JP2015226516A - Work machine and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine capable of performing optimum automatic straight-advancing operation control according to a travel speed of a travel machine even if the travel speed of the travel machine is changed.SOLUTION: A work machine comprises an operation unit, a remote controller, reference value setting means, operation direction detection means, operation position detection means, an operation direction adjustment mechanism, an operation position adjustment mechanism, control means for driving and controlling the operation position adjustment mechanism and the operation direction adjustment mechanism, and speed detection means for detecting a travel speed of a travel machine body. The control means has a slow mode which changes a control parameter of an automatic straight-advancing operation control mode according to the travel speed if the travel speed of a certain reference value or lower is detected by the speed detection means in the automatic straight-advancing operation control mode.

Description

The present invention relates to a working machine that is mounted on a traveling machine body and performs a predetermined work while proceeding with traveling of the traveling machine body. In particular, the present invention relates to a method for controlling such a work machine and a remote controller for remotely operating such a work machine.

Conventionally, in order to reduce the working hours of farm work, automatic work machines have been promoted, and various work machines have been developed. In particular, a work machine that is mounted on the rear of a traveling machine body such as a tractor and can be exchanged according to the type of work can be used for various farming operations by simply replacing the traveling machine body such as a tractor as an attachment. It is possible and greatly contributes to the cost reduction of farm work.

Among such working machines, there is known an offset working machine that works at positions that are separated (offset) in the side surface direction with respect to the running position of the running machine body. Known offset working machines include a hull coater and a mower. In particular, the wrinkle coater is an automated work for forming a wrinkle on the outer edge of the field, and has been developed in recent years as a work machine that can reduce a great deal of time and labor.

The wrinkle coater is mounted on the rear part of the traveling machine body, and includes a mounting part having an input shaft to which power from the traveling machine body is input, a power transmission mechanism that transmits power from the input shaft to the work machine, and support of the working part And a working unit that performs a smearing operation using the transmitted power. The working unit is composed of a pre-processing unit that cuts a part of an old paddle and deposits the earth, and a trimming unit that applies the piled soil to the cut old paddle.

Such a padding machine performs a straight-ahead operation along the travel of the traveling machine body at an offset position behind the traveling machine body, but in a rectangular field, when performing a padding operation along the side of the field, There is a problem that when the leading end portion of the traveling machine body reaches the corner of the field, it is not possible to perform the subsequent wrinkling operation.

In order to solve this problem, when the traveling machine body reaches the corner of the field, even if the traveling machine body is turned, the work position of the paddy coater can continue the straight running work so that the offset position and the working angle of the working part can be continued. By controlling the above, there has been developed a coater capable of continuing the process of painting with a simple operation (see Patent Documents 1 to 3).

Japanese Patent No. 4945161 Japanese Patent No. 4878489 Japanese Patent No. 4866471

The working machine described in Patent Documents 1 to 3 includes a normal work mode used for control when the traveling machine body travels straight and an automatic straight work control mode used when the traveling machine body turns in the corner of the field. In the normal work mode, the work part can be operated along the traveling of the traveling machine body by performing control to maintain the work position and work direction of the work part in a predetermined state. Then, by performing control to adjust the work position and work direction of the work unit to the set reference value, it becomes possible to make the work unit work linearly regardless of the traveling situation such as the turning operation of the traveling machine body. .

However, in such a working machine, if the traveling machine slips and the turning speed changes or the traveling speed of the traveling machine decreases extremely during the setting of the automatic linear work control mode, the automatic straight work control mode This may have a negative effect on the straightness and finish of the molds that have been subjected to the glazing operation.

In addition, it is possible to use a proportional valve to control the cylinder speed according to the traveling speed of the traveling machine body. However, the use of the proportional valve increases the manufacturing cost of the work machine, and the complicated and advanced control. There is a problem that is required.

The present invention has been made in view of such a problem, and even when the traveling speed of the traveling machine body changes, it is possible to perform the optimum automatic straight operation control according to the traveling speed of the traveling machine body. The purpose is to provide a working machine.

A working machine according to an embodiment of the present invention is mounted on a traveling machine body, capable of working a lateral position with respect to a traveling direction of the traveling machine body, a remote controller that controls the working part, and the working unit Reference value setting means for setting a reference value for the work direction and work position, work direction detection means for detecting the work direction of the work part, work position detection means for detecting the work position of the work part, and the work part A work direction adjusting mechanism for adjusting the work direction, a work position adjusting mechanism for adjusting the work position of the working unit, a control means for driving and controlling the work position adjusting mechanism and the work direction adjusting mechanism, Speed detecting means for detecting the turning speed of the traveling machine body,
The control means maintains a work position and a work direction in a predetermined state, and a normal work mode in which the working unit works along the travel of the traveling machine body, and the work direction detection means and the work direction in the normal work mode. By using the work direction and the work position reference value set based on the detection value detected by the work position detection means, by adjusting the change of the work position and the work direction accompanying the change of the travel direction of the traveling machine body The automatic linear work control mode for maintaining a predetermined linear work and the control parameter of the automatic straight work control mode to the turning speed when the turning speed below a certain reference value is detected by the speed detecting means. And a low-speed mode that changes accordingly.

The remote controller may be provided with a switching unit for switching the low-speed mode control on and off.

In addition, the remote controller may be provided with a display unit that displays a mode control state selected by the switching unit.

Further, the switching of the low speed mode control between on and off may be instructed according to a specific operation via the remote controller.

Further, the specific operation may be an operation of simultaneously pressing two or more buttons to which different functions are assigned.

A working machine control method according to an embodiment of the present invention includes a working unit that is mounted on a traveling machine body and capable of working a lateral position with respect to a traveling direction of the traveling machine body, and a remote controller that controls the working part. A reference value setting means for setting a reference value for the work direction and work position of the work part, a work direction detection means for detecting the work direction of the work part, and a work position detection means for detecting the work position of the work part. And a drive direction adjustment mechanism for adjusting the work direction of the work part, a work position adjustment mechanism for adjusting the work position of the work part, the work position adjustment mechanism, and the work direction adjustment mechanism. A work machine control method comprising: a control means; and a speed detection means for detecting a turning speed of the traveling machine body, wherein the work position adjusting mechanism and the work direction with respect to straight traveling of the traveling machine body A normal working mode of maintaining the integer mechanism in a predetermined state,
Automatic straight-ahead work control mode for adjusting and driving the work position adjustment mechanism and the work direction adjustment mechanism with respect to the turning of the traveling machine body, and control parameters of the automatic straight-ahead work control mode are changed according to the turning speed of the traveling machine body In the normal work mode, the work direction of the work unit is detected, a work direction reference value is set based on the detected value of the work direction, and the work position of the work unit is set. And a reference value of the work position is set based on the detected value of the work position, and in the automatic straight work control mode, the reference value of the work direction set in the normal work mode and detection of the detected work direction are detected. The work direction adjusting mechanism is adjusted and driven according to the comparison with the value, and the work position reference value set in the normal work mode is compared with the detected work position detected value. The work position adjustment mechanism is adjusted and driven, and in the low speed mode, when the turning speed below a certain reference value is detected by the speed detecting means, the control parameter of the automatic straight work control mode is set to the turning speed. It is characterized by changing accordingly.

Even if the traveling machine body slips and the turning speed changes or the traveling speed of the traveling machine body is equal to or less than the speed assumed by the set reference value, Optimal automatic straight control can be performed according to the turning speed, so that even when the padding operation is performed with a soil that is easy to collapse, such as volcanic ash soil, it is possible to form a tight ridge that does not easily collapse.

In addition, the plastering machine according to the present invention can automatically select the optimal control parameter according to the traveling speed of the traveling machine body and perform the automatic straight-ahead control. The straightness of the work can be ensured without being done. Further, since it is possible to automatically select the optimal control parameter according to the traveling speed of the traveling machine body and perform the automatic straight-ahead control, it is possible to form a tighter kite even during low-speed traveling.

In addition, by applying delicate control according to the traveling speed of the traveling machine body, the wrinkle coater according to the present invention can easily ensure straightness of work regardless of the horsepower of the traveling machine body. .

Further, according to the present invention, according to the preference of the operator, whether or not to set the automatic switching function of the control parameter according to such travel speed can be easily selected only by operating the remote controller at hand, A work machine with high operability can be realized.

It is a figure showing the whole work implement composition concerning an embodiment of the present invention. It is a figure explaining the structure of the position sensor of the working machine which concerns on embodiment of this invention. It is a block diagram which shows the structure of the control apparatus mounted in the remote controller in the working machine which concerns on embodiment of this invention. It is explanatory drawing which showed the control flow at the time of the normal operation mode by the control apparatus of a present Example. It is explanatory drawing which showed the control flow at the time of the automatic linear work control mode by the control apparatus of a present Example. It is explanatory drawing which showed the control flow at the time of the low speed mode by the control apparatus of a present Example. FIG. 7A is a state diagram showing the behavior of the offset angle θ in the automatic linear work control mode in the work machine according to the embodiment of the present invention, and FIG. 7B shows the control state in the low speed mode. FIG. It is a front view of the remote controller with which the working machine which concerns on embodiment of this invention is provided. It is a rear view of the remote controller with which the working machine which concerns on embodiment of this invention is provided.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings, taking as an example a plastering machine which is one of offset working machines. The following embodiments are examples of the embodiments of the present invention, and the present invention is not limited to these embodiments. In addition, the dimensional ratio in the drawing may be different from the actual ratio for convenience of explanation, or a part of the configuration may be omitted from the drawing.

<Overall configuration>
FIG. 1 is an explanatory diagram showing the overall configuration of the glazing machine according to the present embodiment. The hull coater 100 includes a mounting unit 110 that is mounted on a link mechanism (for example, a three-point link mechanism) of the traveling machine body 190, a working unit 120 that performs a smearing operation, and a connecting unit that connects the mounting unit 110 and the working unit 120. 130 as a basic configuration.

The mounting portion 110 includes lower link connecting portions 111a and 111b and a top link connecting portion 112, and a support member 113 to which the connecting portion 130 is mounted. The mounting unit 110 includes an input shaft (not shown) connected to the PTO shaft of the traveling machine body 190 via a transmission joint such as a universal joint, and the power transmitted to the input shaft is connected to the connecting unit. A mechanism for transmitting to 130 transmission mechanisms is also provided in the support member 113.

One end of the connecting portion 130 is supported by the support member 113 of the mounting portion 110 and the other end is attached to the working portion 120, and includes a link member 131 and an offset frame 132.

The link member 131 is a member whose one end is rotatably supported on the mounting portion 110 side and the other end is rotatably supported on the working portion 120 side, and controls the position of the working portion 120.

The offset frame 132 includes a winding transmission means for transmitting power to the working unit 120 side, and has transmission shafts 132a and 132b provided vertically, so that the offset frame 132 can be rotated around the transmission shaft 132a. The working unit 120 is supported so as to be rotatable around the transmission shaft 132b.

The offset frame 132 and the link member 131 are arranged in parallel, and these and the support member 123 form a parallel link mechanism. For this reason, the working direction of the working unit 120 does not change with respect to the swing of the connecting unit 130 in the offset angle θ direction, that is, the working unit 120 can be offset while maintaining the work surface with the tan coating.

In this embodiment, a parallel link mechanism is employed to facilitate control of an offset cylinder 140 and a direction cylinder 141, which will be described later. However, as an embodiment of the present invention, the offset cylinder 140 and the direction cylinder 141 are independent. In the case of an embodiment in which such a parallel link mechanism is not formed, the same control as described below is possible.

The working unit 120 forms a new paddle by applying a pre-processing unit 121 that cuts a part of an old paddle and performing a filling work, and applying the soil piled forward by the pre-processing unit 121 to the cut out old paddle. And a power transmission mechanism that distributes the power transmitted to the power transmission shaft 132b to the pre-processing unit 121 and the power control unit 122, which are mounted on a support case (not shown). Yes.

Here, the pretreatment unit 121 can employ a rotary tillage type pretreatment mechanism in which a rotary claw is mounted on a drive shaft, and a heaven treatment mechanism (top) that scrapes off the old cocoon heaven (upper surface) as necessary. A field processing rotor) may be added. The trimming unit 122 may employ a trimming drum including a cylindrical drum 122a that molds the upper surface of the rod and a conical umbrella-shaped drum 122b that molds the side surface of the rod.

The plastering machine 100 having such a basic configuration includes an offset cylinder 140 as a work position adjusting mechanism for adjusting the work position (offset position) of the work unit 120, and the work direction (rotation direction) of the work unit 120. ) Is provided with a direction cylinder 141 as a work direction adjusting mechanism.

In addition, an angle sensor 150 is provided as work direction detection means for detecting the work direction of the work unit 120. The angle sensor 150 does not detect a change in the direction of the working unit 120 relative to the connecting unit 130, but detects a change in the working direction with respect to the field scene of the working unit 120 alone, for example, a gyro sensor or the like. Can be adopted. In the present embodiment, the angle sensor 150 is provided around the transmission shaft 132b in the offset frame 132, and also functions as a speed detecting means for detecting a turning speed of the traveling machine body described later.

Further, a position sensor 151 is provided as a work position detecting means for detecting the work position of the work unit 120. The position sensor 151 is disposed behind the cylindrical drum 122a through a mounting arm 152 from a support case (not shown).

As shown in FIG. 2, the position sensor 151 has a built-in potentiometer for detecting the rotational displacement of the rotating shaft, and one end of a sensor rod 151a is fixed to the rotating shaft. The sensor rod 151a is a rod-shaped member whose sensitivity can be adjusted by adjusting the length. A contact portion 151b is formed at the tip of the sensor rod 151a, and the contact portion 151b is urged to be in contact with the side surface of a new rod. Has been. Then, when the sensor rod 151a swings to the a side in the figure with respect to the reference position, it is detected that the working unit 120 has moved to the left in the traveling direction (the direction in which the working unit 120 moves away from the heel) with respect to the reference. When the sensor rod 151a swings to the b side in the figure, it is detected that the working unit 120 has moved to the right in the traveling direction (the direction in which the working unit 120 approaches the heel) with respect to the reference.

As described above, the brush coater 100 detects the work position of the control unit, the control unit that drives and controls the work position adjustment mechanism and the work direction adjustment mechanism, the work direction detection unit that detects the work direction of the work unit, and the work position of the work unit. Working position detecting means.

The control means adjusts and drives the work direction adjusting mechanism in accordance with a comparison between the set reference value of the work direction and the detected value of the work direction detected by the work direction detection means, and sets the set work position. The work position adjustment mechanism is adjusted and driven in accordance with a comparison between the reference value and the work position detection value detected by the work position detection means.

According to such a control device for an offset working machine, the working unit can perform a linear work regardless of the traveling state of the traveling machine body by adjusting and driving the working direction adjusting mechanism and the working position adjusting mechanism. . At this time, the control means for adjusting and driving the work direction adjusting mechanism and the work position adjusting mechanism, with regard to the work direction adjusting mechanism, detects the set work direction reference value and the work direction detected by the work direction detecting means. Control according to the comparison with the value, and regarding the work position adjustment mechanism, control according to the comparison between the set reference value of the work position and the detected value of the work position detected by the work position detection means Thus, it is possible to perform control for maintaining the straight operation of the working unit.

The control means also selects and sets a normal work mode for maintaining the work position adjustment mechanism and the work direction adjustment mechanism in a predetermined state, and an automatic linear movement work control mode for adjusting and driving the work position adjustment mechanism and the work direction adjustment mechanism. It may be possible.

In the normal work mode, the work position and work direction of the work unit can be maintained in a predetermined state, and the work unit can be operated along the travel of the traveling machine body. By performing the control to adjust the work direction to the set reference value, it becomes possible to cause the working unit to work linearly regardless of the traveling state of the traveling machine body.

Further, in the low speed mode in the embodiment of the present invention, when the vehicle speed of the traveling machine body becomes slower than a certain speed, the setting of the control parameter of the work machine is changed, and the automatic straight running work control suitable for the low speed is performed, thereby driving Regardless of the change in the traveling speed of the airframe, it is possible to perform automatic straight-ahead work control that causes the working part to work linearly.

In the low-speed mode, if the traveling machine slips and the turning speed changes or the traveling speed of the traveling machine decreases during the setting of the automatic linear work control mode, the smearing work is performed in the automatic straight work control mode. It is used to solve the problem that there is an adverse effect on the straightness and finish of the mold.

That is, in the automatic straight work control mode, the work position and work direction of the work unit are controlled using the reference values set in the normal work mode, and the reference values are the speeds that the traveling machine body normally assumes. The optimal control parameters are set assuming the case where the vehicle is turning. When the traveling body turns at a speed lower than the normally assumed speed, when the automatic straight-ahead work control mode is executed using the reference value, the distance that the working unit moves forward within a certain control time is normally assumed. Therefore, the working direction swings in a direction in which the working unit approaches the kite. When the working part swings in the direction approaching the bag as described above, as described with reference to FIG.
Since the sensor rod 151a swings to the b side in the figure with respect to the reference position, the position sensor 151 detects that the working unit 120 has moved to the right in the traveling direction (the direction in which the working unit 120 approaches the heel) with respect to the reference. Is done. As a result, the control unit corrects the work position and the work direction of the work unit so that the work unit 120 moves in a direction away from the bag. In this way, when the traveling machine body turns at a speed lower than the normally assumed speed, the width of the molded ridge is likely to be thick, which adversely affects the straightness and finish of the molded ridge.

Therefore, in the low-speed mode, when the vehicle speed of the traveling machine body becomes slower than a certain speed, the setting of the control parameter of the work implement is narrower than the control parameter in the normal automatic linear operation control mode. By changing the direction to the direction (the direction in which the working part is separated from the heel), it is possible to perform automatic linear operation control that ensures straightness of the forming ridge and improves the finish even at low speeds.

In addition, the normal work mode, automatic straight-ahead work control mode, and low-speed mode can be selected at any time by automatic switching depending on the will of the operator or the driving condition of the traveling machine, etc. It is possible to switch straight running control or the like as necessary.

As shown in FIG. 3, the plastering machine 100 configured in this way receives the detection value from the angle sensor 150, the detection value from the position sensor 151, and the detection value from the attitude sensor 153 described later to the remote controller 180. Sent. The detection value of each sensor may be transmitted to the remote controller 180 by wired communication or may be transmitted by wireless communication. Expansion / contraction control of the offset cylinder 140 and the direction cylinder 141 is performed based on detection values from the angle sensor 150 and the position sensor 151.

<Configuration of remote controller>
FIG. 3 is a block diagram illustrating a configuration of the control device 160 mounted on the remote controller 180 included in the glazing machine 100. As shown in FIG. 3, the control device 160 includes a storage unit 161, a comparison operation unit 163, and a signal output unit 162 as main parts. The storage unit 161 stores a work position reference value X ₀ (161a) and a work direction reference value A ₀ (161b), and the comparison operation unit 163 includes comparison means 163a and 163b.

The work position reference value X ₀ (161a) and the work direction reference value A ₀ (161b) stored in the storage unit 161 are updated as needed based on detection values of the angle sensor 150 and the position sensor 151, respectively, in the normal work mode. The Note that an average value of detection values transmitted as needed may be set as a reference value, or may be always replaced with a new detection value.

In addition, a setting signal switching unit 165 is provided between the storage unit 161 and the comparison calculation unit 163, and a signal input from the storage unit 161 to the comparison calculation unit 163 can be switched according to the control mode of the work machine 100. It has become. That is, when the automatic rectilinear work control switch 166 is turned on and the automatic rectilinear work control mode is set, the work position reference value X ₀ (161a) and the work direction reference value A ₀ (161b) at that time are compared and calculated. 163 is input. The automatic straight work control switch 166 may be a manual switch by operating the remote controller 180 of the work machine 100, or when the automatic switch or the angle sensor 150 linked with the steering operation of the traveling machine body 190 becomes a predetermined value or more. It may be an automatic switch that turns on.

Automatic straight working control switch 166 is turned on, the detected value and the working position reference value X ₀ of the position sensor 151 are compared in the comparison unit 163a, the offset cylinder 140 from the working position adjustment output unit 162a so as to eliminate the difference A control signal for driving control is output. The detection value of the angle sensor 150 and the working direction reference value A ₀ is compared in the comparison unit 163b, a control signal is output for driving and controlling the direction cylinder 141 from the working direction adjustment output unit 162b so as to eliminate the difference .

Furthermore, the control device 160 is provided with an attitude determination unit 164. The posture determination unit 164 determines the posture of the working unit 120 with respect to the traveling machine body 190 based on the detection value from the posture sensor 153.

As shown in FIG. 1, the attitude sensor 153 passes through the axis of the transmission shaft 132a and crosses the line perpendicular to the traveling direction of the traveling machine body 190, X passes through the axes of the transmission shafts 132a and 132b, and the axis of the transmission shaft 132b. Assuming that the center axis of rotation of the straightening section 122 passing through the center is Z, the swing is provided on the transmission shaft 132a and detects the swing angle α (angle formed by the straight lines X and Y) of the offset frame 132 with respect to the support member 113. An angle sensor 153a and a rotation angle sensor 153b that is provided on the transmission shaft 132b and detects a rotation angle β (an angle formed by the straight lines Y and Z) of the working unit 120 with respect to the support member 113 are included. The swing angle sensor 153a and the rotation angle sensor 153b are potentiometers, and the detection values from these sensors are sent to the attitude determination unit 164 shown in FIG.

In the posture determination unit 164, predicted values of the posture sensor 153 configured by the swing angle sensor 153a and the rotation angle sensor 153b corresponding to a plurality of postures of the working unit 120 are stored in advance. Specifically, the posture determination unit 164 includes a posture sensor 153 corresponding to the posture of the working unit 120 when the tip of the traveling machine body 190 reaches the corner of the farm field when the working unit 120 moves straight along the fence. The predicted value, the predicted value of the attitude sensor 153 corresponding to the attitude of the working unit 120 when the traveling machine body 190 reaches the position immediately before the turning and stopping at the corner of the field, and the traveling machine body 190 is the corner of the field. The predicted value of the posture sensor 153 corresponding to the posture of the working unit 120 until the stop position is reached from the position immediately before the position where the vehicle turns and stops, and the traveling machine body 190 turns and stops at the corner of the field With the predicted value of the posture sensor 153 corresponding to the posture of the working unit 120 when reaching the position and the traveling machine body 190 stopped at the corner of the field, the working unit 120 works to the end of the ridge corner. Work when Predicted value of the orientation sensor 153 that corresponds to the 120 position of is stored.

Further, in the control device 160, when a setting switching operation for turning on the low-speed mode control is performed by a predetermined switch operation, the output signal of the control program 161c becomes an input signal to the comparison calculation unit 163 by the setting signal switching device 165. The work position adjustment mechanism and the work direction adjustment mechanism are driven and controlled according to the control program 161c. Here, the control program 161c stores a control program when the traveling speed of the traveling vehicle is lower than the reference value (low speed mode).

Further, the control device 160 is provided with a low-speed mode control switching unit and a speed determination unit, and the speed determination unit is configured such that the speed detected by the angular speed sensor 154 that is a speed detection unit provided in the work implement is a reference value. It is determined whether or not: In this way, by using the angular velocity sensor 154 as the speed detection means, it is not necessary to acquire the ground speed from the GPS or the traveling machine body, and the turning speed of the traveling machine body can be detected by the work machine itself, so that complicated control is possible. Therefore, an increase in manufacturing cost can be suppressed.

In the present embodiment, the angle sensor (gyro sensor) 150 described above also functions as a speed detection means, and the turning speed of the traveling machine body is determined from the detected value of the angle sensor 150 and the data of the traveling machine body set in advance. Is calculated.

When an operation input for turning on the low speed mode control is performed by the operation unit 169, the low speed mode control switching unit 156 transfers the control program 161c input to the comparison operation unit 163 via the speed determination unit 155 to the low speed mode. Change to control program.

4, 5, and 6 are explanatory diagrams illustrating a control flow in the control device 160 of the present embodiment, in which FIG. 4 is a control flow in the normal work mode, and FIG. 5 is a control flow in the automatic linear work control mode. FIG. 6 shows a control flow in the low speed mode. As shown in FIG. 4, first, when the work is started (S10) and the control device 160 is turned on (S11), the angle sensor 150 and the position sensor 151 are activated to start detection (S12a, S12b). Here, the offset cylinder 140 and the direction cylinder 141 are maintained in a predetermined state, and a linear coating operation is advanced by the working unit 120 while the traveling machine body travels straight.

In this normal work mode, the detection values of the angle sensor 150 and the position sensor 151 are sent to the storage unit 161 of the control device 160 as needed to set the work position reference value X ₀ (161a) and the work direction reference value A ₀ (161b). (S13). The work position reference value X ₀ and the work direction reference value A ₀ may be set by calculating an average value from the detection values sent as needed and calculating the reference value. The stored reference value may be replaced and updated as needed.

This reference value setting (S13) is continued until the end of work in the normal work mode (S14, S16), and during that time, when the automatic straight work control switch 166 is turned on (S15), the automatic straight work control shown in FIG. The mode is changed (S21).

Automatic straight working control switch 166 is turned on (S21), as shown in FIG. 5, the reference value for automatic straight working control mode the working position reference value X ₀ and working direction reference value A ₀ set at that time (S22). At this time, the automatic straight work control switch 166 can be a manual switch, and is activated when the detected value of the automatic switch or the angle sensor 150 linked with the steering operation of the traveling machine body exceeds the allowable value. An automatic switch or the like can also be used.

When the operation mode is shifted to the automatic straight work control mode and the turning operation of the traveling machine body is performed (S23), the direction detection by the angle sensor 150 and the position detection by the position sensor 151 are performed (S24a, S24b). Then, the control unit 160 as described above, compared with the working direction reference values _{A 0} that is set as the detected value _{A t} of the angle sensor 150 is made in the comparison means 163b, the control deviation _| A t -A ₀ | is The control signal is sent from the work direction adjustment output unit 162b to the direction cylinder 141 until it becomes zero (S26a), and direction control is performed (S26a). The comparison between the detection value _{X t} and the set working position reference value _{X 0} of the position sensor 151 is made in the comparison means 163a, control deviation _| X t -X _{0 |} is determined (S25b), it is zero The control signal is sent to the offset cylinder 140 from the work position adjustment output unit 162a until the work position is controlled (S26b). Then, when the automatic straight work control switch 166 is turned off, the automatic straight work control mode is terminated (S27), and thereafter the automatic straight work is terminated (S28).

In actual turning, it is conceivable that the turning center moves during turning depending on the traveling conditions of the field, the manner of steering operation, and the like. Correcting the control amount by the addition of _| a displacement of the work position due to such movement of the pivot point is detected by the position sensor 151, the aforementioned control deviation | X t _-X 0. According to this, even when the turning center moves due to slippage of the traveling wheel, the work position (reference value X ₀ ) set at the time of the automatic straight-ahead work control mode transition is always maintained during turning, It is possible to continue the straight operation of the working unit 120 while turning the traveling machine body.

Specifically, when the turning center of the traveling machine moves during the setting of the automatic rectilinear work control mode, the displacement of the work position accompanying the movement of the turning center is detected by the work position detecting means, and the automatic straight work control mode is set. working portion of the working position X _t and automatic straight working control mode set working position during the transition when the turning center does not move during migration (reference value X ₀₎ control deviation between _| X t _-X 0 | a by adding The control amount may be corrected, and the operation of the work position adjustment mechanism may be controlled so that the corrected control deviation becomes zero.

FIG. 7A is a control state diagram showing the behavior of the offset angle θ in the automatic straight work control mode by the curve A. FIG.

When the traveling machine body in which the hull coater 100 is mounted on the three-point link mechanism turns at the corner of the field, the offset angle θ is obtained as a control state indicated by the curve A in FIG. In FIG. 7A, the horizontal axis indicates the control time t (s), and the vertical axis indicates the offset angle θ (deg).

In the normal work mode, the traveling machine is driven straight along one side of the field to perform a linear smearing operation, immediately before the traveling machine reaches the corner, the steering operation is performed, and the traveling machine starts to turn. The automatic straight work control mode is started at (t = 0 (s)).

In the example of the behavior of the offset angle θ shown in FIG. 7A, the offset angle θ is set to the control time t1 as the traveling body turns, with the offset angle θ at the control time t = 0 set to the maximum value θmax. The offset angle θ gradually decreases along the curve A and reaches the minimum value θmin at the control time t1. As the traveling machine further turns, the offset angle θ gradually increases until the predetermined control time t2, and the automatic linear operation control mode ends at the offset angle θlst at the control time t2.

However, the curve A varies depending on the type of the traveling body (turning radius, etc.), the vehicle speed, the value of the offset angle θmax at the start of turning, and the like.

FIG. 7B is a state diagram showing a control state in the low speed mode. In FIG. 7B, a straight line B indicates a turning angle of the adjusting drum (the adjusting unit 122) composed of the cylindrical drum 122a and the conical umbrella-shaped drum 122b.

As shown in FIG. 7B and FIG. 6, in the low speed mode, when the low speed mode control is turned on with the automatic linear operation control switch 166 turned on (S31), the mode shifts to the low speed mode control. When the turning operation of the traveling machine body is performed (S32), the speed is detected by the angular speed sensor 154 which is a speed detecting means (S33). If the detected speed is equal to or less than the predetermined reference value, the control parameters of the preset work direction reference value A ₀ and the work position reference value X ₀ used in the automatic linear work control mode are changed. Then, the control is performed so that the working unit advances in the direction of pushing the heel rather than the control by the conventional parameter. Thus, the control device 160, using the working direction reference values A ₀ and working position reference value X _0, which is corrected based on the changed parameter, the detected value of the angle sensor 0.99 A _t the working direction reference value A _The comparison means 163b obtains a control deviation | A _t −A ₀ | (S25a), and a control signal is sent from the work direction adjustment output unit 162b to the direction cylinder 141 until it becomes zero. Then, direction control is performed (S26a). The comparison between the detection value _{X t} and corrected working position reference value _{X 0} of the position sensor 151 is made in the comparison means 163a, control deviation _| X t -X _{0 |} is determined (S25b), it is zero Until the offset cylinder 140 is turned to the working direction adjustment output portion 162b.
A control signal is sent to control the work position (S26b). Then, when the low-speed mode control is turned off or when the detected speed is equal to or higher than a predetermined reference value, the low-speed mode is terminated (S27, S37), and then the automatic linear operation is terminated (S38).

As a result, by changing the setting of the control parameters of the work implement according to the vehicle speed of the traveling aircraft and performing the automatic straight-ahead operation control suitable for low speeds, the work section can be linearly adjusted regardless of the change in the traveling speed of the traveling aircraft. Automatic straight-ahead work control can be performed.

The plastering machine according to the present invention has such a configuration, so that when the traveling machine body slips and the turning speed changes, or the traveling speed of the traveling machine body is below the speed assumed by the set reference value. Even if it is a case, it is possible to perform optimal automatic straight control according to the turning speed of the traveling aircraft, so even if it is done with a crushed soil such as volcanic ash soil, it is hard to collapse Can form wrinkles.

Further, the plastering machine according to the present invention can automatically select the optimal control parameter in accordance with the traveling speed of the traveling machine body and perform the optimal automatic linear control. It is possible to ensure straightness of the work without being influenced by. Further, since it is possible to automatically select the optimal control parameter according to the traveling speed of the traveling machine body and perform the automatic straight-ahead control, it is possible to form a tighter kite even during low-speed traveling.

In addition, by applying delicate control according to the traveling speed of the traveling machine body, the wrinkle coater according to the present invention can easily ensure straightness of work regardless of the horsepower of the traveling machine body. .

Here, an external view of the remote controller 180 provided in the work machine 100 of the present embodiment is shown in FIGS.

FIG. 8 is a front view of the remote controller 180. An operation unit 182 and a speaker 183 are provided on the front-side casing 181 a of the remote controller 180. The operation unit 182 is provided with various switches for operating the work machine 100. The operator operates the various switches to adjust the offset position of the work unit 120, rotate the work unit 120, Remote operation such as switching of the control mode can be performed. The speaker 183 outputs an operation guide by voice or an operation guide by buzzer sound in accordance with an operation input of the worker given to the work machine 100 via the operation unit 182. The operation unit 182 and the speaker 183 correspond to the operation unit 169 and the guidance output unit 170 in FIG. 3, respectively.

In addition, a low-speed mode control state display unit 186 is provided on the front-side casing 181 a of the remote controller 180. The low-speed mode control state display unit 186 displays the selected mode control state according to display contents such as lighting, blinking, or color change of the lamp. For example, when the low-speed mode setting is on, the lamp of the low-speed mode control state display unit 186 is lit, and when the control parameter is changed when the low-speed mode is set, the lamp of the low-speed mode control state display unit 186 The current control state may be displayed by blinking. As a result, the operator can recognize the current control state at a glance by displaying the remote controller at hand, and operations such as selection of the control mode are facilitated.

FIG. 9 is a rear view of the remote controller 180. A guidance display label 184 and a lid body 185 are provided on the rear casing 181 b of the remote controller 180. In the closed space formed by the lid 185 and the casing 181b, fine adjustment operation means and volume adjustment operation means for the position of the trimming portion 122 can be provided.

The guidance display label 184 displays an operation method of the operation unit 182 corresponding to the work, and here, guidance display is performed for four works. Of course, this is only an example, and the mode of guidance display can be changed as appropriate.

The first guidance display 184a indicates an operation for executing control to store the offset position of the trimming unit 122 shown in FIG. 1 in a storage unit (not shown) in the control device 160. This is executed by pressing the power button 182a to turn off the power once and then simultaneously pressing the work button 182b and the power button 182a.

The second guidance display 184b indicates an operation for executing a control for continuously reproducing voice guidance. This control is performed by pressing the power button 182a to turn off the power once, and then the automatic cornering button 182c and the power button 182a. It is executed by pressing and simultaneously. The continuous reproduction of the voice guidance is a function that allows the user to confirm the voice guidance by passing through the procedure for performing the automatic cornering control from the beginning to the end.

The third guidance display 184c indicates an operation for executing control for switching between operation guidance by voice (voice guidance) and operation guidance by buzzer sound (buzzer). This control is performed by pressing the power button 182a. After the power is turned off once, it is executed by simultaneously pressing the drum turning left button 182d and the power button 182a.

The fourth guidance display 184d indicates an operation for executing a control for switching the low-speed mode setting on and off. This control is performed for turning the drum after pressing the power button 182a to turn off the power once. This is executed by simultaneously pressing the right button 182e and the power button 182a.

Each of these guidance displays is merely an example, and the present invention is not limited to this. However, by assigning an operation that is not a normal operation such as pressing the power button and another button at the same time, it is possible to prevent malfunction during normal operation. In this embodiment, since it is dangerous to concentrate on the operation of the remote controller during work, this embodiment is configured to perform various operations after the power is turned off once.

As described above, the work machine according to the present embodiment is equipped with the control device 160 that receives the detection values of the various sensors from the work machine 100 and performs control according to the detection values.

Thereby, the work machine 100 according to the present embodiment can switch the low-speed mode setting on and off according to the preference of the operator, and such switching is realized only by operating the remote controller at hand. Therefore, a work machine with high operability can be realized.

In the present embodiment, the control device 160 is mounted on the remote controller 180. Of course, the main function of the control device 160 is mounted on the work machine 100, and the remote controller 180 operates it. The operation signal may be generated.

In addition, although the above-mentioned embodiment demonstrated the plastering machine, this invention is applicable not only to this but another offset working machine (for example, a ditching machine etc.). In this case, the sensors are not limited to those described above, and sensors having shapes, structures, and functions suitable for the form of each offset work machine may be employed.

DESCRIPTION OF SYMBOLS 100 ... Work machine, 110 ... Mounting part, 120 ... Working part, 130 ... Connection part, 180 ... Remote controller, 190 ... Traveling machine body, 111a, 111b ... Lower link connection part, 112 ... Top link connection part, 113 ... Support member 121 ... Pre-processing unit 122 ... Trimming unit 122a ... Cylindrical drum 122b ... Conical umbrella drum 123 ... Support member 131 ... Link member 132 ... Offset frame 132a, 132b ... Transmission shaft 140 ... Offset Cylinder, 141 ... Direction cylinder, 150 ... Angle sensor, 151 ... Position sensor, 153a ... Swing angle sensor, 153b ... Rotation angle sensor, 154 ... Angular velocity sensor, 155 ... Speed judgment unit, 156 ... Low speed mode control switching unit, 161c ... control program, 182 ... operation unit, 183 ... speaker, 184 ... guide display Le, 185 ... lid, 186 ... low-speed mode control state display unit

Claims (6)

A working unit attached to the traveling machine body, capable of working a lateral position with respect to the traveling direction of the traveling machine body, a remote controller for controlling the working part;
A reference value setting means for setting a reference value of the working direction and the working position of the working unit;
Work direction detecting means for detecting the work direction of the working unit;
Working position detecting means for detecting the working position of the working unit;
A working direction adjusting mechanism for adjusting the working direction of the working unit, a working position adjusting mechanism for adjusting a working position of the working unit, and
Control means for driving and controlling the work position adjusting mechanism and the work direction adjusting mechanism;
Speed detecting means for detecting the turning speed of the traveling machine body,
The control means is
A normal work mode in which the working unit works in the traveling direction of the traveling machine body while maintaining the working position and the working direction in a predetermined state;
In accordance with the change in the traveling direction of the traveling machine body using the work direction and the reference value of the work position set based on the detection values detected by the work direction detecting means and the work position detecting means in the normal work mode. An automatic linear work control mode for maintaining a predetermined linear work by adjusting a change in work position and work direction;
A work machine comprising: a low speed mode for changing a control parameter of the automatic straight work control mode according to the turning speed when a turning speed equal to or less than a predetermined reference value is detected by the speed detecting means. . The work machine according to claim 1, wherein the remote controller is provided with a switching unit that switches the low-speed mode control on and off. The work machine according to claim 1, wherein the remote controller is provided with a display unit that displays a mode control state selected by the switching unit. The work machine according to claim 2, wherein switching of the low-speed mode control between ON and OFF is instructed in accordance with a specific operation via the remote controller. The work machine according to claim 4, wherein the specific operation is an operation of simultaneously pressing two or more buttons to which different functions are assigned. A working unit attached to the traveling machine body, capable of working a lateral position with respect to the traveling direction of the traveling machine body, a remote controller for controlling the working part;
A reference value setting means for setting a reference value of the working direction and the working position of the working unit;
Work direction detecting means for detecting the work direction of the working unit;
Working position detecting means for detecting the working position of the working unit;
A working direction adjusting mechanism for adjusting the working direction of the working unit, a working position adjusting mechanism for adjusting a working position of the working unit, and
Control means for driving and controlling the work position adjusting mechanism and the work direction adjusting mechanism;
A control method for a work machine comprising speed detecting means for detecting a turning speed of the traveling machine body,
A normal work mode for maintaining the work position adjustment mechanism and the work direction adjustment mechanism in a predetermined state with respect to straight travel of the traveling machine body;
An automatic rectilinear work control mode for adjusting and driving the work position adjustment mechanism and the work direction adjustment mechanism with respect to the turning of the traveling machine body;
A low-speed mode for changing the control parameter of the automatic straight work control mode according to the turning speed of the traveling machine body,
In the normal work mode, the work direction of the work unit is detected, a work direction reference value is set based on the detected value of the work direction, the work position of the work unit is detected, and the work position is detected. Set a reference value for the work position based on the value,
In the automatic straight work control mode, the work direction adjusting mechanism is adjusted and driven according to a comparison between a reference value of the work direction set in the normal work mode and a detected value of the detected work direction, and the normal work mode Adjusting and driving the work position adjusting mechanism in accordance with a comparison between the reference value of the work position set in step 1 and the detected value of the work position detected,
In the low speed mode, when the turning speed below a certain reference value is detected by the speed detecting means, the control parameter of the automatic straight work control mode is changed according to the turning speed. Control method.

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