JP2005199770A - Turning control device for agricultural working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem in a turning control for performing automatic steering and turning, while detecting a fixed steering wheel steering angle for every prescribed traveling distance, wherein the traveling distance and the steering wheel steering angle, etc. always change due to working conditions of slip action and soil depth and the use of a side clutch, etc. and thereby target 180° steering and turning and work conditioning are difficult to be automatically performed. <P>SOLUTION: In this turning control device, the steering wheel steering angle is interlocked and controlled to perform an automatic steering and turning according to the traveling distance of a vehicle body, while measuring the traveling distance. Based on the turning control operation, a target value of the turning traveling distance is corrected. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a turning control device for an agricultural work vehicle that is operated by performing an accurate automatic steering turning at the shore of a farm or the like.

In the seedling planting machine, when it is detected that the rotation difference between the left and right rear wheels exceeds the predetermined value in order to align the planting start position after turning on the headland, the seedling planting device is A technique of lowering to a planting posture (auto lift, auto turn control) is known (see, for example, Patent Document 1).
JP 2002-335720 A (first page, FIG. 4).

  In turning control that automatically turns while detecting a certain steering angle at every predetermined distance, it is necessary to use a working condition such as slip action or soil depth change, use of side clutch, etc. The mileage, steering angle, etc. always change. For this reason, it is difficult to automatically perform the target 180-degree steering turning, work alignment, and the like.

  According to the first aspect of the present invention, while measuring the travel distance of the vehicle body, the turning angle of the steering wheel is interlocked and controlled so that the automatic steering turning is performed according to the travel distance, and the turning travel distance is based on the turning control operation. It is set as the structure of the turning control apparatus of the agricultural vehicle characterized by correct | amending the target value of. In the turning control device, the relation of the steering angle with respect to the traveling distance is set in advance, and the rotation of the wheel drive shaft (drive shaft) inside the turning is detected, and the steering handle is turned and operated every time a certain traveling distance is reached. Even if the steering wheel turning operation is accurately performed at this time, the travel distance due to the wheel drive shaft rotation may not reach the specified target value. At this time, the measured value of the travel distance and the target value are compared, and the turn control is performed while the target value is corrected by this difference.

  The invention according to claim 2 is characterized in that the relationship of the steering angle with respect to the travel distance is set by teaching control. Steering and turning control is performed based on data set in advance by teaching control, and thus is accurately performed based on a state corresponding to the work traveling condition.

  According to the first aspect of the present invention, since the travel distance is corrected in the relation of the steering angle with respect to the travel distance of the steering and turning control as described above, the correction is easily and easily performed, and the overrun of the travel is performed. Runs and the like can be reduced, and accurate turning control can be performed.

  According to the second aspect of the present invention, since the steering and turning control is performed with the teaching control as a target value, the steering and turning control is accurately performed in a state in conformity with the working traveling condition, and the traveling distance according to a small local change. As a result, the turning control error can be reduced.

  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.

  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.

  The traveling control and turning control device 2 of the vehicle body 1 having the seedling planting device 7 is mainly based on FIGS. 4 and 5, and various switches 37 and 72 and sensors 4, 6 and 38 are provided on the input side of the controller 36. , .About.45, 73, 74 and dials 46, 75, etc. are arranged, and various solenoids 50.about.53, buzzer 54, motors 55, 56, cylinder 57, etc. 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. The teaching travel control according to a preset number of times of teaching or vehicle speed shifting can be performed. Can be done. The engine speed sensor 39 constantly detects the speed of the engine 14. The sensor 40 of the speed change lever 35 detects the sub speed change 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 an operating angle of the steering handle 5 or an angular angle θ 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. A vehicle speed, a travel distance, and the like are calculated by the detection of the axle rotation sensor 4. 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.

  The monitor operation switch 72 can select and display the set value and read value of the turning control by operating one display button. The lift link sensor 73 detects the lift position of the lift link 24 that is lifted and lowered by the lift cylinder 10, and can be replaced with a stroke sensor that detects the amount of expansion / contraction of the lift cylinder 10. The left / right tilt sensor 74 detects the tilt angle in the left / right direction of the seedling planting device 7 and constitutes a rolling control device that outputs and operates the rolling cylinder 34 that controls the rolling around the rolling shaft 27 of the seedling planting device 7. The straight travel (line) distance adjustment dial 75 can arbitrarily set the distance of the straight travel stroke between the front and rear turning strokes.

  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.

  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. In addition, if there is a steering wheel operation on the way, the straight-ahead control and the turning control are temporarily interrupted.

  In this traveling control, when the vehicle body 1 enters the turning stroke at the shore by the detection of the steering angle sensor 6 and the axle rotation sensor 4, or when the turning is finished and enters the straight traveling range, it is automatically Then, the turning control device 2 for moving the seedling planting device 7 up and down and turning this transmission on and off is operated. That is, when the vehicle body 1 enters the turning stroke (auto turn control) from the end of the straight travel, the planting lifting / lowering motor 55 is raised and output, the seedling planting device 7 is raised (auto lift control), and the PTO shaft 21 Transmission from is also cut by the work electromagnetic clutch solenoid 50. 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.

  When the driver performs teaching control by selecting the teaching switch 37 for the first stroke, the automatic traveling switch 37 is operated to switch from the automatic mode to the manual mode in the form of performing the traveling control by automatically increasing or decreasing the machine of the next stroke. In this way, the driver can freely operate the manual mode. Further, the manual mode can be switched to the automatic mode.

  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.

  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 replenishment is not required, steering 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.

  Next, the details of the turning control device 2 will be described in detail mainly with reference to FIGS. 1 to 3. On the input side of the controller 36, setting dials for the left and right turning angles θ 1 and θ 2 of the neutral steering region are provided. 58 and 59, and setting dials 60 and 61 for setting the number of rotations of the turning inner drive shaft 3 at the time of 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 raising by manual operation A lift changeover switch 65 to be switched, a finger lever switch 66 to be switched by a 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. The raising / lowering control by the soil depth of the seedling planting device 7 is performed by outputting the hydraulic valve 69 by the detection of the float sensor 67, and the seedling planting device 7 is raised and lowered according to the change of the soil depth. Ascending and descending control is performed so as to maintain a constant value. 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, the planting transmission is stopped, the seedling planting device 7 is raised, and the auto turn control is started. 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 is detected by the steering angle sensor 6. 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 n1 of the drive shaft 3 until the handle 5 is cut is detected by the axle rotation sensor 4 and stored. When the integrated rotation speed n1 of the drive shaft 3 inside the turn does not reach the target rotation speed N1 for turning 90 degrees (step 5), the setting of the target rotation speed N1 of the drive shaft 3 is corrected according to preset correction software. n0. When the actual measurement value n1 becomes larger than the corrected target value (N1 + n0) by this correction control, the seedling planting device 7 automatically starts to descend when the vehicle body 1 turns 90 degrees after the start of turning. Here, when the rotation (n1) of the drive shaft 3 from the signal of the turning operation of the handle 5 to the turning of the machine body by 90 degrees exceeds N1 + n0, a signal for lowering the planting portion is output. At this time, when the turning angle θ of the handle 5 has reached the specified planting a (= 90 degrees) or more, the subsequent control is performed. The automatic "lowering" of the appendix is not linked. Accordingly, the turning operation is performed manually (step 3). Next, 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, the detected integrated rotational speed n2 is corrected in the same manner as described above (step 6). However, the target value N2 when turning 180 degrees, the rotational speed n of the drive shaft 3 when there is a straight traveling, And if it becomes larger than the addition value of the correction value n0 at this time, a planting clutch “ON” signal is output (step 4). 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 The automatic "lowering" of the part is stopped on the way, and it is lowered by manual operation to make alignment with the adjacent strip.

  The method for correcting the target rotational speeds N1 and N2 at the respective turning positions is, for example, as shown in FIG. 9, the steering angle of the graph (A) showing the relationship of the steering angle θ with respect to the rotation of the drive shaft 3 inside the turning. The curve L1 is integrated, and the integrated value α is set as the correction value n0. Further, when the side clutch 62 or the side clutch 51 or 52 is operated by operating the side clutch 62, it is represented by a handle turning angle line L2 in the graph (B). The sum of the integral value α on the upper cut position side L2 and the integral value β on the lower entry position side L3 is taken as a correction value n0. These steering angle curves L have a gentle mountain shape like graph C as an ideal curve if steering and turning are performed smoothly as shown in FIG. It is distorted as in (F) and (G). For this reason, not only the steering angle θ by the steering handle 5 but also the steering control is performed by the operation of the steering clutches 51 and 52, the side brake, etc., and a complicated curve is drawn. Accordingly, the correction can be optimized by integrating this to the correction value n0.

  The monitor 71 is provided on the meter panel portion of the dashboard where the steering handle 5 is located, and can display the travel distance of the turning control on a liquid crystal display. Further, a teaching switch for performing teaching control, an automatic steering switch 37, a turning control switch, a rectilinear distance adjusting dial 75, and the like are arranged on the periphery of the monitor 71 to improve operability and visibility. .

  The liquid crystal monitor 71 can be installed so as to display the travel distance of the turning control, so that the operability can be improved as a guide when the operator starts the turning control. In addition, the travel distance from the ON of the control start switch to the start of the turning operation (travel distance set by teaching control), the travel distance from the seedling planting start to the seedling planting cut immediately before the control after teaching, The distance traveled from seedling planting to seedling planting cut-off can be displayed, and manual operation and correction operation can be easily performed.

  In the form in which the turning control switch is installed in the meter panel portion, etc., the steering control of the straight traveling process is performed by teaching control, and the turning control is switched and selected individually so that the turning control is performed manually or semi-automatically. It is suitable for controlling by specifying.

  Further, it is possible to select and display a set numerical value of the turning control on the display monitor 71 by a push button operation, and to further change this numerical value. For example, in the control, the slip ratio is set in advance, but this slip ratio can be displayed by operating a push button, the number of rotations of the drive shaft 3 can be displayed, and further, these set values are displayed. Allows change setting operations during control.

  Further, in the turning control, the traveling distance is set to only the straight traveling distance from the start of seedling planting to the end of seedling planting, and the travel distance value so far can be reset each time the turn control is completed. By storing only the information of the previous process in the memory, the burden of this memory can be reduced.

  In the turning control device 2 as described above, when the soil surface is leveled by the float 28 during the headland turning, the raising position of the seedling planting device 7 is set low by the planting portion lowering position setting dial 68. Even if this planting transmission clutch is interlocked with “cut”, the float 28 of the seedling planting device 7 can be grounded and lightly leveled while turning the body, and the ground leveling can be performed without strongly grounding the float 28. Resistance can be eliminated. Further, in a turning control device 2 that automatically performs interlocking control of a predetermined operating position by steering turning of the vehicle body 1, an axle rotation sensor 4 and a steering angle sensor 6 serving as a plurality of turning detection means for detecting the turning state. When the contents of turning detected by the plurality of turning detecting means are different, the turning control device 2 is configured so as not to output the turning control device 2 as an abnormality. The seedling planting device 7 is automatically raised by a certain amount and interlocked 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 5, 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 operator manually performs these turning operations and operations at predetermined operating points without causing the turning control device 2 to output.

  Next, the difference from the above example mainly based on FIG. 11 is that, in the steering angle curve L of the steering turning control, when the steering handle 5 is returned at the end of turning, and when L4 is turned to the opposite side, Control is performed so that the travel distance of T4 is not counted. When the handle 5 is turned to the opposite side, the turning control is activated to prevent false detection, so that the planting start and planting positions are aligned at a constant level.

  Next, the point different from the above example mainly based on FIG. 12 is to correct the slip ratio of the rear wheel 20 according to the depth of the soil on which the working machine operates. When the soil becomes deeper, the raising / lowering link sensor 73 that detects the raising / lowering amount of the lift link 24 that raises / lowers the seedling planting device 7 detects the slip rate of the rear wheel 20 inside the turning, so the rotation of the drive shaft 3 Is corrected to n0, and the vehicle turns while calculating an accurate turning radius.

  Next, the difference from the above example mainly based on FIG. 13 is that the target value of the straight travel distance in the teaching turning control is corrected for each predetermined value according to the number of times of raising / lowering the seedling planting device 7, rolling, steering angle, etc. To do.

  Next, the point different from the above example mainly based on FIG. 14 is to automatically correct the straight traveling distance of the seedling planting process in the teaching turning control in the modified field (steps F and G in FIG. 5). In the deformed field 76 having a quadrangular shape whose sides are not parallel, the distances K1 and K2 of the seedling planting process are sequentially shortened (or lengthened). Therefore, the seedling planting process length K3 in the subsequent process is controlled by teaching control in the first several processes. Is automatically shortened, and the turning control of the headland turning parts 77 and 78 is performed. 79 is an agricultural road and 80 is a bank. In addition, the straight traveling distance of the straight traveling stroke K3 can be input or corrected at any time, so that the turning control adapted to the form of the modified farm can be performed. It is possible to improve the operability by correcting the timing of the turning control by the operator judging from the travel stroke of the previous stroke.

The block diagram of a rotation interlocking control apparatus part. The steering angle and the explanatory diagram of the control code. The control flowchart. The block diagram of the steering control. The flowchart of the part teaching control. The side view of the seedling transplanter. The plan view. The top view of the transmission device part. A partial enlarged side view and a block diagram of seedling supply control. The example figure of the turning trace line. The graph of a handle | steering-wheel angle curve which shows an another Example. The flowchart of the rotation setting value correction | amendment control which shows an another Example. The flowchart of the correction | amendment control which shows the some another Example. The flowchart of the target value setting control which shows the example according to the part, and its explanatory drawing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car body 2 Turning interlock control device 3 Wheel drive shaft (drive shaft)
4 Axle rotation sensor 5 Steering handle 6 Steering angle sensor 7 Working device θ Steering angle N1 Target value K2 Target value

Claims (2)

While measuring the distance traveled by the vehicle body, the steering angle is controlled in conjunction with the steering distance so that automatic turning is performed according to the distance traveled, and the target value of the turning distance is corrected based on the turning control operation. A turning control device for agricultural vehicles. The turning control device for an agricultural work vehicle according to claim 1, wherein a relationship of a steering angle with respect to the travel distance is set by teaching control.

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