JP2004229608A - Transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transplanter having an automatic inclination controlling (horizontal controlling) function of the transplanting part, preventing the influence of the delay of the inclination sensor or a noise signal on the automatic inclination control and performing stable automatic inclination control. <P>SOLUTION: A level control motor 16 is driven based on the detection value of an inclination sensor 18 to automatically control the inclination posture of the transplanting part 3 of the riding transplanter. The transplanting part 3 has an angular velocity sensor 19 to detect the speed of the lateral inclination of the transplanting part. The lateral inclination direction of the transplanting part 3 is judged by the detection value of the angular velocity sensor 19 and, separately, the inclination direction of the transplanting part 3 is judged by the present detection value and the past detection value of the inclination sensor 18. When these judge results are different, the output to the level control motor 16 is stopped. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention belongs to the technical field of a transplanting machine such as a riding rice transplanter that automatically controls the left-right tilting posture of a transplanting part based on a detection value of a tilt sensor.
[0002]
[Prior art]
2. Description of the Related Art A transplanter that automatically controls a laterally inclined posture of a transplant unit is known. This type of transplanter is provided with an actuator that forcibly tilts the implanted part from side to side, and an inclination sensor that detects the inclination of the implanted part from side to side, and automatically operates the actuator based on the detected value of the inclination sensor. It is configured to control.
However, the inclination sensor has a delay in response to a change in inclination, and particularly in the initial stage of the change in inclination, a signal in the opposite direction may be output. Therefore, there is a limit in improving the accuracy of the automatic tilt control (horizontal control) due to the response delay of the tilt sensor.
[0003]
In recent years, there has been proposed an implanter that further includes an angular velocity sensor that detects a left-right inclination change speed of a transplant unit, and that calculates a control output for the actuator based on detection values of the angular velocity sensor and the inclination sensor (for example, See Patent Document 1.).
According to the transplanter configured as described above, the inclination automatic control can be performed while compensating for the response delay of the inclination sensor by the signal of the angular velocity sensor that responds quickly to the inclination change.
[0004]
[Patent Document 1]
Japanese Patent No. 2919442 (page 5, FIG. 9)
[0005]
[Problems to be solved by the invention]
However, in the technique disclosed in Patent Document 1, since the control output to the actuator is sequentially calculated based on the detection values of the inclination sensor and the angular velocity sensor, an expensive CPU (microcomputer) having a high calculation processing capability is required, and cost is reduced. There is a problem that leads to up.
Further, in the technique disclosed in Patent Document 1, the control output is calculated based on the current values of the tilt sensor and the angular velocity sensor. There is a problem that the stability of automatic control is reduced.
[0006]
[Means for Solving the Problems]
The present invention has been made in order to solve these problems in view of the above-described circumstances, and has an implanted portion that is connected to a traveling body so as to be able to tilt left and right, and the implanted portion of the traveling machine and the implanted portion. An actuator interposed therebetween forcibly tilting the implanted portion from side to side and an inclination sensor for detecting the inclination of the implanted portion from side to side are provided, and the actuator is automatically activated based on a detection value of the inclination sensor. An angular velocity sensor for detecting a lateral inclination change speed of the transplant unit or the traveling body, and a lateral inclination change direction of the transplant unit based on a detection value of the angular velocity sensor. First inclination change direction judging means for judging the inclination change direction, and second inclination change direction judging means for judging the inclination change direction of the transplant portion based on a current detection value and a past detection value of the inclination sensor. When the determination of the first and second inclined change direction determining means is different, characterized by providing an actuator output stop means for stopping the output to the actuator.
That is, the inclination change direction of the transplant portion is determined based on the current detection value and the past detection value of the inclination sensor, and when this is different from the inclination change direction determined based on the detection value of the angular velocity sensor, noise is detected. The automatic tilt control is more stable than the conventional one, in which the output to the actuator is stopped by judging that the signal is a static signal. It can be carried out.
Moreover, the detected value of the angular velocity sensor is not used for calculating the control output, but is simply used for confirming the inclination change direction, so that the control output is sequentially calculated based on the detected values of the inclination sensor and the angular velocity sensor. In addition, an expensive CPU having a high arithmetic processing capability is not required. As a result, it is possible to perform tilt automatic control with excellent stability while avoiding an increase in cost.
Further, the angular velocity sensor is provided in the transplantation part. In this case, unlike the case where the angular velocity sensor is provided in the traveling body, it is possible to avoid sensitively reacting to a change in the left-right inclination of the traveling body, and it is possible to further improve the stability of the automatic inclination control.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine of a riding rice transplanter, and a transplanting section 3 is connected to a rear portion of the traveling machine 1 via an elevating link mechanism 2. The transplanting section 3 includes a transplanting section frame 4 on which seedling mounting stays 4a are erected on both left and right sides, a plurality of planting transmission cases 5 extending rearward from the transplanting section frame 4, and the planting transmission case 5 A transplanting mechanism 6 attached to the rear end of the plant, and a seedling mounting table 7 supported by the transplanting portion frame 4 so as to be movable left and right, and forcibly fed laterally in synchronization with the timing of transplanting the seedlings. And a float 8 provided below the planting transmission case 5 so as to be vertically swingable.
[0008]
The elevating link mechanism 2 includes a transplant portion holder 9 at a rear end thereof. The transplant portion holder 9 supports the transplant portion frame 4 via a rolling support shaft 10. That is, the lower end of the transplant portion holder 9 is integrally provided with a boss portion 9a facing in the front-rear direction. The boss portion 9a rotatably rotates the rolling support shaft 10 projecting forward from the transplant portion frame 4. I support it. Thereby, the left-right swing (left-right inclination) of the transplanting part 3 with respect to the traveling machine body 1 is allowed.
[0009]
An intermediate member 11 is interposed between the transplant portion holder 9 and the transplant portion 3. At the lower end of the intermediate member 11, a boss portion 11 a facing in the front-rear direction is integrally formed, and the boss portion 11 a is rotatably fitted to the boss portion 9 a of the transplantation portion holder 9, so that the intermediate member 11 is rotatable. 11 is allowed to swing left and right.
[0010]
The intermediate member 11 is an arm member extending upward from the rolling support shaft 10, and a rack plate 12 extending in the left-right direction is integrally provided at an upper end thereof. Both left and right ends of the rack plate 12 are connected to the transplant frame 4 via connecting rods 13. Since the connecting portion between the rack plate 12 and the connecting rod 13 is constituted by the pin 12a and the long hole 13a, the transplanting portion 3 can swing right and left within a small range with respect to the intermediate member 11. The movement is regulated by the bias of the spring 14 except during overload. As a result, the transplant portion 3 is integrally connected to the intermediate member 11, and is forcibly tilted left and right according to the swing of the intermediate member 11.
[0011]
A horizontal control motor (actuator) 16 with a speed reduction mechanism is provided on one side of the transplantation part holder 9 via a motor bracket 15. The output gear 16 a of the horizontal control motor 16 meshes with an arc-shaped rack portion 12 b formed on the rack plate 12, and swings the intermediate member 11 right and left in response to driving of the horizontal control motor 16. Accordingly, the horizontal control motor 16 can forcibly control the horizontal inclination of the transplanting section 3.
[0012]
The transplant unit 3 is provided with a sensor unit 17. The sensor unit 17 integrally incorporates an inclination sensor 18 for detecting the left-right inclination angle of the transplant unit 3 and an angular velocity sensor 19 for detecting the right-left inclination change speed of the transplant unit 3. In the present embodiment, by disposing the sensor unit 17 at a position near the rolling support shaft 10 in the transplant portion frame 4, that is, at the center position of the transplant portion 3 in the left-right inclination, the sensor unit 17 associated with the left-right inclination of the transplant portion 3 is provided. Is minimized, and the occurrence of a detection error due to the movement of the sensor unit 17 is suppressed.
[0013]
The traveling unit 1 is equipped with a control unit 20 configured using a microcomputer (including a CPU, a ROM, a RAM, and the like). On the input side of the control unit 20, in addition to the above-described tilt sensor 18 and angular velocity sensor 19, a lift sensor 21 for detecting the elevation height of the transplant unit 3 and the like are connected, and on the output side, the horizontal control motor 16 Etc. are connected. Then, the control unit 20 controls the driving of the horizontal control motor 16 based on a tilt sensor data processing routine (program), a horizontal control routine, and the like previously written in the ROM, and keeps the transplanting unit 3 in a horizontal posture. Hereinafter, a control operation based on the above routine will be described with reference to a flowchart.
[0014]
In the horizontal control routine, first, the height of the transplanting section 3 is determined. If the height is higher than the predetermined height, horizontal control stop processing is executed, and the routine returns to the above routine. On the other hand, when the height of the transplanting section 3 is equal to or less than the predetermined height, the inclination sensor data is read and the control flag is referred to. In the control flag, “comparison processing” and “output processing” are alternately set at a predetermined timing, and switching between comparison processing and output processing is performed according to the content. When the control flag is set to “comparison process”, the output direction 1 and the output ON time are calculated based on the inclination sensor data.
[0015]
The output direction 1 is a direction in which the horizontal control motor 16 is driven, and is a direction opposite to the inclination direction of the transplant unit 3. In the present invention, when calculating the output direction 1, the inclination change direction of the transplant unit 3 is determined based on the current inclination sensor data and the past inclination sensor data (second inclination change direction determining means). The direction is defined as output direction 1.
The output ON time (duty ratio) is a parameter that determines the driving speed of the horizontal control motor 16, and is, for example, a deviation of the current inclination angle with respect to the horizontal or a difference between the current inclination angle and the past inclination angle (inclination change speed). ) Is set to change proportionally.
[0016]
After calculating the output direction 1 and the output ON time, the angular velocity sensor data is read, and the output direction 2 is calculated based on the angular velocity sensor data. In calculating the output direction 2, the inclination change direction of the transplant portion 3 is determined based on the angular velocity sensor data (first inclination change direction determination means), and the opposite direction is set as the output direction 2.
[0017]
Then, after calculating the output direction 2, the output direction 1 is compared with the output direction 2. When they match, the output direction 1 is set to the motor output direction, and the output ON time is set to the motor output ON time. And output a drive signal to the horizontal control motor 16 based on the output (output processing). If the output direction 1 and the output direction 2 are different, the motor output direction and the motor output ON time must be set. Instead, it returns to the upper routine.
[0018]
That is, when the inclination change direction of the transplant unit 3 determined based on the current detection value and the past detection value of the inclination sensor 18 is different from the inclination change direction determined based on the detection value of the angular velocity sensor 19, Then, it is determined that the signal is a delay of the inclination sensor 18 or a noise signal, and the driving of the horizontal control motor 16 is stopped. As a result, it is possible to perform horizontal control with superior stability as compared with the related art in which a delay of the tilt sensor 18 and a noise signal are reflected in horizontal control (automatic tilt control). Note that the delay of the tilt sensor 18 and the noise signal are likely to occur due to a sudden change in the load of the transplanting unit 3 and occur, for example, when the direction of the seedling mounting table 7 is changed.
[0019]
In addition, the detection value of the angular velocity sensor 19 is not used for calculating the control output (output ON time), but is simply used for confirming the inclination change direction. There is no need for an expensive CPU having a high arithmetic processing capability as in the case of calculating the control output. This makes it possible to perform horizontal control with excellent stability while avoiding an increase in cost.
[0020]
The tilt sensor data processing routine refers to the timer value of the processing timer. When the timer value is 0, the processing timer is set and the tilt sensor data is processed. That is, the processing of the inclination sensor data is executed at every set time of the processing timer. When processing the inclination sensor data, first, the processing counter is referred to, and when the value is equal to or smaller than the predetermined value, the current inclination sensor value is substituted into the data of the processing counter and the processing counter value is added (counter value + 1). ).
[0021]
On the other hand, when the processing counter is larger than the predetermined value, the difference between the N-th previous data and the current tilt sensor value is calculated, the difference is multiplied by a predetermined coefficient, and the result is added to the current tilt sensor value. As tilt sensor data. Thereafter, the first to (N-1) th data are sequentially shifted to the 0th to (N-2) th data, and the process returns to the upper routine. That is, in the present embodiment, since the current tilt sensor value is used as the tilt sensor data to be used for the horizontal control and the past tilt sensor value is added to the tilt sensor data without substituting the current tilt sensor value as it is, a noise-like tilt sensor value is used. It is possible to prevent a decrease in control accuracy and stability caused by the above.
[0022]
In the structure configured as described above, a transplanting part 3 that is connected to the traveling body 1 so as to be able to tilt left and right is interposed between the traveling body 1 and the transplanting part 3, and the transplanting part 3 is forcibly left and right. It has a horizontal control motor (actuator) 16 for tilting, and a tilt sensor 18 for detecting the left-right tilt of the transplanting section 3, and automatically controls the horizontal control motor 16 based on a detection value of the tilt sensor 18. The transplanting unit 3 is provided with an angular velocity sensor 19 for detecting the lateral inclination change speed of the transplanting unit 3, and based on the detected value of the angular velocity sensor 19, the lateral inclination of the transplanting unit 3 is determined. A change direction is determined, and a change direction of the inclination of the transplant unit 3 is determined based on a current detection value and a past detection value of the tilt sensor 18. When these determination results are different, the horizontal control is performed. Since you to stop the output to the motor 16, to prevent the delay and noise signals of the inclination sensor 18 is reflected in the horizontal control, it is possible to perform excellent horizontal control stability.
[0023]
In addition, since the detected value of the angular velocity sensor 19 is not used for calculating the control output but is simply used for checking the inclination change direction, the control output is sequentially calculated based on the detected values of the inclination sensor 18 and the angular velocity sensor 19. It does not require an expensive CPU having a high arithmetic processing capability like the one described above. This makes it possible to perform horizontal control with excellent stability while avoiding an increase in cost.
[0024]
Further, since the angular velocity sensor 19 is provided in the transplanting section 3, it is possible to avoid reacting sensitively to a change in the lateral inclination of the traveling body 1 as in the case where the angular velocity sensor 19 is provided in the traveling body 1, Control stability can be further improved.
[Brief description of the drawings]
FIG. 1 is a side view of a riding rice transplanter.
FIG. 2 is a plan view of the same.
FIG. 3 is a front view of a main part showing a mechanical configuration for horizontal control.
FIG. 4 is a side view of the same.
FIG. 5 is a block diagram showing input and output of a control unit.
FIG. 6 is a flowchart of a horizontal control routine.
FIG. 7 is a flowchart of a tilt sensor data processing routine.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Running body 3 Implantation part 10 Rolling spindle 11 Intermediate member 12 Rack plate 13 Connecting rod 14 Spring 15 Motor bracket 16 Horizontal control motor 17 Sensor unit 18 Tilt sensor 19 Angular velocity sensor 20 Control part

Claims (2)

A transplanting portion connected to the traveling body so as to be able to tilt left and right freely, an actuator interposed between the traveling body and the transplanting portion for forcibly tilting the transplanting portion left and right, and detecting the lateral tilt of the transplanting portion With a tilt sensor, a transplanter that automatically controls the actuator based on a detection value of the tilt sensor,
An angular velocity sensor for detecting a laterally changing inclination speed of the transplanting section or the traveling machine; and a first inclination changing direction for judging a laterally changing inclination direction of the transplanting section based on a detection value of the angular velocity sensor. Determining means; second tilt change direction determining means for determining a tilt change direction of the transplant portion based on a current detection value and a past detection value of the tilt sensor; and the first and second tilt change directions. An implanting machine, comprising: an actuator output stopping means for stopping the output to the actuator when the judgment by the judging means is different. The transplanter according to claim 1, wherein the angular velocity sensor is provided in the transplant unit.

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