JP2005022529A - Agricultural work vehicle turn control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problems that traveling conditions such as hardness and depth of soil, tilting of a furrow pan, a vehicle speed, or a remaining distance to a rice field are apt to be different in steering and turning control of a work machine in an edge of a ridge or a headland of a field, vehicle weight or a vehicle length is different according to a seedling planter or a fertilizing and seeding work machine, variation of the vehicle weight by increase and decrease of an amount of seeding is remarkable, it is difficult to perform correct turning by uniform control, it is often difficult to coincide end of a work process with start of working after turning, and automatic turning in the edge of the ridge is often dangerous. <P>SOLUTION: A turning interlocking control device 2 for automatically interlockingly controlling in a predetermined work portion by steering and turning of the vehicle body is provided with a plurality of turning detection means for detecting the turning state. When the turning state detection contents by the plurality of the turning detection means are different, it is determined as abnormal and output of the turning interlocking control device 2 is prevented. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning control device for an agricultural vehicle, and an agricultural vehicle that performs a predetermined operation while traveling by attaching the working device to a four-wheel traveling vehicle body such as a seedling transplanter, a fertilizer seeding machine, a tractor tillage device, etc. Available to:
[0002]
[Prior art]
A seedling planter that can be moved up and down is installed on the rear side of the traveling vehicle body, and when the steering wheel turns, the rotation difference between the left and right rear wheels is detected by the rear wheel rotation sensor, and it is detected that the turning angle of the vehicle body exceeds a predetermined value. Then, the seedling planting device is lowered by the control device. Also, when this lowering state is detected by the lift sensor and the difference in rotation between the left and right rear wheels disappears, the working clutch of the seedling planting device is turned on, and the seedling planting start position after turning the headland is made substantially constant. A technique for aligning them together is known (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP 2002-335720 A (first page, FIG. 1).
[0004]
[Problems to be solved by the invention]
In the steering and turning control of the work machine at the edge of the field or on the headland, the running conditions such as the hardness of the soil surface, the depth, the inclination of the cultivator, the vehicle speed, the remaining distance to the shore, etc. The body weight, body length, etc. differ depending on the seedling planting machine and fertilizer sowing machine, etc., and the change in the body weight due to the increase or decrease in the seedling amount etc. is significant, and accurate turning is performed with uniform control. It is difficult to make it. Therefore, in automatic turning control, it is often difficult to match the end of the work process with the start of work after turning, and automatic turning at the shore often involves danger. The present invention detects in advance whether or not the proper turning state is being performed, and if the proper turning is not being performed, it is corrected by manual operation so that an accurate turning is performed. .
[0005]
[Means for Solving the Problems]
The invention according to claim 1 is provided with a plurality of turning detection means for detecting the turning state in the turning interlock control device 2 that automatically performs the interlocking control of a predetermined operating position by the steering turning of the vehicle body 1. When the contents of turning detected by a plurality of turning detecting means are different, the turning interlock control device 2 is not operated as an abnormality, and the turning control device of the agricultural work vehicle is configured. This turning interlock control device 2 automatically raises a predetermined operating part such as a seedling planting device by a certain amount by the steering turning of the vehicle body 1 and interlocks with the turning posture. Further, turning detection means for detecting the steering turning state of the vehicle body 1 are arranged at a plurality of locations, and each turning state is detected separately. When the vehicle body 1 is turned by operating the steering handle, the detected contents or detection values by the plurality of turning detection means are compared. When the plurality of detected contents coincide with each other, it is assumed that appropriate turning control is being performed, and the interlocking control of a predetermined operating portion is automatically performed together with the turning control. Further, when the detected contents do not match, it is regarded as abnormal and the turning interlock control device 2 is not operated.
[0006]
According to a second aspect of the present invention, the plurality of turning detection means include an axle rotation sensor 4 that detects the rotation of the wheel drive shaft 3 and a handle turning angle sensor 6 that detects a turning angle of the steering handle 5. It is characterized by. Since the plurality of turning detection means includes the axle rotation sensor 4 and the handle turning angle sensor 6, the steering turning state by the steering handle 5 indicates the operation angle by the steering wheel turning angle sensor 6 and the axle by the axle rotation sensor 4. The rotation interlock control device 2 is automatically operated on the assumption that proper turning is performed when the rotational speed of the motor is in a certain relationship, but the turning control is abnormal when it is outside the certain relationship region. As a result, the operation of the turning interlock control device 2 is stopped.
[0007]
The invention according to claim 3 is characterized in that the turning interlock control device 2 is capable of adjusting the raising / lowering position of the working device 7 with respect to the vehicle body 1 at the time of turning. Conventionally, the working device 7 mounted on the vehicle body 1 is lifted to the non-working position by the steering turning operation. At this time, the lifting / lowering position of the working device 7 is adjusted to prevent the floating device on the way. Can be in posture. As a result, the bottom of the working device 7 is swung in a state where the bottom of the working device 7 is in contact with the soil surface of the headland, so that the work on the headland can be easily performed.
[0008]
【The invention's effect】
Since the turning state is detected by the plurality of turning detection means, the invention according to claim 1 is automatically only when the detection values by these turning detection means substantially coincide with each other or within a certain condition range. The turning interlock control device 2 is interlocked, and when these detected values are different from each other, an alarm is given as an abnormality, or the operation of the turning interlock control device 2 is stopped, and the turning interlock control device 2 is improperly operated. Prevent it from working.
[0009]
The invention according to claim 2 detects the turning angle of the steering wheel 5 or the steered wheel by the steering angle sensor 6, and detects the rotation speed of the wheel drive shaft 3 by the axle rotation sensor 4, so that they substantially coincide with each other. It is determined whether or not they are within a certain relational area, and if they do not coincide with each other, it is judged as abnormal, so that the relation between the turning angle of the steering wheel 5 and the accumulated rotational speed of the wheel drive shaft 3 is expressed as a constant relation. Therefore, this relationship is set as software in the controller in advance, and the difference is determined while comparing with the set value by the detection by each of the sensors 4 and 5, so that the abnormality is accurately determined. Can do.
[0010]
According to a third aspect of the present invention, at the time of turning control, the working device 7 is not raised to the non-working position, but is held at a floating height that is lightly grounded at an intermediate position. When the detection values of the sensor 6 and the axle rotation sensor 4 change, turning abnormality determination often changes, and appropriate abnormality determination according to the adjustment position can be performed.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to the drawings. With reference to FIGS. 1-8, the form which mounts | wears with the rear part of the tractor vehicle body 1 of a riding four-wheel drive driving | running | working as the working device 7 by the raising / lowering by the expansion / contraction of the lift cylinder 10 is illustrated. A transmission case 11 and a front axle housing 12 are provided at the front part of the vehicle body 1, and rear axle housings 13 are provided at the left and right side parts at the rear part. The engine 14 is mounted under the engine cover 16 below the driver seat 15 in the center, and the transmission mechanism in the transmission case 11 is transmitted from the engine 14 to the belt 17. Further, the transmission mechanism of the transmission case 11 is connected to the front axle housing. The front wheel 18 of the front axle 22 is transmitted via a wheel drive shaft (drive shaft) 3 in the vehicle 12. The transmission mechanism is connected to the wheel drive shaft 3 of the rear axle housing 13 through a pair of left and right rear wheel take-out shafts 19 to transmit the rear wheel 20 of the rear axle 23 and is connected to the rear axle 20 via a PTO shaft 21. The seedling planting device 7 is transmitted.
[0012]
A lift link 24 in the form of a parallel link is connected to the rear side of the vehicle body 1 and is lifted and lowered by the lift cylinder 10. The lift link 24 is connected to the hitch link 25 at the rear end portion of the seedling planting device 7 by a rolling shaft 27 at the center of the front end portion of the seedling frame 26. This seedling planting device 7 is provided with a float 28 that slides and leveles the soil surface below the seedling planting frame 26, and accommodates the seedlings grown in a mat shape on the upper side and feeds them while moving left and right. A seedling tank 29 to be supplied is provided, and a seedling planting device 30 for planting the seedlings fed from the seedling tank 29 on the soil surface leveled by the float 28 while separating and holding the seedlings from the seedling tank 29 is disposed at the rear part. It is said. Reference numeral 31 denotes a seedling receiving frame on which a replenishing seedling is placed, and reference numeral 32 denotes a fertilizer application device, which is mounted on the rear portion of the vehicle body 1 and can be fertilized in the soil near the seedling planting portion via a fertilizer pipe 33.
[0013]
The traveling control and turning interlock control device 2 of the vehicle body 1 having the seedling planting device 7 is mainly based on FIGS. 4 and 5, various switches 37 on the input side of the controller 36 and sensors 4, 6, 37-. 45, a dial 46, and the like, and various solenoids 50 to 53, a buzzer 54, motors 55 and 56, a cylinder 57, and the like are arranged on the output side. Of these, the automatic travel switch 37 can be manually shifted by turning off the switch, and can automatically increase or decrease the vehicle speed by turning on the switch. Moreover, this switch has three teaching switches (1), (2), (3) The mode can be selected by switching to the mode, and the teaching traveling control according to the preset number of teachings or the vehicle speed shift can be performed. Thereby, it can set to an appropriate or favorite mode according to a field or an operator, and workability | operativity improves. The seat sensor 38 is provided below the driver's seat 15 and detects the presence or absence of the operator's seat. The engine speed sensor 39 constantly detects the speed of the engine 14. The shift lever sensor 40 detects the sub shift position of the transmission mechanism of the transmission case 11. The magnetic direction sensor 41 is for detecting the traveling direction of the vehicle body 1. The steering angle sensor 6 detects the steering angle of the steering handle 5 or the angular angle of the front wheel 18. The axle rotation sensor 4 detects the rotation of the rear wheel drive shaft 3 that transmits and rotates the left and right rear wheels 20 separately. The planting lifting / lowering lever sensor 42 detects whether the seedling planting device 7 by the lift cylinder 10 is in the raised non-planting position or whether it is lowered and is in the planting position where the seedling planting device 7 is placed in the transmission state. Is. The seedling sensor 43 detects the accommodation state of the seedling in the seedling tank 29. The side heel detection sensor 44 detects whether the heel is approaching the side of the seedling transplanter. The front heel detection sensor 45 detects the presence / absence of a ridge in front of the seedling transplanter. The deceleration adjustment dial 46 adjusts the deceleration time when the vehicle speed is reduced, and can be adjusted when the deceleration is gradually performed.
[0014]
The left and right automatic steering valve solenoids 51 and 52 switch the steering valve in a hydraulic circuit such as a power steering for steering the front wheel 18 or a steering clutch for the rear wheel 20 to turn the vehicle body 1 to the left. Turn right. The solenoid 53 of the manual automatic switching valve is used for switching and selecting whether the steering turning is performed manually or automatically. The buzzer 54 warns when the control of the turning interlock control device 2 is abnormal. The planting lifting / lowering motor 55 drives the planting lifting / lowering lever or this operation system by driving a motor instead of the planting lifting / lowering lever. The main clutch motor 56 is a motor for turning on and off the main clutch. The bell-con operation cylinder 57 operates a part of the tension pulley of the belt 17 to perform belt continuously variable transmission.
[0015]
In such a control apparatus, teaching control is performed according to a flow as shown in FIG. When the teaching switch 37 (1), (2), or (3) is turned on and a seedling planting operation travel process is performed a predetermined number of times by manual operation, teaching processing is performed. By this teaching (step A), the straight travel distance, the travel direction, the steering amount during turning, the shift value, and the like are calculated. Therefore, when the distance to the side rod is equal to or greater than the predetermined value, when the teaching data is set, the straight-ahead control is performed based on the straight-ahead travel distance (step B), and based on the turning steering amount and the shift value. Then, turning control is performed (step C). In the middle of such control, when the vehicle body 1 approaches the side kite, the vehicle travels so as to follow the kite by the output of the automatic steering valves 51 and 52. Further, if there is a steering wheel operation on the way, straight running control and turning control will be temporarily performed.
[0016]
In such automatic traveling control, when the vehicle body 1 enters the turning stroke at the shore by the detection by the steering angle sensor 6 and the axle rotation sensor 4, or when the turning is finished and enters the straight traveling range. Then, the turning interlock control device 2 that automatically raises and lowers the seedling planting device 7 and turns this transmission on and off is operated. That is, when the vehicle body 1 enters the turning stroke from the end of the straight traveling process, the planting lift motor 55 is raised and output, the seedling planting device 7 is lifted, and the transmission from the PTO shaft 21 is also performed by the work electromagnetic clutch solenoid 50. Cut. In addition, when the 180-degree turning stroke is over and the beginning of the direct progress of the work starts, the planting lifting / lowering motor 55 is output downward, the seedling planting device 7 is lowered, and the transmission is also performed by the electromagnetic clutch solenoid 50. To enter.
[0017]
In a mode in which the driver performs the traveling control by automatically increasing or decreasing the machine in the next stroke by performing the teaching control by selecting the teaching switch 37 (1) in the first stroke, the automatic traveling switch 37 is operated and the manual operation is started from the automatic mode. The mode can be switched to allow the driver to freely operate the manual mode. Further, the manual mode can be switched to the automatic mode.
[0018]
Further, in the traveling control of the seedling transplanter capable of teaching control as described above, the vehicle speed is automatically and gradually reduced when a seedling replenishment alarm for the seedling tank 29 and the seedling receiving frame 31 is issued. The adjustment of the time to be performed can be freely changed by the deceleration adjustment dial 46, and the speed is gradually reduced for replenishing seedlings to prevent a sudden stop. Such seedling replenishment and fertilizer replenishment are often carried out at the shore, and can be stopped by moving the aircraft straight to the front shore. In this case, by switching the traveling control from the turning mode to the seedling replenishment mode, or by manually going straight to the heel, the traveling speed is automatically decelerated by the heel detection by the front heel detection sensor 45 and approaches the heel. it can.
[0019]
Furthermore, it is possible to calculate the consumption of seedlings and fertilizer in one stroke in advance (Step E), compare the consumption of one stroke to the replenishment point and the remaining amount, and supply if replenishment is necessary As a mode, the aircraft is moved straight to the shore, and when the replenishment is not required, a traveling control is performed so that the aircraft is turned as a turning mode. Such a replenishment mode and a turning mode allow the replenishment work to be performed efficiently by accurately performing the replenishment of seedlings, etc. at the shore while discriminating for each seedling planting process.
[0020]
Next, the details of the swivel interlocking control device 2 will be described in detail mainly based on FIGS. 1 to 3. On the input side of the controller 36, the left and right turning angles θ 1 and θ 2 of the neutral steering region are set. Dials 58 and 59 and setting dials 60 and 61 for setting the number of rotations of the turning inner drive shaft 3 when turning 90 degrees and 180 degrees are arranged. A side clutch switch 62 for operating the side clutch, a back lift switch 63 for raising the seedling planting device 7 during reverse operation, an autolift switch 64 for automatically raising the seedling planting device 7, and switching to raise by manual operation A lift switch 65, a finger lever switch 66 that can be switched by finger lever operation, and the like are arranged. The finger lever switch 66 is moved up when the finger lever is moved up from the neutral position, and is lowered when the seedling planting device 7 is moved down and returned to the neutral position. Further, when operated from the neutral position to the lower side, the seedling planting device 7 is lowered with the planting clutch disengaged. Further, when the finger lever is moved downward, the planting clutch is engaged and seedling planting work can be performed. Further, on the input side, the center float 28 sensor 67 and a planting part lowering position setting dial 68 for adjusting and setting the lowering position of the seedling planting device 7 are provided.
[0021]
On the output side, an electromagnetic hydraulic valve 69 of the hydraulic lift cylinder 10, a PTO clutch operating solenoid 70 for turning on and off the transmission of the seedling planting device 7, a liquid crystal monitor 71, and the like are arranged.
Here, the PTO clutch is disengaged by manual operation or the like to stop planting transmission and raise the seedling planting device 7. At this time, the control unit detects “disengagement” of the planting transmission clutch, and starts counting the number of rotations by the drive shaft rotation sensor 4 (step 1). Next, when the steering handle 5 is turned for turning, the turning angle sensor 6 detects this turning angle. The steering angle of the steering wheel has a neutral range of angles θ1 and θ2 as appropriate to the left and right. When the steering angle θ1 of the neutral range is exceeded, the steering wheel turns to the left, and when the steering angle exceeds the cutting angle θ2, the steering wheel turns to the right (step 2). ). The turning angle sensor 6 detects whether the steering wheel angle is equal to or greater than a specified value and outputs a signal. The integrated rotation speed of the drive shaft 3 until the handle 5 is cut is detected by the axle rotation sensor 4 and stored. After the turn starts, when the vehicle body 1 turns 90 degrees, the seedling planting device 7 automatically starts to descend. When the drive shaft 3 rotates (n1) from the signal of the turning operation of the handle 5 until the body turns 90 degrees, the planting portion “lower” signal is output. At this time, when the cutting angle θ of the handle 5 has reached the specified plantation a (= 90 degrees) or more, the subsequent control is performed, but when the specified value a is not reached, a warning is output as a turning abnormality, The automatic “lowering” of the planting part is not linked. Accordingly, the planting part is appropriately lowered by a manual operation to perform a turning operation (step 3). That is, the turning control can be corrected by a manual operation by an operator, and the operation can be performed at a predetermined operation position by switching to the manual operation, so that smooth, accurate and stable turning and interlocking control can be performed. Next, when it is not abnormal, the handle 5 is returned to the straight traveling state. Start planting automatically from the same place as the planting end of the adjacent strip. At this time, when the rotational speed of the drive shaft 3 stored at the time of turning and the rotational speed of the drive 3 from the turning operation of the handle 5 to the start of planting are added, Put out. At this time, when the turning angle θ of the handle 5 has reached the specified value b (= 180 degrees) or more, the subsequent control is performed, but when it does not reach the specified value b, a warning is output as a turning abnormality and planting Without outputting the clutch “ON” signal, the planting clutch is set to “ON” by manual operation, and alignment with the adjacent strip is performed.
[0022]
In the turning interlock control device 2 as described above, when the planting part is lowered during the headland turning and the soil surface is leveled by the float 28, the planting part lowering position setting dial 68 is used to By arbitrarily setting the descending height, even if this planting transmission clutch is interlocked with "cutting", the float 28 of the seedling planting device 7 can lightly level the ground in an appropriate grounding state while turning the body. The float 28 can be protected from leveling resistance without strongly grounding, and workability can be improved.
[0023]
Next, differences from the above example will be described mainly with reference to FIG. The number of mat seedlings supplied to the seedling tank 29 is detected by the seedling sensor 43 and displayed on the monitor 71. In addition, in the controller 36, the standard number of use per 10 ares is set in advance by the seedling use amount setting unit 72. The standard number of seedlings by the setting device 72 and the number of used seedlings by the seedling sensor 43 are compared constantly or intermittently while the progress of the seedling planting operation is detected by the axle rotation sensor 4, and the use of excessive or insufficient seedlings is used. It is displayed on the monitor 71 while calculating the situation. A feeding belt 73 for feeding seedlings is provided at the lower rear portion of the seedling tank 29. The amount of seedling feeding of the feeding belt 73 is determined by adjusting the feeding rotation amount of the feeding belt 73 by adjusting the seedling adjustment lever 74. It can be adjusted by changing. This adjustment operation can be performed while viewing the display on the monitor 71. Further, the amount of seedlings fed by the feeding belt 73 is changed by this adjustment, but the amount of seedlings used is detected by the seedling sensor 43 and this result is displayed on the monitor 71. Can be known at all times, and planting can be performed so that there is no excess or deficiency of seedlings.
[Brief description of the drawings]
FIG. 1 is a block diagram of a turning interlock control unit.
FIG. 2 is an explanatory diagram of the handle turning angle and control codes.
FIG. 3 is a flowchart of the control.
FIG. 4 is a block diagram of the steering control.
FIG. 5 is a flowchart of the partial teaching control.
FIG. 6 is a side view of the seedling planting machine.
FIG. 7 is a plan view thereof.
FIG. 8 is a plan view of the transmission unit.
FIG. 9 is a partially enlarged side view and a block diagram of seedling supply control.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Car body 2 Turning interlock control device 3 Wheel drive shaft 4 Axle rotation sensor 5 Steering handle 6 Steering angle sensor 7 Working device

Claims (3)

In the turning interlock control device 2 that automatically performs the interlocking control of a predetermined operating position by the steering turning of the vehicle body 1, a plurality of turning detection means for detecting the turning state are provided, and the turning detection contents by the plurality of turning detection means. When the vehicle speeds are different, the turning control device for agricultural vehicles is characterized in that the turning interlock control device 2 is not operated as an abnormality. The plurality of turning detection means includes an axle rotation sensor 4 for detecting rotation of the wheel drive shaft 3 and a handle turning angle sensor 6 for detecting a turning angle of the steering handle 5. Swivel control device for farm vehicles. The turning control device for an agricultural work vehicle according to claim 1, wherein the turning interlock control device 2 is capable of adjusting a lift position of the work device 7 with respect to the vehicle body 1 during turning.

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