JP2011030464A - Automatic rolling control device of ground working implement of agricultural working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stably perform the horizontal maintenance of an implement even in a field having much unevenness and easily inclining in left and right. <P>SOLUTION: This automatic rolling control device of a ground working implement of an agricultural working machine is provided with a means for judging whether performing the rolling control of the ground working implement 18 on the basis of an absolute inclining angle &theta;s based on detection by an inclination sensor 14 or performing the rolling control of the ground working implement 18 on the basis of a relative inclining angle &theta;k based on detection by an angular velocity sensor 16 or on the basis of a target angle &theta;t of the implement obtained by adding the relative inclining angle &theta;k of the angular velocity sensor 16 to the absolute inclining angle &theta;s. The device performs the rolling control by outputting an actuating pulse signal to a rolling cylinder 9 based on the detected value of inclination of the angular velocity sensor 16 on detecting the inclination of the traveling machine body based on the judging result of the judging means, is constituted to perform the rolling control by continuously outputting the actuating pulse signals to the rolling cylinder 9 by the detected value of inclination of the inclination sensor 14, and makes the ON time of output pulse in the controlling time of the angular velocity sensor 16 longer than the ON time in the controlling of the inclination sensor 14. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an automatic rolling control device that maintains a horizontal working machine such as a rotary tiller, a hull coater, and a chemical spreader mounted on a farm working machine such as an agricultural tractor horizontally.

  As a rolling control technology that automatically maintains the ground work machine attached to the farm machine even when the farm machine is tilted, the tilt sensor that detects the left / right tilt angle of the traveling machine or work machine and the left / right inclination of the running machine Inclination signals detected by the two angular velocity sensors that detect angular velocity or angular acceleration automatically roll drive the ground work machine with respect to the traveling machine body, and the horizontal posture of the ground work machine with respect to the ground is horizontal. There is technology to maintain.

  For example, in Japanese Patent No. 3568597, when the angular velocity or angular acceleration output from the gyro (angular velocity sensor) is in a stable state, the detection angle of the gravity tilt sensor is set as the final detection angle, and the gravity tilt sensor is used. Is calculated based on the angular velocity or angular acceleration output by the gyro to the reference value when the angular acceleration or angular acceleration output by the gyro is in a fluctuating state. There is described an inclination detecting device for a mobile agricultural machine provided with a fluctuation detecting means for adding a relative inclination angle to obtain a final detection angle.

  Japanese Patent No. 3763835 discloses that the state in which the angular velocity detected by the gyro is approximately “0” is a stable state, and the state in which the angular velocity detected by the gyro is not approximately “0” is a variation state. An inclination detection device for a mobile agricultural machine that performs is described.

Japanese Patent No. 3568597 Japanese Patent No. 3763835

  The automatic rolling control using the inclination detecting device of the mobile agricultural machine is an automatic control that attempts to level the work machine by detecting the inclination angle of the machine body and tilting the work machine in a direction opposite to the inclination angle. In addition, when it takes time to calculate the tilt angle of the machine body and the left and right tilt angles frequently fluctuate, a response is delayed and stable horizontal control of the work machine is not performed.

  Therefore, according to the present invention, when the horizontal inclination of the machine is detected, the horizontal work is quickly performed to roll the work machine in the horizontal direction, so that the work machine can be maintained in a horizontal state stably even in a field that has many irregularities and is easily inclined to the left and right. The challenge is to do so.

The problems of the present invention are solved by the following technical means.
According to the first aspect of the present invention, the ground work machine 18 is mounted on the farm work machine 1 so as to be able to roll by the operation of the rolling cylinder 9, and the tilt sensor 14 and the angular velocity sensor 16 are provided on the traveling machine body of the farm work machine 1. The rolling control of the ground working machine 18 is performed based on the absolute inclination angle θs based on the detection of 14 or the inclination angle θk based on the detection of the angular velocity sensor 16 or the relative inclination angle θk of the angular velocity sensor 16 is added to the absolute inclination angle θs. Means for determining whether to perform the rolling control of the ground work machine 18 based on the target work machine inclination target angle θt, and based on the determination result of the determination means, the inclination detection value of the angular velocity sensor 16 is detected when the inclination of the traveling machine body is detected. Based on this, an operation pulse signal is output to the rolling cylinder 9 to perform rolling control, and the rolling cylinder is detected by the inclination detection value of the inclination sensor 14. The operation pulse signal is continuously output to 9 to perform rolling control, and the on time of the output pulse at the time of controlling the angular velocity sensor 16 is made longer than the on time of the output pulse at the time of controlling the tilt sensor 14 This is a ground rolling machine automatic rolling control device for agricultural machines.

  With this configuration, when the traveling body tilts, while the weight-type tilt sensor 14 outputs an error signal in the reverse tilt direction detected by the inertial force, the rolling control is performed with the accurate tilt detection value of the angular velocity sensor 16, or By performing the rolling control with the accurately detected inclination value of the inclination sensor 14, the rolling (horizontal) control of the work machine is performed with an accurate inclination angle except for the reverse inclination error signal, and the control output by the angular velocity sensor 16 is also obtained. By increasing the pulse ON time, the operation of the rolling cylinder 9 is started quickly, and by shortening the ON time of the control output pulse by the tilt sensor 14, the rolling cylinder moves slowly to prevent hunting due to excessive tilt correction. It will be.

  The rolling cylinder 9 is quickly started in the tilt correction direction by the quick and accurate tilt direction detection signal of the angular velocity sensor 16, and the rolling cylinder 9 is slowly driven based on the accurate tilt angle detection of the tilt sensor 14 to excessively Prevents tilt correction and corrects the attitude of the work implement quickly and accurately.

It is a whole side view of the tractor of a present Example. It is a block diagram of control. It is a flowchart figure of control. It is a flowchart figure of control. It is a flowchart figure of control. It is a flowchart figure of control. It is a flowchart figure of control. It is a graph which shows the change state of the inclination detection value of an angular velocity sensor.

Next, examples embodying the embodiments of the present invention will be described with reference to the drawings.
An example of a farm work machine is a tractor 1, in which an engine 2 is mounted in a bonnet 17 at the front of the machine body, and the rotational power of the engine 2 is transmitted to a transmission in the transmission case 3 and decelerated by the transmission. The rotational power is transmitted to the front wheel 5 and the rear wheel 6. A hydraulic cylinder case 7 is mounted on the rear upper part of the transmission case 3, and lift arms 8, 8 are pivotally attached to the left and right sides of the hydraulic cylinder case 7. The lift arms 8 and 8 are raised and rotated when the hydraulic oil is supplied into the elevating cylinder 9 in the hydraulic cylinder case 7, and the lift arms 8 and 8 are lowered when the hydraulic oil is discharged. ing.

  Further, the lift arms 8 and 8 and the left and right lower links 10 and 10 are connected to each other by a lift rod 12 and a rolling cylinder 11. A stroke sensor 13 for detecting the cylinder length is fixed to the side of the rolling cylinder 11. Reference numeral 14 denotes an inclination sensor that detects the inclination angle of the tractor 1 in the left-right direction, and reference numeral 16 denotes an angular velocity sensor that detects the inclination speed of the tractor 1 in the left-right direction, which is attached to the side of the hydraulic cylinder case 7 and will be described later. In addition, the tilt control amount of the work implement is calculated from the detection values of the tilt sensor 14 and the angular velocity sensor 16, the detection value of the stroke sensor 13, and the set value of the tilt adjustment dial 15, and the work implement 18 is determined by a control signal from the controller 30. Is maintained at the set right / left inclination angle.

  In this embodiment, a rotary tiller is used as an example of the working machine 18, but an agricultural working machine other than the rotary tiller, such as a paddy coater or a chemical spreader, may be used. The rotary cultivator includes a cultivating claw 20, a rotary cover 22 covering the top of the cultivating claw 20, a rear cover 23 pivotally attached to the rear portion of the rotary cover 22, and the like. The shaft 19 is rotated, and the soil is cultivated by a plurality of tilling claws 20 attached to the tilling shaft 19.

  Potent left and right depth sensors 37 and 38 for detecting the tilling depth are provided on the left and right of the upper rear portion of the rotary cover 22 of the rotary tiller 18, and a dial-adjustable tilling depth setting device provided on the cockpit 24 side of the tractor 1. The lift arms 8 and 8 are turned so that the plowing depth set by 25 is reached, and the entire rotary tiller 18 is raised and lowered to maintain the set plowing depth.

The position setter 26 is attached to the rotation base of the hydraulic operation lever 28, and the lift arm angle sensor 27 is attached to the rotation base of the lift arm 8.
Next, the control block diagram shown in FIG. 2 will be described. The position setting device 26 and the lift arm angle sensor 27 are connected to the input side of the controller 30 that controls the lifting / lowering control and the inclination control of the work machine 18, and the left and right depth sensors 37 and 38 and the tilling depth setting device 25 are also connected to the controller 30. The plowing depth control is performed so that the plowing depth setting value set by the plowing depth setting device 25 during plowing depth control matches the values detected by the left and right depth sensors 37 and 38.

  The controller 30 also includes a tilt mode changeover switch 29 for setting various left and right rolling modes of the work implement 18, a tilt adjustment dial 15, a tilt sensor 14, a stroke sensor 13, an angular velocity sensor 16, and a control selection switch 36 for changing a rolling control method described later. Connected.

  Further, a horizontal manual switch 35 for manually extending and retracting the rolling cylinder 11 and a tilling depth control sensor selection switch 39 for changing tilling depth control to be described later are connected to the input side of the controller 30.

  Connected to the output side of the controller 30 are an ascending solenoid 31 and a descending solenoid 32 for expanding and contracting the lifting cylinder 9 for lifting and lowering the lift arm 8, and an extending solenoid 33 and a shortening solenoid 34 for expanding and contracting the rolling cylinder 11.

  When the tilt mode changeover switch 29 is set to the “parallel” position, the left and right postures of the work machine 18 with respect to the machine are in a parallel state, that is, the lengths of the left and right lift rods 12 and the rolling cylinder 11 are matched. The "parallel" position can be further set to two positions. When the "fixed position" is set, the work machine 18 is always parallel to the machine, and when the "swing" position is set, the tilt sensor is maintained. 14 and the angular velocity sensor 16 are subjected to rolling control according to the detected values.

  This rolling control gives an output in the direction opposite to the tilt direction to the rolling cylinder 11 in order to prevent the working machine 18 from tilting in the same direction when the machine body is tilted. The controller 30 automatically controls.

  When the horizontal manual switch 35 is set to the “manual” position, the automatic rolling control is cut, and the rolling cylinder 11 is expanded and contracted only when the horizontal manual switch 35 is set to the “horizontal” position. In such a configuration, when a rotary tillage operation is performed, the inclination mode changeover switch 29 is normally set to the “swing” position and the tillage operation is performed. When this mode is set, the rotary tiller 18 behind the tractor 1 is controlled to be always horizontal even if the tractor 1 is swung in the left and right directions. As a result, the vertical tiller 18 is equipped with a vertical stand. When the upright work is performed, a wrinkle having a horizontal upper surface is formed.

  In addition, when the work machine 18 is mounted on the traveling machine body and the work is performed by parallel control, for example, when the haze is applied, the tilt mode changeover switch 29 is set to the “swing” position. When the traveling machine body is advanced in this state, the work machine 18 is also tilted in the direction in which the traveling machine body is tilted. However, when the change is fast, in other words, when the change speed is larger than the set value, the angular velocity sensor 16 detects it. Then, the amount of change is converted into the work machine inclination angle. Then, the work machine posture is corrected to the opposite direction side by the calculated inclination to suppress the change of the work machine 18 that is going to tilt together with the machine.

  With this parallel control, even if the rear wheel 6 of the tractor 1 enters the concavo-convex portion, the posture change on the working machine 18 side is reduced, and in the tilling work, the upper surface of the cocoon is formed horizontally and smoothly. In the work, there is no step on the top surface of the heel before and after the change, and there is no crack, and a beautiful heel can be formed.

  In this embodiment, the traveling machine body parallel return output after the inclination change of the work machine 18 is performed when the change detection value of the angular velocity sensor 16 becomes a certain value or less. If comprised in this way, after the traveling machine body attitude | position will be stabilized, the working machine 18 can be returned in parallel with a traveling machine body, and a work trace will become smooth. In this case, the parallel return output is made slower than the work posture change output. That is, when the traveling machine body is tilted in the left-right direction, when the posture of the working machine 18 is largely changed, a quick control output is output to the lifting cylinder 9, but the working machine 18 is returned to the original parallel position to the traveling machine body. A slightly slower control output was output. In this case, the return output when returning to parallel may be changed according to the speed of the tractor 1. If the parallel return output is output early when the vehicle speed is high and the parallel return output is output late when the vehicle speed is low, the work traces will not be uneven.

  Based on FIG. 3, an example of work implement rolling control by connecting the tilt sensor 14 and the angular velocity sensor 16 will be described. In step S101, the absolute inclination angle θs of the inclination sensor 14 and the relative inclination angle θk obtained by the angular velocity sensor 16 are read into the controller 30, and in step S102, it is determined whether the inclination angle θk is smaller than the predetermined inclination angle θa. If the determination in step S102 is NO, the inclination angle θk of the angular velocity sensor 16 is added to the current absolute inclination angle θs in step S104, and the process returns as a new work implement inclination target angle θt, and the determination in step S102 is YES. Then, in step S103, the absolute inclination angle θs of the inclination sensor 14 is returned as the work implement inclination target angle θt. If the work implement inclination target angle θt is zero in step S104, the inclination angle θk becomes the new work implement inclination target angle θt. Moreover, the relative inclination angle θk based on the detection of the angular velocity sensor 16 is calculated by, for example, integration processing of detection values.

  As described above, when the inclination angle θk based on the detection of the angular velocity sensor 16 is larger than the predetermined inclination angle θa, it is estimated that a sudden angle change has occurred on the tractor body side, and the absolute inclination angle θs is obtained. A new work implement inclination target angle θt obtained by adding the inclination angle θk is stored in the controller 30, and rolling control is performed with reference to the target angle θt. On the other hand, when the tilt angle θk is smaller than the predetermined tilt angle θa, it is estimated that there is no sudden angle change on the tractor body side, and rolling control is performed based on the absolute tilt angle θs. A different method may be used instead of the above method of adding the relative inclination angle θk by the angular velocity sensor 16.

  Based on the basic rolling control based on the detection output of the angular velocity sensor 16 described above, FIG. 4 shows a control flowchart for performing the rolling control with the tilt mode changeover switch 29 set to “swing”.

  In step S1, the detection values of the inclination sensor 14, the angular velocity sensor 16, and the stroke sensor 13 are read. In step S2, the horizontal control of the work implement 18 is being performed based on the selection operation of the horizontal manual switch 35 and the inclination mode changeover switch 29. If YES, the process proceeds to the next step S3, and if NO, the process returns. In step S3, it is determined whether or not automatic control output based on the absolute tilt angle θs or the work implement tilt target angle θt is to be performed, that is, whether or not there is a horizontal output request. If YES, the process proceeds to the next step S4, NO If so, return. In step S4, it is determined whether or not a horizontal output request is issued when the detected inclination value of the angular velocity sensor 16 is equal to or greater than a predetermined value. If YES in step S4, it is determined that the control request is based on the work implement inclination target angle θt, and if NO, it is determined that a control request is output based on the absolute inclination angle θs.

  If YES in step S4, the process proceeds to step S5, and if NO, the process proceeds to step S6. In step S5, it is determined whether the amount of inclination of the work machine 18 relative to the body, that is, the inclination correction angle is within a range of ± m (for example, m ± 1 °). If YES, the output time A (for example, 40 ms) is determined in step S7. Long pulse output), and if NO, continuously output in step S8.

  When NO is determined in step S4, that is, when the absolute inclination angle θs is a target, in step S6, it is determined whether the inclination correction angle is in a range of ± n (for example, ± 3 °, where m <n). If YES, the output is output at an output time B (for example, a short pulse output of 30 ms, for example) in step S9, and the process returns. If NO, the process is continuously output and returned in step S8.

  When the control target is set as the work implement inclination target angle θt in consideration of the inclination angle θk by the angular velocity sensor 16 with the abrupt angle change of the tractor body by configuring as in the above step S5 and step S6. In this case, even if the inclination correction angle, which is the amount of inclination of the work machine 18 with respect to the machine body, is small as described above (in the range of ± m), this is executed to allow quick posture control. On the other hand, when the tractor body has a slow angle change and the absolute inclination angle θs is set as a control target without considering the inclination angle θk by the angular velocity sensor 16, the inclination correction angle that is the amount of inclination of the work machine 18 relative to the body is It is slightly larger than the above case (range of ± n), and this is executed to perform standard attitude control.

  And when it deviates from the range of step S5, control is performed by a continuous output (step S8), and it is made to return quickly compared with the case by a pulse signal. Similarly, when it deviates from the range of step S6, it is executed with continuous output.

FIG. 5 shows a flowchart of the related control between the dead zone and the rolling control in the lifting control of the work machine 18.
In step S10, the detected values of the inclination sensor 14, the angular velocity sensor 16, the stroke sensor 13, the left and right depth sensors 37, 38, etc. are read. In step S11, it is determined whether the work implement 18 is being controlled horizontally. The process proceeds to step S12. In step S12, a horizontal output request is determined. If YES, the process moves to the next step S13.

  In step S13, it is determined whether or not a horizontal output request is issued when the detected inclination value of the angular velocity sensor 16 is equal to or greater than a predetermined value. If “YES” here, the process proceeds to a step S14. If the inclination detection value of the angular velocity sensor 16 is large, the dead zone time count is set to a long time (1.0 second) in a step S15, and the inclination detection of the angular velocity sensor 16 is detected. If the value is not large, the dead zone time count is set to a short time (0.1 second) in step S16, and the dead zone for automatic raising / lowering (working machine elevation control by plowing depth control using the left and right depth sensors) is set to “small” in step S17. Set to (± 1 cm) and return.

  If any of the determinations in step S11, step S12, and step S13 is NO, the end of the dead zone time count is determined in step S18, and if completed, the dead zone for automatic elevation is set to “standard” (± 2 cm) in step S19. Set to) and return. If not completed, return as is.

During rolling control by the angular velocity sensor, this control improves the leveling of the rotary work even in headland tilling where the lifting control of the work implement 18 is sensitive and deeply tilled.
FIG. 6 shows a flowchart of the control related to the ascending speed and the rolling control in the lifting control of the work machine 18.

  In step S20, the detected values of the inclination sensor 14, the angular velocity sensor 16, the stroke sensor 13, the left and right depth sensors 37 and 38, etc. are read. In step S21, it is determined whether the work implement 18 is being controlled horizontally. The process proceeds to step S22. In step S22, a horizontal output request is determined. If YES, the process moves to the next step S23.

In step S23, it is determined whether a horizontal output request is issued when the detected inclination value of the angular velocity sensor 16 is equal to or greater than a predetermined value. Here, if it is YES, it will move to Step S24.
In step S24, the ascending / descending speed is set to “small” and the process returns.

If any of the determinations in step S21, step S22, and step S23 is NO, in step S25, the ascending / descending speed is set to “standard” and the process returns.
In this control, during the rolling control by the angular velocity sensor, the rising speed of the work machine 18 is slowed so that no dent is generated in the tillage track.

  FIG. 7 is a flowchart of the related control between the dead zone and the rolling control in the lifting control of the work machine 18 as in FIG. 5. In step S30, the tilt sensor 14, the angular velocity sensor 16, the stroke sensor 13, the left and right depth sensors 37, 38, etc. In step S31, it is determined whether the work implement 18 is being controlled horizontally. If YES, the process proceeds to the next step S32.

  In step S32, a horizontal output request is determined. If YES, the process proceeds to the next step S33. In step S33, it is determined whether a horizontal output request is issued when the detected inclination value of the angular velocity sensor 16 is equal to or greater than a predetermined value. If the determination here is YES, the process proceeds to step S34, and if the detected inclination value of the angular velocity sensor 16 is large, the dead zone for automatic elevation is set to “small” (± 1 cm) in step S35 and the process returns.

  If any of the determinations in step S31, step S32, step S33, and step S34 is NO, in step S36, the dead zone for automatic elevation is set to “standard” (± 2 cm) and the process returns.

  During the rolling control by the angular velocity sensor, this control makes the lifting / lowering control of the work machine 18 sensitive when the unevenness of the field scene is large, and makes the lifting / lowering control of the working machine 18 normal when the unevenness of the field scene is small. Improve the leveling of the rotary work.

In this control, the contraction output of the lifting cylinder 9 may be determined, and in the case of the contraction output, the dead zone for automatic lifting may be set to “small”.
Further, in the case of rolling control, the dead zone of the lowered output may be always set to “small”.

Furthermore, the raising output in the case of rolling control may be such that the dead zone is set to “small” only when the output is requested by the angular velocity sensor 16.
The dead zone and the raising / lowering speed of the automatic raising / lowering are determined by the lifting / lowering operation of the work implement 18 at the beginning of the first tillage or after the turn, and for a certain time (about 5 seconds) or after the beginning of tillage Until the ascending output is performed a few times, the change of the rear cover 23 is large, so that it is not performed.

Further, when the tilling depth is set to be shallow by the tilling depth setting device 25, hunting is prevented and the leveling is improved by controlling the descending speed of the automatic lifting / lowering to be slow.
FIG. 8 shows a change in the inclination detection signal of the angular velocity sensor 16, and a signal exceeding the dead band is usually used as an inclination signal in order to eliminate engine vibration, but data A until reaching the dead band as data for calculating the inclination angle. Is also used for computation.

  When the tractor 1 travels on the road, it is dangerous if rolling control is performed, so the control is turned off. However, forgetting it, if the traveling speed exceeds 7 km / h, it is automatically or work. When the switching dial is set to “travel” or “loader” “draft” (ski work), the control is turned off.

  When performing tillage work while raising and lowering the rotary tiller with the control lever, the pulse width of the control signal output to the rolling cylinder 11 is set to large, medium or small depending on the height, middle or low position of the control lever. In addition, the risk of rolling of the work machine 18 is prevented by setting the dead zone of the rolling control to large, medium, and small and sequentially slowing down the movement by the control.

  Further, when the rear cover 23 is hanging down or locked up, the work implement 18 is often hung and traveled. Therefore, the work implement 18 is suddenly moved by widening the pulse width of the control output or widening the dead zone. To prevent it from moving.

1 Agricultural equipment (tractor)
9 Rolling cylinder 14 Tilt sensor 16 Angular velocity sensor 18 Ground working machine (rotary tiller)

Claims (1)

  The ground work machine (18) is mounted on the farm work machine (1) so as to be able to roll by the operation of the rolling cylinder (9), and the traveling machine body of the farm work machine (1) is provided with an inclination sensor (14) and an angular velocity sensor (16), Rolling control of the ground work machine (18) is performed based on the absolute inclination angle (θs) based on the detection of the inclination sensor (14), or the relative inclination angle (θk) based on the detection of the angular velocity sensor (16) or the absolute Means is provided for determining whether to perform rolling control of the ground work machine (18) on the basis of the work machine inclination target angle (θt) in which the relative inclination angle (θk) of the angular velocity sensor (16) is added to the inclination angle (θs). Based on the determination result of the determining means, the rolling control is performed by outputting the operation pulse signal to the rolling cylinder (9) based on the detected inclination value of the angular velocity sensor (16) when detecting the inclination of the traveling vehicle body. On the other hand, the rolling pulse is controlled by continuously outputting the operation pulse signal to the rolling cylinder (9) based on the detected tilt value of the tilt sensor (14), and the ON time of the output pulse when the angular velocity sensor (16) is controlled. An automatic rolling control device for a ground working machine for agricultural machines, characterized in that is longer than the ON time of the output pulse when controlling the tilt sensor (14).

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