JP2629065B2 - Work vehicle ground height control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a ground height detection sensor for detecting a ground height of a working device that can be raised and lowered based on a manual operation, and the ground height detection sensor is provided at predetermined time intervals. Calculating means for sampling the detection value of the sensor and detecting the average value of the set number of sampling values; and calculating means for calculating such that the ground height of the working device is maintained within a target height range. Lifting and lowering control means for automatically raising and lowering the working device based on information on the average value is provided, wherein the lifting and lowering control means is capable of artificially changing and setting the average value obtained by the arithmetic means. When the height is lower than the set height set to a value higher than the upper limit of the range, the operation device is in an operation state of automatically raising and lowering the working device, and when the obtained average value is higher than the set height, the work is performed. Automatic lifting of equipment The work vehicle being configured to be deactivated to stop the work related to ground height control device.

[Conventional technology]

When the working device is raised above the set height based on, for example, a manual operation, the lifting control means stops the automatic lifting operation for maintaining the working vehicle at the target height. When the working device is lowered to a set height based on a manual operation, the lifting / lowering control means switches to the operating condition, and the working device automatically maintains the target device at the target height. The automatic elevating operation is restarted.

By the way, in this type of ground height control device, when detecting the ground height of the working device in the above-described automatic elevation control, the detection value of the ground height detection sensor is sampled at a set time interval, and the set number of ground sensors are detected. The average value is calculated and the lifting operation is performed based on the calculated average value.However, when the automatic lifting control is executed, the ground height does not change drastically, In order not to follow the unevenness of the ground, the average number of the sampling values is set to be relatively large.

Conventionally, the above-described switching of the control state is performed by using a detection value for automatic elevation control (an average value of the set number sampled).

[Problems to be solved by the invention]

However, in the case of the above-described conventional configuration, when the automatic elevation control is performed, there is an advantage that the influence of local fluctuations in the ground height can be removed and smooth elevation control can be performed. Switching, that is, switching between an operating state and a non-operating state, cannot be performed with good responsiveness.

In other words, the case where the control state is switched between the operation state and the non-operation state is a case where the working device is raised and lowered based on a manual operation, and in such a case, the ground height greatly changes. However, for example, in the case of lowering manually, if the timing of switching the control state as described above is delayed by an amount corresponding to the large number of samplings, there is a disadvantage that the working equipment is lowered too much due to the response delay. was there.

The present invention has been made in view of the above circumstances,
An object of the present invention is to reduce a response delay in switching between an operation state and a non-operation state of the elevation control while performing elevation control based on an average value of sampling values.

[Means for solving the problem]

A work vehicle ground height control device according to the present invention includes a ground height detection sensor that detects a ground height of a work device that can be raised and lowered based on a manual operation, and a detection of the ground height detection sensor every set time. Calculating means for sampling a value and obtaining an average value of a set number of sampling values; and information on the average value obtained by the calculating means so that the ground height of the working device is maintained within a target height range. Lifting and lowering control means for automatically raising and lowering the working device on the basis of, the lifting and lowering control means is configured such that the average value obtained by the calculating means is higher than an upper limit of a target height range that can be artificially changed and set. If the height is lower than the set height set to a high value, the operating device is automatically operated to raise and lower, and if the obtained average value is higher than the set height, the operating device is automatically raised and lowered. Stop A work vehicle ground height control device configured to be in a non-operating state, wherein the calculating means switches a control state switching average value for comparing the ground height with the set height, and a ground height. The average value for elevating control for determining whether the average value is within the target height range, and the number of sampling values for obtaining the average value for switching the control state. Is set to be smaller than the number of sampling values for obtaining the average value for the elevation control.

(Operation)

The average value for control state switching and the average value for elevation control are separately obtained, and the number of sampling values for obtaining the average value for control state switching is determined by the number of sampling of the average value for elevation control. By lowering the automatic lifting operation to maintain the target height, the automatic lifting operation is stopped and the automatic lifting operation is performed while preventing the effect of local detection value fluctuation. It is possible to reduce the response delay of switching to the state.

〔The invention's effect〕

Thus, while keeping the automatic lifting operation to maintain the target height unaffected by local fluctuations in detected values,
Since the response delay of switching between the non-operation state for preventing the automatic lifting operation and the operation state for executing the automatic lifting operation can be reduced, the operability can be improved.

〔Example〕

Hereinafter, an embodiment in which the present invention is applied to a ground height control device of a pre-cutting section of a full-rod combine type combine will be described with reference to the drawings.

As shown in FIG. 3, the all-rods-type combine as a working vehicle includes a body (V) including a crawler traveling device (1), a boarding operation unit (2), and a threshing device (3);
A cutting pre-processing unit (4) as a working device mounted at the front part thereof so as to be driven up and down around a horizontal axis (P);
It comprises a single-acting hydraulic cylinder (5) as the lifting actuator.

As shown in FIGS. 3 and 4, the pre-cutting unit (4) is provided between the weeding tool (6) and the right and left weeding tools (6) attached to the left and right ends thereof, respectively. Reel (7) for scraping the planted grain rod into the machine side, clipper-type cutting blade (8) for cutting the root portion of the scraped grain rod, and transporting the cut grain rod toward the rear of the machine body A belt-type conveyor (9), an auger (10) that collects the harvested grain rods conveyed by the conveyor (9) at the center in the lateral direction of the machine and sends it out to the rear of the machine, and a state in which the tip of the harvested grain rod precedes. And a conveyor (11) for conveying to the threshing device (3). In the figure, reference numeral (12) denotes a mud pushing guide member mounted between the cutting blade (8) and the conveyor (9) on the front side. As shown in FIG. It is provided in order to prevent cutting sticks, grains and the like from collecting between the cutting blade (8) and the conveyor (9). If the structure of the guide member (12) for mud pushing is further explained, the upper surface is formed in a plate shape curved upward in a side view, and the mounting table (13) of the cutting blade (8) has: It is designed to be bolted from the back side.

As shown in FIG. 5, the pre-cutting unit (4) includes:
A first sensor (S ₁ ) as a sensor for detecting a ground height, and a second sensor (S ₂ ) for detecting a vertical position around the horizontal axis (P) in the pre-cutting process (4) are provided. ing.

The first sensor (S ₁ ) will be described. The grounding body (14) having a length covering the entire width or substantially the entire width of the cutting blade (8) and acting on the ground is provided by the cutting blade (14). The lower part of (8) is swingably mounted around a horizontal axis (Q ₁ ), and the grounding body (14) and the potentiometer (R ₁ ) are linked and connected by a link mechanism (15). That is, if the height of the pre-cutting unit (4) with respect to the ground changes due to unevenness of the ground or pitching of the machine (V),
The grounding body (14) swings up and down according to the unevenness. Therefore, the vertical swing amount of the ground contact body (14) is detected by the potentiometer (R ₁ ) as the ground height of the pre-cutting section (4).

The second sensor (S ₂ ) will be described. A support member (16A) that supports the cutting pre-processing unit (4) so as to be able to move up and down around the horizontal axis (P) with respect to the machine body (V). A detachable mounting member (16B) is provided, and a potentiometer (R ₂ ) for detecting the elevation position is mounted on the mounting member (16B) so as to be rotatable around the horizontal axis. (R ₂ ) and the side plate portion (17) of the pre-cutting processing section (4) are linked by a link mechanism (18). That is, the pre-cutting unit (4)
Is moved up and down around the horizontal axis (P), the potentiometer (R ₂ ) is rotated by the link mechanism (18), and the mowing pre-processing unit (4) for the machine body (V) is rotated. It is possible to detect the vertical position.

As will be described in detail later, the first sensor (S ₁ ) is used for an automatic mode in which the cutting pre-processing unit (4) is automatically moved up and down to maintain the cutting pre-processing unit (4) at a target ground height. The two sensors (S ₂ ) are used for a constant cutting height mode in which the vertical position of the pre-cutting unit (4) with respect to the machine (V) is kept constant.

As shown in FIGS. 4 and 6, the weeding device (6)
Is attached to the front end portions of the left and right side plate portions (17) of the pre-cutting part (4) so as to be vertically swingable about a horizontal axis (Q ₂ ) at a lower portion thereof. In the figure, (29) a spring, for elastically urging the mounting member (19) on the lower side to the side plate portion (17) is (S ₃₎ the mounting member (19) side plate portion (17) This is a switch-based grounding detection sensor that is turned ON as it swings upward by more than a set angle. Have, this grounding detection sensor (S ₃₎ is of the partial grass instrument based on whether you are OFF if they were ON (6 is adapted to detect whether or not grounded. In addition, this ground The detection sensor (S ₃ ) is provided separately for each of the left and right weeding tools (6), and the ground detection sensors (S ₃ ) on both sides.
When any one of the above is turned on, it is determined that the weeding implement (6) is in contact with the ground.

As shown in FIG. 1, based on the information of the first sensor (S ₁ ), the second sensor (S ₂ ), and the sensor for ground contact detection (S ₃ ), the pre-cutting unit (4) A control device (20) for controlling the operation of the lifting hydraulic cylinder (5) is provided.

That is, using the control device (20), the calculating means (100) which samples the detection value of the first sensor (S ₁ ) as the ground height detection sensor and obtains the average value of the set number of sampling values. Based on the information on the average value obtained by the calculating means (100) so that the ground height of the pre-cutting processing section (4) as a working device is maintained within a target height range. A lifting control means (101) for automatically raising and lowering the processing section (4) is configured.

In the drawing, (R ₀ ) is a potentiometer for setting a target height for setting the target height of the pre-cutting section (4), (S ₀ )
W ₀ ) is an automatic mode in which elevation control is performed based on information of an average value obtained by the arithmetic means (100) so that the ground height of the pre-cutting unit (4) is maintained at a target height, said second sensor (S ₂₎ of detecting a predetermined cutting or height mode for controlling so as to maintain the set height based on the information, operating mode selection switch for switching whether the OFF mode for stopping the elevator control, ( SW ₁ ) is a lowering switch for lowering the pre-cutting unit (4) at a height equal to or higher than the set height at which the non-operating state is set, and is also used as a start switch for raising and lowering control. (21) is the operation mode selection switch (SW
₀ ), when the automatic mode is selected, the average value obtained by the calculating means (100) is equal to or less than the upper limit of the target height range that can be set by the target height setting potentiometer (R ₀ ). And an automatic confirmation lamp for indicating that the automatic mode is in the control operation state when it is within the range. However, the settable target height range of the target height setting potentiometer (R ₀ ) in the automatic mode is limited to a range smaller than the ground height detected by the first sensor (S ₁ ).

If the average value of the detected ground heights obtained by the calculating means (100) becomes higher than the upper limit of the target height range that can be set by the target height setting potentiometer (R ₀ ), the turning direction and the like are determined. The control operation in the automatic mode is stopped and switched to the non-operation state, and the automatic confirmation lamp (21) is turned off, and the operation state is switched to the non-operation state. It indicates that there is something. Therefore, the elevation control means (101)
If the average value obtained by the calculation means (100) is lower than the control state switching set height set to a value higher than the upper limit of the target height range that can be artificially changed and set, the pre-cutting processing unit A non-operating state in which the automatic raising and lowering operation of (4) is performed, and the automatic raising and lowering operation of the pre-cutting unit (4) is stopped when the obtained average value is higher than the set height for switching the control state. Becomes

However, when the cutting pre-processing unit (4) is lowered, and the average value of the detected ground height obtained by the calculating means (100) becomes lower than the set height for switching the control state, it is automatically set. The lift control is restarted, and the automatic confirmation lamp (21) is turned on to indicate that the control is in operation.

The target height range in the constant cutting height mode can be set to a range higher than the upper limit of the settable target height range in the automatic mode.

By the way, the mowing pre-processing unit (4) is configured so as to be able to be manually operated even in a state where the raising and lowering is automatically controlled by the control device (20).

In addition, as shown in FIG. 1, the lifting hydraulic cylinder (5) is of a single-acting type, and the first control valve (22) is electrically operated by the control device (20). )
And a second control valve (2) which is manually operated by a manually operated lifting / lowering lever (23) provided in the control section (2).
And 4) are connected in parallel to the hydraulic cylinder (5).

However, the supply of pressure oil to each of the first control valve (22) and the second control valve (24) is performed by two hydraulic pumps (25),
According to (26), it is performed separately. The supply amount of the hydraulic pump (26) to the second control valve (24) per unit time is larger than that of the hydraulic pump (25) to the first control valve (22). In some cases, it is possible to quickly move up and down at the time of manual operation while suppressing an excessive rise and fall speed so that positioning can be performed accurately.

Further, regardless of which of the first control valve (22) and the second control valve (24) is operating, the first control valve (22) and the hydraulic cylinder are arranged so as to give priority to operation on the ascending side. A throttle valve (27) for providing resistance to the discharge of the hydraulic oil to the descending side is provided between the throttle valve (5). The second control valve (26) includes:
A throttle valve (28) for providing resistance to hydraulic oil discharge is integrally formed in the oil path to the descending side.

That is, when the first control valve (22) is operating on the lower side and the second control valve (24) is switched to the upper side by operating the elevating lever (23), The first control valve (22) is operated in a state in which the hydraulic cylinder (5) is operated on the ascending side while the operation on the ascending side is prioritized, and the second control valve (24) is operated on the descending side. Is activated on the ascending side, the operation on the ascending side is prioritized. Therefore, if the automatic lifting and lowering operation by the control device (20) and the manual lifting and lowering operation by the lifting and lowering lever (23) are performed in opposite directions, the safety-side lifting operation is prioritized, and This prevents the pre-cutting unit (4) from accidentally colliding with the ground.

 Next, the operation of the control device (20) will be described.

Based on the operation state of the operation mode selection switch (SW ₀ ), three types of control modes, that is, an automatic mode, a constant cutting height mode, and an OFF mode, are automatically switched to execute corresponding processing.

When the automatic mode is selected, the detection value of the first sensor (S ₁ ) is sampled at set time intervals to obtain an average value of the set number, and the obtained average value is set by the target height setting potentiometer (R ₀ ). The first control valve (2) is maintained so as to be maintained within the set dead zone with respect to the set target ground height.
By actuating 2), the pre-cutting unit (4) is automatically raised and lowered. However, in this automatic mode, when the average value of the sampling values of the first sensor (S ₁ ) becomes higher than the set height, the elevating operation is stopped and the operation is stopped. The operation is restarted.

Then, in order to switch the lifting operation in the automatic mode between the operation state and the non-operation state, the number of samples of the control state switching average value for comparing the ground height with the set height is the average value for the lifting control. Is set to be smaller than the number of sampling values for which That is,
In the automatic mode, the detection value of the first sensor (S ₁ ) is sampled every set time, and is compared with the target height or the set height every time an average value of the set number of the sampled values is obtained. become. Therefore, there occurs a time delay in the control response by the time when the sampling number reaches the set number, and the switching of the control state is delayed, so that the cutting pre-processing unit (4) may descend and return to the control operation state. There is. Therefore, the time delay of the control response is reduced by reducing the number of samples of the average value for switching the control state to the number of samples for obtaining the average value for the elevation control. In addition, during the elevation control, the ground height does not fluctuate greatly, and in order to not follow local unevenness of the ground, the number of samples for obtaining the average value for the elevation control is, to some extent,
More is better.

When the automatic mode is selected, the information from the ground detection sensor (S ₃ ) is used together so that the weeding implement (6) can be prevented from plunging into the ground. That is, when the ground detection sensor (S ₃ ) is turned on to detect the grounding of the weeding implement (6), the average value of the sampling values of the detection values of the first sensor (S ₁ ) is obtained. Regardless of the above, the pre-cutting section (4) is forcibly raised.

When the constant cutting height mode is selected, the sensor to be used is switched from the first sensor (S ₁ ) to the second sensor (S ₂ ) so that the detected elevation position is maintained within the set dead zone with respect to the target height. Then, the first control valve (22) is operated. When the constant cutting height mode is selected, similarly to when the automatic mode is selected, the detection value of the second sensor (S ₂ ) is sampled for each set time, and the average value of the set number of sampling values is calculated. The target height for elevation control and the set height for control state switching may be compared to automatically switch between the active state and the inactive state.

When the OFF mode is selected, the operation of the first control valve (22) is stopped to stop the automatic elevating operation regardless of the detection values of the first sensor (S ₁ ) and the second sensor (S ₂ ). Will be.

Next, the operation of the control device (20) in the automatic mode will be described in detail with reference to the flowchart shown in FIG.

With the elevation control is started automatic mode is selected and, first of all, whether the grounding detection sensor (S ₃₎ is based on whether or not turned ON, the partial grass tool (6) is established It is determined whether or not.

When the ground detection sensor (S ₃ ) is ON,
The cutting pre-processing section (4) is forcibly moved up to avoid rush into the ground.

When the ground detection sensor (S ₃ ) is OFF, the detection value of the first sensor (S ₁ ) is sampled every set time (set to 50 ms), and the number of the sampled values is counted. Each time reaches the set number, an average value is obtained. In other words, the processing for obtaining the average value is performed by the arithmetic means (10
0). However, as described above, the average value for control state switching and the average value for elevation control are separately obtained, and the number of samples for obtaining the average value for control state switching is determined by the number of samples for obtaining the average value for elevation control. Is also reduced. Incidentally, in the present embodiment, the number of samples for obtaining the average value for control state switching is set to two, and the number of samples for obtaining the average value for elevation control is set to 16. Therefore, the average value for control state switching is obtained every 50 ms × 2 = 100 ms, and the average value for elevation control is obtained every 50 ms × 16 = 800 ms. Thus, the response delay to the switching of the control state is reduced while the elevation control does not follow a local variation in the ground height due to unevenness of the ground or the like.

When the average value of the detection values of the first sensor (S ₁ ) is obtained, the average value is compared with a set height for switching between an average operating state and a non-operating state for control state switching. Turns off the automatic confirmation lamp (21), stops the elevating operation, and shifts to the non-operation state. When the lowering switch (SW ₁ ) is turned ON in the non-operating state, the automatic confirmation lamp (21) is turned on, and the cutting pre-processing section (4) is lowered to perform the raising / lowering operation. Is resumed to return to the operating state.

When the average value for switching the control state is lower than the set height, the automatic confirmation lamp (21) is lit to indicate that the control is in operation, and the difference between the average value for elevation control and the target height is displayed. Based on the comparison result, when the average value is higher than the target height, the cutting pre-processing unit (4) is lowered, and when the average value is lower than the target height, the pre-cutting unit (4) is raised. In some cases, the lifting operation is stopped and the current height is maintained.

(Another embodiment)

In the above embodiment, the weeding implement (6) is replaced by the pre-cutting processing unit (4).
Although the case where the ground detection sensor (S ₃ ) is provided so as to freely swing up and down with respect to and is provided to detect the ground, the weeding implement (6) is fixed and provided, or the ground detection sensor (S 3 ₃ )
May be omitted.

Further, in the above embodiment, the case where the height of the pre-cutting processing unit (4) is detected by the two sensors of the first sensor (S ₁ ) and the second sensor (S ₂ ) has been described. first sensor (S ₁₎
The ground height may be detected only by using the ground height.
Further, instead of the contact type sensor, a non-contact type sensor such as an ultrasonic sensor may be used to detect the ground height, and the specific configuration of the ground height detection sensor can be variously changed.

Further, in the above embodiment, the case where the present invention is applied to the ground height control device of the pre-cutting section of the all-rod combine type combiner has been exemplified. The present invention is applicable to a height control device, and the specific configuration of each part can be variously changed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

The drawings show an embodiment of a work vehicle ground height control device according to the present invention, FIG. 1 is a block diagram of a control configuration, FIG. 2 is a flowchart of a control operation, FIG. 3 is a schematic side view of a combine, FIG. 4 is a schematic plan view of the pre-cutting processing section, FIG. 5 is a schematic side view of the pre-cutting processing section showing the configuration of the ground height detection sensor, and FIG. 6 is a cutaway side view of the pre-cutting processing section. (S ₁ )… height detection sensor to ground, (4)… working equipment,
(100) ... calculation means, (101) ... elevation control means.

Claims (1)

(57) [Claims] 1. A ground height detection sensor (S ₁ ) for detecting the ground height of a working device (4) which can be raised and lowered based on a manual operation.
Calculating means (100) for sampling a detection value of the ground height detection sensor (S ₁ ) at set time intervals and obtaining an average value of a set number of sampled values; and a ground height of the working device (4). Lifting and lowering control means (101) for automatically raising and lowering the working device (4) based on information on the average value obtained by the calculating means (100) so that the height is maintained within the target height range. The elevation control means (101) is configured such that the average value obtained by the arithmetic means (100) is higher than a set height set to a value higher than an upper limit of a target height range that can be artificially changed and set. If the average is higher than the set height, the operation device (4) is automatically operated to raise and lower the work device (4). Ground clearance of a work vehicle configured to be operational The control device, wherein the arithmetic means (100) is configured to determine whether an average value for switching a control state for comparing the ground height with the set height and the ground height are within the target height range. And an average value for elevating control for determining the number of sampling values for obtaining the average value for the control state switching, and a sampling value for obtaining the average value for the elevating control. The work vehicle ground height control device is set to be smaller than the number of vehicles.