage depth sensor 9 is an analog sensor that outputs a voltage signal corresponding to a change in the tillage depth, the tillage depth sensor 9 The tillage depth detection signal input from the input unit 12 is
The data is input to the control device 13 via an A / D conversion circuit.

Reference numeral 14 denotes an operation panel provided on one side of a driver's seat 15. The operation panel 14 includes a position lever 16 for setting the height of the working machine 3 with respect to the machine height, and a later-described automatic plowing depth control. Operating tools such as a plowing depth setting volume (plowing depth setting device) 17 for setting a target plowing depth, and a control switching volume 18 for switching ON / OFF such as automatic plowing depth control are provided.

The control device 13 is constituted by using a so-called microcomputer (including a CPU, a ROM, a RAM, etc.), and has an input side provided with the above-described cultivation depth sensor 9.
(Input unit 12 for tillage sensor), tillage setting volume 1
7. In addition to a control switching volume 18, a position sensor 19 for detecting the lever angle of the position lever 16,
An input device such as a lift arm sensor 20 for detecting the arm angle of the lift arm 4 is connected via a predetermined input interface circuit, while an output solenoid 21 a of a lift arm electromagnetic valve 21 is connected to an output side. Output devices such as a solenoid 21b are connected via a predetermined output interface circuit. That is, the control device 13
Position control for automatically raising and lowering the working machine 3 (lift arm 4) so that the set height set by the position lever 16 and the detected height detected by the lift arm sensor 20 match, and set by the tillage setting volume 17 Control means such as automatic plowing control for automatically raising and lowering the working machine 3 so that the set depth and the detection depth detected by the plowing depth sensor 9 match.

Reference numeral 22 denotes a sensor mast which is detachably mounted on the work machine 3. A laser light receiver (laser type height) having a predetermined light receiving width in the vertical direction is provided at the upper end of the sensor mast 22. Sensor) 23 is mounted. That is, a laser projector 24 for rotating and projecting a laser beam in a horizontal direction or an arbitrary tilt direction is installed at a predetermined location in the field, and the laser beam emitted from the laser projector 24 is transmitted to the laser receiver 23. Light is received, and the height of the working machine based on the laser light can be detected based on the received light height.

Reference numeral 25 denotes a height indicator integrally attached to the laser receiver 23. The height indicator 25 is
Appropriate display unit 2 that displays a horizontally long straight line or rectangle
5a, a lowering instruction display unit 25b for emitting and displaying a downward arrow or a triangle, and an raising instruction display unit 25c for emitting and displaying an upward arrow or a triangle,
A display control circuit (not shown) for controlling light emission of each of the display units 25a, 25b, 25c according to the height detection signal input from the laser light receiver 23 is incorporated. That is, the display control circuit blinks the appropriate display section 25a when the height of the working machine for the laser beam (the height of the laser light receiver) is appropriate, and lowers the height when the height of the working machine for the laser beam is slightly high. The command display 25b blinks, and if the height of the work equipment with respect to the laser beam is considerably high, the lower command display 25b
Is turned on continuously, and when the height of the working machine with respect to the laser beam is slightly low, the raising command display section 25c is blinked.
When the height of the working machine with respect to the laser beam is considerably low, the operator is notified of the height of the working machine based on the laser beam by continuously lighting the raising command display section 25c. Since 25 is integrally attached to the laser receiver 23 as described above, the attaching / detaching operation and the cable connection operation are simplified as compared with the case where the height display 25 and the laser receiver 23 are separately mounted. You can do it.

Reference numeral 26 denotes a signal converter connected to the height indicator 25, and the signal converter 26 comprises a height indicator 2
A D / A conversion circuit for converting the height detection signal (digital signal that changes stepwise according to the height of the work equipment) input from 5 into a voltage change signal, and a gain adjustment for adjusting the voltage change rate of the voltage change signal And a reference voltage adjusting circuit for adjusting a reference voltage of the voltage change signal (a voltage output when the laser photodetector 23 is at an appropriate height). It is configured to output from. That is, the voltage change signal output from the signal converter 26 is a signal compatible with the detection signal of the above-described tillage depth sensor 9 (the reference voltage, the voltage change range, the voltage change rate, and the like substantially match). Input unit 1 for depth sensor
2, the connector 28 is connected to the laser receiver 23.
Automatic control (absolute height control) of the working machine 3 based on the detection signal of the cultivation depth can be executed using the automatic plowing depth control (ground height control), and only the automatic plowing depth control software In addition, since hardware such as the tillage depth sensor input unit 12, the tillage depth setting volume 17, and the control switching volume 18 can be used as they are, the cost can be reduced as compared with the case where they are separately prepared. Not
The lifting control using the laser receiver 23 can be executed even with the existing tractor.

Further, since the signal converter 26 of the present embodiment includes the gain adjustment circuit and the reference voltage adjustment circuit as described above, the lifting / lowering speed of the working machine 3 is controlled based on the operation of the gain adjustment operation tool (not shown). The reference voltage can be adjusted, and the reference voltage suitable for the model can be set based on the operation of the reference voltage adjusting operation tool (not shown). As a result, the voltage change rate and the reference voltage are different. In the tractor provided with the tillage depth sensor 9, the lifting and lowering control of the working machine 3 using the laser light receiver 23 can be performed.

The sensor mast 22 is a pipe-shaped lower mast 2 which is detachably attached to the working machine 3.
2a and an upper mast 22b which fits inside the lower mast 22a so as to be retractable, and a mast cylinder (electrically driven) forcibly extends and contracts the sensor mast 22 between the masts 22a and 22b. Cylinder) 29 is interposed. That is, when the working machine 3 is controlled to be raised and lowered using the laser light receiver 23, the connector 28 is connected to the input unit 12 for the tillage depth sensor, and the working machine 3 is moved to the desired reference height (target Height), and then the laser receiver 23 is moved to the appropriate height (appropriate display section 25
a), but at this time, the laser light receiver 2 is operated based on the operation of a mast expansion / contraction switch (not shown).
3 can be adjusted.
If the automatic plowing depth control is turned ON after the above preparation work is completed, the lifting and lowering control of the working machine 3 using the laser light receiver 23 will be executed. The reference height can be changed based on the height adjustment of the laser light receiver 23 or the operation of the tillage depth setting volume 17.

In the first embodiment configured as described above, the input unit 1 for the tillage depth sensor which inputs the detection signal of the tillage depth sensor 9 to the traveling machine body 1 to which the working machine 3 can be connected in a vertically movable manner.
2 and automatic cultivation depth control means for automatically raising and lowering the working machine 3 based on a detection signal input from the input unit 12 for the cultivation depth sensor. In providing the laser light receiver 23 for detecting the height of the work implement based on the light reception height of the laser light projected by the light projector 24, a detection signal of the laser light receiver 23 (height display 25) is converted into a signal converter. In addition to converting the signal into a detection signal compatible with the tillage depth sensor 9 through 26, the converted signal is input to the tillage depth sensor input unit 12 and the work implement 3 is controlled to move up and down by the tillage depth automatic control means. Therefore, when the working machine 3 is lifted and lowered using the laser light receiver 23, the existing tillage depth sensor input unit 12, tillage depth automatic control means, tillage depth setting volume 1
7 etc. can be used. Therefore, the laser receiver 2
It is not permissible to reduce the cost compared to adding a sensor input unit, elevation control software, height setting device, etc. corresponding to 3).
3 can be performed.

Moreover, the NO signal converter 26 of the present embodiment
Is provided with a gain adjustment circuit and a reference voltage adjustment circuit, so that it is not possible to adjust the lifting speed of the work implement 3 based on the operation of the gain adjustment operation tool, but based on the operation of the reference voltage adjustment operation tool. A reference voltage suitable for the model can be set. As a result, even in a tractor provided with the tillage depth sensor 9 having different voltage change rates and reference voltages, the lifting and lowering control of the working machine 3 using the laser light receiver 23 can be performed. It can be carried out.

Next, a second embodiment of the present invention will be described with reference to the drawings. However, description of the configuration common to the first embodiment will be omitted, and the reference numerals in the drawings will be referred to. In the drawing, reference numeral 30 denotes an input unit for a laser receiver provided at the rear of the traveling body 1, and the input unit 30 for the laser receiver is connected to the laser receiver 23 (or the height display) via the signal converter 26. Output signal of the unit 25),
Alternatively, the laser light receiver 23 that does not pass through the signal converter 26
(Or the height display 25) is provided separately from the input unit 12 for the tillage depth sensor so as to exclusively input the output signal of the height indicator 25.

Reference numeral 31 denotes a front panel provided in front of the driver's seat 15. The front panel 31 includes a meter panel 32, a key switch 33, and a light switch 34.
Etc. are incorporated. The meter panel 32 incorporates meters such as an engine tachometer 35 and monitor lamps such as a charge lamp 36. Further, at the lower right end of the meter panel 32, A state display section 37 capable of displaying a control state and a setting state is provided. That is, the state display unit 37 is configured by a liquid crystal panel having display dots of n rows and m digits, and can display an arbitrary character string or graphic according to a display drive signal from the control device 13. Has become.

A menu switch 38, selection switches 39 and 40 are provided at the lower right end of the front panel 31.
And a display operation unit 42 provided with an enter switch 41. The display of the status display unit 37 can be switched based on the operation of the display operation unit 42, and based on a predetermined operation on each display screen. Automatic control switching, setting data change, and the like can be performed.

Now, the control device 13 of the second embodiment includes:
"Laser control" for automatically raising and lowering the work machine 3 in accordance with the detection signal of the laser light receiver 23, and automatically controlling the expansion and contraction of the mast cylinder 29 in accordance with the detection signal of the tillage depth sensor 9,
In addition, "laser mix control" for automatically raising and lowering the working machine 3 in accordance with the detection signal of the laser light receiver 23, and "laser control" and "laser mix control" in response to the operation of the display operation unit 42 are turned ON / OFF. A control program such as “switching laser control” for turning off is added. Hereinafter, control procedures of “laser control” and “laser mix control”, which are main parts of the second embodiment, will be described with reference to flowcharts.

In the "laser control", it is determined whether or not the laser control mode is set, and if the determination is YES,
The lift arm 4 (working machine 3) is automatically controlled to move up and down according to the input detection signal of the laser light receiver 23, and the current working machine height with respect to the laser beam is displayed on the status display section 37. I have. In other words, if the height of the working machine with respect to the laser beam is appropriate, the appropriate display mark (horizontal rectangle) blinks, and if the height of the working machine with respect to the laser beam is slightly higher, the lowering command display mark (downward arrow) blinks. If the working machine height for the laser beam is considerably high, the lowering command display mark is continuously lit, and if the working machine height for the laser beam is slightly lower, the raising command display mark (upward arrow) blinks. When the working machine height for the laser light is considerably low, the raising command display mark is continuously lit to notify the operator of the working machine height based on the laser light, but this height display is
Since the operation is performed in the state display section 37 provided in front of the driver's seat 15, there is an advantage that the operator can confirm the height control state of the work implement 3 in the forward posture.

On the other hand, in the "laser mix control", it is determined whether or not the mode is the laser mix control mode. When the determination is YES, similarly to the "laser control", the input detection signal of the laser receiver 23 is inputted. Lift arm 4 according to
(Working machine 3) is automatically controlled to rise and fall. When the laser switch 43 is turned on (or when the start of work is determined), the cultivation depth sensor 9 and the cultivation depth setting volume 1
The height of the laser receiver 23 is automatically adjusted according to a signal such as 7. That is, prior to starting the laser control, the working machine 3 is automatically moved up and down so that the set plowing depth of the plowing depth setting volume 17 and the plowing depth detected by the plowing depth sensor 9 match, and then the mast cylinder 29 is moved. In order to automatically expand and contract and position the laser receiver 23 at the reference height (appropriate display height), the target height (reference height) of the laser control is automatically set based on the plowing depth of the work machine 3. As a result, the height adjustment of the laser receiver 23 is not allowed to be simplified, and an appropriate target height can be set even in a field having a height difference. become.

In the second embodiment configured as described above, the input unit 12 for the depth sensor and the input unit 3 for the laser receiver are used.
Since 0 and 0 are separately provided, when switching between the automatic plowing control and the laser control, the two controls can be switched only by operating the machine without switching the connector.

In the laser control, the working machine 3 is not allowed to be automatically moved up and down in response to the input detection signal of the laser light receiver 23. , There is an advantage that the operator can confirm the height control state of the work implement 3 in the forward posture.

In the laser mix control, prior to the start of the laser control, the working machine 3 is automatically moved up and down so that the tillage depth set by the tillage depth setting volume 17 and the tillage depth detected by the tillage depth sensor 9 match. After that, the mast cylinder 29 is automatically extended and retracted to position the laser receiver 23 at the reference height, so that the target height of the laser control is automatically set based on the working depth of the working machine 3. As a result, the height adjustment of the laser light receiver 23 cannot be simplified, and an appropriate target height can be set even in a field having a height difference.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a plan view of an operation panel.

FIG. 3 is a perspective view of a laser receiver and a height indicator.

FIG. 4 is a block diagram showing input / output of a control unit.

FIG. 5 is a graph showing the operation of the signal converter.

FIG. 6 is a plan view of a tractor showing a second embodiment.

FIG. 7 is a front view of a front panel.

FIG. 8 is a block diagram showing input and output of a control unit.

FIG. 9 is a flowchart of “laser control”.

FIG. 10 is a front view of a state display unit showing an operation of “laser control”.

FIG. 11 is a flowchart of “laser mix control”.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 traveling machine 3 work machine 4 lift arm 8 rear cover 9 tillage depth sensor 12 tillage depth sensor input unit 13 control device 17 tillage depth setting volume 22 sensor mast 23 laser receiver 24 laser projector 25 height display 26 signal converter

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toyoharu Endo 667 Idaicho, Oji, Higashi-Izumo-cho, Yatsuka-gun, Shimane 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. Address 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Masaki Uyama 667 Iidacho, Oji-machi, Higashi-Izumo-machi, Yatsuka-gun, Shimane Prefecture No. 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Shigeharu Kimura 667 Iidacho, Ojimo-cho, Higashi-Izumo-cho, Yatsuka-gun, Shimane 1 F-term in Mitsubishi Agricultural Machinery Co., Ltd. 2B041 AA07 AB05 AC01 CA03 HA11 HA14 HA23 2B304 KA08 LA02 LA05 LB05 MA04 MB02 MC08 MD10 QA11 QB15 QC08 RA27

Claims (2)

[Claims] 1. A sensor unit for inputting a detection signal of a work machine height sensor to a traveling machine body to which a work machine can be freely moved up and down, and a work machine based on a detection signal input from the sensor input unit. In a traveling vehicle having lifting / lowering control means for performing lifting / lowering control, when providing a different type of working equipment height sensor to the working equipment, a detection signal of the working equipment height sensor is converted to an existing signal via signal conversion means. A work vehicle for converting a work machine height sensor into a detection signal compatible with the work machine height sensor, and inputting the converted signal to the sensor input unit to control the work machine to be lifted and lowered by existing lift control means. . 2. A tiller depth sensor input unit for inputting a detection signal of a tillage depth sensor to a traveling machine body to which a work machine can be connected so as to be able to move up and down, and a detection signal input from the tillage depth sensor input unit. In a traveling vehicle equipped with a cultivation depth automatic control means for automatically raising and lowering the working machine and a cultivation depth setting device for setting a target cultivation depth of the cultivation depth automatic control, a laser projector is provided for the working machine. Upon providing a laser type height sensor that detects the height of the working machine based on the reception height of the laser light to be projected, a detection signal of the laser type height sensor is used as the tillage depth sensor via a signal conversion unit. Along with converting to a compatible detection signal, the converted signal is input to the input unit for the tillage depth sensor, and the work implement is vertically controlled by the tillage depth automatic control means, and further, to the detection signal of the laser type height sensor. Set the target height of the elevating control based on the plowing depth A work vehicle for driving, which is set by a container.