JP2004180629A - Apparatus for controlling traveling speed of agricultural work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an agricultural work vehicle working under traveling by interlocking the wheels with a working implement by an engine and enabling quick and smooth gyration of the implement and improving the gyration operability on a soil surface having a deep sole pan. <P>SOLUTION: The speed controlling apparatus of the agricultural work vehicle performing the farm work under traveling by interlocking the wheels with the implement by the engine is provided with a sole pan sensor 4 to detect the depth of the sole pan and controls the rotational speed of the engine by the detection signal of the sole pan depth. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle speed control device for an agricultural work machine, which is used to smoothly perform a turning operation, and is used for a seedling plant, a fertilizer, a seeding machine, and other agricultural work machines that work while traveling on paddy fields, wetlands, and the like. sell.
[0002]
[Prior art]
In order to improve the steering turning performance of a seedling planter, there is known a technology of setting an appropriate turning speed by detecting the depth of a cultivator and interlocking an HST transmission to change the speed (for example, Patent Document 1).
[0003]
[Patent Document 1]
JP-A-11-28007 (page 1, FIG. 7).
[0004]
[Problems to be solved by the invention]
In agricultural work in a field with deep tillage, the running load during steering and turning of the agricultural work machine is large, the steering and turning property is reduced, and the engine is often stopped. In such a case, the transmission is decelerated or the throttle lever is operated to increase the rotation of the engine as in the related art. However, in deceleration control during steering turning and throttle lever operation, the output of driving force that can correspond to the running load during turning is delayed, making it difficult to maintain smooth turning.
[0005]
[Means for Solving the Problems]
According to the first aspect of the present invention, a plow sensor 4 for detecting the depth of a plow is provided in an agricultural work machine that works while the wheels 2 and a working device 3 are running in conjunction with each other by an engine 1. The speed of the engine 1 is controlled to increase or decrease based on the detection of the vehicle speed. While running by driving the wheels 2 by the engine 1, the work device 3 is linked to perform ground work. During this traveling, the tillage sensor 4 detects the depth of the tillage, and when the tillage depth is equal to or greater than a predetermined value, the rotation speed of the engine 1 is controlled to increase or decrease. As a result, a steering turn is performed on a deeply tilled soil surface, and a quick and smooth turn is performed without lowering the traveling driving force and the vehicle speed during the turn.
[0006]
The invention according to claim 2 is characterized in that the transmission ratio of the wheel 2 transmission is changed and controlled together with the increase and decrease of the rotation speed of the engine 1. When the tillage sensor 4 detects the depth of the tillage more than a predetermined value, the rotation speed of the engine 1 is controlled to increase and decrease, and the transmission of the wheels 2 is reduced, so that the speed of the engine 1 increases rapidly. In addition, a change in traveling speed during turning can be suppressed.
[0007]
【The invention's effect】
According to the first aspect of the present invention, when the cultivator in the field is deep and the running resistance is large, the rotation of the engine 1 is increased to quickly prevent the shortage of the driving force of the wheel 2 during the steering turn. In addition, the transition from the straight running to the turning travel and the turning travel can be smoothly performed, and the turning can be performed without the soil surface being roughened by the wheels 2.
[0008]
According to the second aspect of the present invention, the rotation of the engine 1 is increased, and the deceleration control of the transmission of the wheels 2 is performed to prevent a reduction in the driving force and suppress a change in the traveling speed, thereby performing a smooth steering turn. The operability can be improved so that the driver does not feel uncomfortable.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to the drawings. The seedling plant body 5 as an example of the agricultural working machine is a riding traveling form of wheel traveling, and a seedling planting device as the working device 3 is connected to the rear side via a lifting link 6. The vehicle body 5 has front wheels 9 steered by a steering handle 8 at the front and rear wheels 2 at the rear. The front wheel 9 and the rear wheel 2 are driven by the engine 1 mounted below the driver's seat 10 to travel, and the seedling planting device 3 is transmitted by the rear PTO shaft 11 so that the seedling can be planted. . The seedling plant 3 has a center float 13 and a side float 14 at the lower part of the seedling frame 12 so that the soil can be slid and leveled. Seedling tank 15 that can be supplied to the seedling tank 15, and a seedling planting tool 16 that separates and holds the seedlings fed from each seedling tank 15 and plants the seedlings on the soil surface A leveled by the floats 13 and 14 below. Are arranged to form a multi-row planting form. Reference numeral 17 denotes a fertilizer device mounted on the rear portion of the vehicle body 5, and fertilizes the soil surface near the seedling planting portion by each seedling planting tool 16 via a fertilizing pipe 18. Reference numeral 19 denotes a seedling rack frame supported on the front part of the vehicle body 5, on which mat seedlings to be supplied to the seedling tank 15 are placed.
[0010]
At the time of the seedling planting operation of the seedling planting device 3, the entire seedling planting device 3 slid by the floats 13 and 14 moves up and down due to the depth of the soil cultivator B and the hardness of the soil surface A. The vertical movement of the seedling plant 3 causes the center float 13 to move up and down to extend and retract a hydraulic lift cylinder that raises and lowers the elevating link 6. When the seedling plant 3 moves up, the lift cylinder raises the elevating link 6. When the seedling planting device 3 moves down, the elevating link 6 is lowered, and the seedling planting device 3 is maintained at a constant height relative to the soil surface A, and the planting depth by the seedling planting tool 16 is kept constant. So that the planting depth is controlled.
[0011]
The tillage sensor 4 for detecting the depth H of the tillage B on which the seedling machine travels is provided at a mounting portion of the lifting link 6 connected to the seedling planting device 3 and moving up and down with respect to the vehicle body 5. The lifting link 6 is in the form of a parallel link. The front end of the lifting link 6 is pivotally supported by a link pin 20 so as to be vertically rotatable with respect to the vehicle body 5, and the tillage sensor 4 including a potentiometer is provided on the link pin 20. When the tillage depth changes during the seedling operation, the seedling plant 3 supported by the floats 13 and 14 is rotated up and down together with the lifting link 6. For this reason, when the cultivator B becomes deep, the vehicle body 5 sinks deeply with respect to the seedling planting device 3 side, so that the angle θ of the lifting link 6 with respect to the horizontal plane changes and becomes large. The angle θ becomes smaller, and the relationship between the angle θ of the lifting link 6 and the tillage depth H is indicated by a graph line C as shown in FIG. Reference numeral 21 denotes a mounting arm integrated with the lifting link 6, which supports a meter shaft 22 of a potentiometer needle on the axis of the link pin 20. Reference numeral 23 denotes a mounting arm integrated with the vehicle body 5, and mounts a meter case 24 for guiding rotation of the potentiometer needle.
[0012]
A transmission case 26 is provided on a front axle housing 25 on which the front wheel 9 is mounted. On the input shaft 27 of the transmission case 26, a bell-con 29 is provided as a continuously variable transmission using a belt 28. The electric cylinder 30 for bull control operation is operated by the auxiliary transmission lever 31 on the side of the driver's seat 10. The sub-shift lever 31 is provided with a sub-shift lever sensor 32 for detecting the operation angle of the lever. Is performed.
[0013]
An electrically operated electric cylinder 33 is provided in the throttle of the engine 1, and the throttle can be interlocked by electrically driving the electric cylinder 33 by a throttle lever sensor 35 that detects the rotation angle of the throttle lever 34. .
On the input side of the controller 7 of the vehicle body control device for controlling the vehicle speed by the rotation of the engine 1 or the traveling transmission sub-transmission, etc., the throttle lever 35, the sub-transmission lever sensor 32, the tillage sensor 4 of the lifting link 6, etc. And an electric cylinder 33 for operating the throttle and an electric cylinder 30 for operating the bell control are provided on the output side.
[0014]
In addition, no seedlings were planted by the GPS (Global Positioning System) receiver 36 for detecting and displaying the presence or absence of stock in the field on the controller 7 or the above-mentioned seedling planting tools 16 (missing). A stock-out sensor 37 for detecting the stock status, a stock-out output switch 38 that can be switched to perform the stock-out display, and the like are provided on the input side. On the output side, a stock-out monitor 39 for displaying the stock-out status is provided.
[0015]
In such a configuration, the tillage sensor 4 always detects the depth H of the tillage B during the traveling operation. A graph line D (FIG. 3) of the number of revolutions R of the engine 1 at idle-up with respect to the tillage depth H is set in the controller 7 as a control target value. When the depth H is detected by the tillage sensor 4, the electric cylinder 33 is output so that the rotation speed R of the engine 1 according to the depth H is output, and the throttle adjustment control is performed. Therefore, when the vehicle body 5 reaches the steering turning position at the end of the straight running, the rear wheels 2 and the front wheels 9 are driven under the rotation of the engine 1 to perform the steering turning.
[0016]
At this time, when the depth of the cultivator B changes shallowly up to the turning stroke, regardless of the depth detected by the tillage sensor 4, the detected value detected deeply during the straight traveling before entering the turning stroke is On the basis of this, it is also possible to configure so as to perform the turning traveling drive based on the rotation speed of the engine 1. On the contrary, when the tillage depth during the turning stroke is detected to be deeper than the tillage depth during the straight travel, the rotation speed of the engine 1 is immediately controlled to be higher by the detection of the tillage sensor 4. Thus, the vehicle can be configured to quickly and stably perform a turning movement regardless of a change in the traveling load.
[0017]
Next, the point different from the above example mainly based on FIGS. 8 and 9 is that the rotation control is performed so as to increase the rotation speed of the engine 1 by the tillage depth H, and at the same time, the speed change control is performed so as to reduce the vehicle speed. Things. A graph line E of the vehicle speed restraint rate K with respect to the tillage depth H is set in the controller 7 as a control target value. Based on the detection of the depth of the tillage, the electric cylinder 30 for operating the bell control is output based on the vehicle speed restraint rate K, and the subtransmission is decelerated, so that the work is performed at the optimum traveling speed. For this reason, the slip of the wheel 2 does not easily occur, and the fuel amount of the engine 1 does not easily increase. In addition, since the vehicle speed is quickly controlled by the depth of the tillage, the soil surface is less disturbed, and efficient work can be performed.
[0018]
Next, mainly with reference to FIGS. 1, 10 and 11, the display of the monitor 39 such as the missing stock positions 40 and 41 in the field F is processed according to the flow as shown in FIG. In this case, the missing position 40 may be displayed for each seedling-planted plant, or may be displayed as the missing region position 41 as a region with many missing plants. The monitor display of the stock-out state and the distribution state may be configured to be printed 42. The absence sensor 37 may be configured to have the seedling sensor detect the presence or absence of holding of seedlings in each seedling implement 16 in the seedling planting process, or to detect the presence or absence of seedlings immediately after planting by the seedling sensor. it can.
[0019]
By detecting the location of such absent plant, the location of the absent plant and the location where the abundant plant is abundant can be grasped. Efficiency and efficiency can be improved.
[Brief description of the drawings]
FIG. 1 is a control block diagram of a vehicle speed control unit.
FIG. 2 is a side view and a plan view of a tillage sensor unit, and a graph showing a relationship between a lifting link angle and a tillage depth.
FIG. 3 is a graph showing a relationship between a tillage depth and an engine idle-up rotation speed.
FIG. 4 is a flowchart of the idle-up rotation control.
FIG. 5 is a side view of the seedling transplanter.
FIG. 6 is a schematic plan view thereof.
FIG. 7 is a plan view of the vehicle body.
FIG. 8 is a graph showing a relationship between a tillage depth and a vehicle speed restraint rate according to another embodiment.
FIG. 9 is a flowchart of the vehicle speed restraint rate control.
FIG. 10 is a plan view of a seedling planting field.
FIG. 11 is a flowchart of the stockout position monitor.
[Explanation of symbols]
1 engine 2 wheels 3 working device (seedling planting device)
4 Tillage sensor

Claims (2)

In the agricultural work machine which works while running the wheels 2 and the working device 3 in conjunction with the engine 1, a tillage sensor 4 for detecting the depth of the tillage is provided. A vehicle speed control device for an agricultural work machine, characterized in that the vehicle speed is controlled to increase or decrease. The vehicle speed control device for an agricultural work machine according to claim 1, wherein the transmission ratio of the wheel 2 transmission is changed and controlled together with the increase and decrease of the rotation speed of the engine 1.

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