JP2688076B2 - Speed control device for automatic traveling work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a harvesting machine such as a so-called general-purpose combine or a normal-type combine, which is capable of threshing after cutting rice, wheat, soybeans and the like in front of the traveling machine, and traveling. In a traveling work machine such as a grass packing machine that packs grass cut in front of the machine into appropriate sizes, a control device that adjusts the traveling speed according to the loads and load change amounts of the plurality of working units Is related to the structure.

[Conventional technology and problems to be solved]

Conventionally, for example, in a self-propelled combine harvester, an automatic speed adjusting device for increasing / decreasing the traveling speed of the combine according to the size of the load of a working unit such as a handling cylinder is disclosed in Japanese Examined Patent Publication No.
No., for example.

However, if there is more than one working unit such as the cutting pretreatment unit and threshing unit in the combine, if the traveling speed is too high, the load on the cutting pretreatment unit increases first, and then the load on the threshing unit increases. As a result, the cutting speed of the grain rod in the pre-cutting processing section may not be met in time and the grain rod may be damaged, or the transport of the cut grain rod may become blocked, and the load on the handling cylinder at the threshing portion may become too large. Such as threshing failure occurs, the magnitude of the load on these multiple working parts occurs around the time, and the trouble occurs in each working part due to the magnitude of the temporal change of the load. I have something to do.

However, in the above-mentioned prior art, the load of one working machine (for example, the number of rotations of the working machine) is detected, and the governor or the like is used to increase or decrease the number of rotations of the engine and the traveling speed. Therefore, it is not possible to execute fine speed control according to the magnitude of the load on the working machine at a plurality of locations and the amount of change over time as described above.

An object of the present invention is to realize fine speed control which has not been achieved in the past.

[Means for solving the problem]

To achieve this object, the present invention is configured to transmit power from an engine in an automatic traveling work machine to a plurality of working units and a traveling unit, respectively, and to each of the working units, a load sensor for detecting the load thereof is provided. In a speed control device for increasing or decreasing the traveling speed of an automatic traveling work machine based on the detection results of the plurality of load sensors, the load of each working unit is detected from the detection results of the plurality of load sensors at appropriate time intervals or mileage intervals. Change amount calculating means for calculating the change amount,
It comprises an instruction amount determining means for determining a speed adjustment instruction amount from two or more combinations of a load and a data set of the load change amount in each working unit.

[Functions and effects of the invention]

According to this configuration, the loads of the plurality of working units are detected by the load sensors provided in the respective working units, and the load change amount is calculated by the change amount calculation means by using each load detection. It is possible to obtain twice as many types of data as the number of load sensors installed.

Each of these load change amounts indicates the degree to which the load value in each working unit fluctuates over time, so by combining the data of the load in each working unit and its load change amount into a set. The load state of each working unit can be obtained as detailed data.

Then, in the instruction amount determining means, for example, when there are two working units, the set of data of the load and its load change amount in the first working unit and the set of data of the load and its load change amount in the second working unit are used. The speed adjustment instruction amount is determined, and instead of preferentially adopting any one of the plurality of data sets, the plurality of data sets can be adopted substantially equally.

Therefore, according to the present invention, it is possible to execute the control that effectively uses the detection results of the plurality of working units, and to comprehensively determine the load states of the plurality of working units, as in the case where a skilled worker performs a work such as mowing. Therefore, it has a remarkable effect that it is possible to execute the fine traveling speed control based on the judgment.

〔Example〕

Next, a description will be given of an embodiment in which the present invention is applied to a harvesting machine. A harvesting machine 1 which is a general-purpose combine machine is provided with a pair of left and right crawler type traveling sections 3 and 3 on a lower surface of a traveling machine body 2 and the traveling machine body 2 is provided.
The control part 4 with seats on the front right side in the forward direction
Is provided with an engine 8 and a grain storage tank 5 behind it, and a double-pitch screw plate and an appropriate number of handle teeth are planted on the outer circumferential surface on the left side of the traveling machine body 2. A threshing unit 6 having a longitudinal and longitudinal handling cylinder 6a and the like built-in, a receiving net below it, a swinging sorting device 9 such as a sheave, and a second working unit 10 including a wind sorting device using the wind of Kara Min Juan .

The reference numeral 7a designates a grain from a second gutter (not shown) for the threshing unit 6
Reference numeral 7b denotes a discharge cylinder for discharging the grains in the tank 5 to the outside.

On the other hand, on the front surface of the traveling machine body 2, a mowing pretreatment device, which is the first working unit 15, is provided.

That is, the first working unit 15 lifts and lowers the square tubular feeder house 11 communicating with the front opening of the threshing unit 6.
It is attached to the traveling machine body via 12 so that it can be raised and lowered freely,
Inside the feeder house 11, there is a chain conveyor 13 in which left and right long conveying plates are attached to a pair of left and right chains at appropriate intervals.
Is arranged, and the harvested grain rod from the first working unit 15 is conveyed to the threshing unit 6 by the chain conveyor 13 along the bottom plate of the feeder house 11 which is inclined rearward and upward.

The first working unit 15, which is a pre-mowing device, has a rectangular tubular insertion frame 16 that communicates with the front end opening of the feeder house 11.
And detachably attached to the interposition frame body 16, and the traveling machine body 2
And a bucket-shaped platform 17 extending in the left-right direction over the entire width of the traveling body 2, and a second reel 19 having a tine bar 18 over the entire width of the traveling machine body 2.
It is mounted so as to be rotationally driven in the direction of the arrow in the figure, and on the lower surface side of the platform 17, there is also a left and right long hair clipper-shaped cutting blade 20, and above the bottom plate of the platform 17,
A vertically long scraping auger 22 that rotates in the direction of arrow A is provided, and the reel 19 and the auger 22 are rotationally driven from the transmission unit 14 via a horizontal transmission shaft with a universal joint, and the cutting blade 20 is driven. To do.

The rotating rod 19 and the tine bar 18 of the first working unit 15 cut the grain rod pulled backward by the cutting blade 20, and then the scraping auger 22 collects the harvested grain rod. After being sent laterally on the platform 17 by rotation of 22 (longitudinal approximately central direction of the auger 22), at the location of the front end opening of the feeder house 11 from the introduction port in the rear plate of the platform 17, inside the feeder house 11 It is inherited by the chain conveyor 13.

Reference numeral 23 is a grass body projecting forward from both left and right ends of the first working unit 15, and the reel 19 is configured to be adjustable in forward and backward movement and adjustable in vertical swing according to the fall state of the grain rod and the like. Has been done.

The first working portion 15 is connected to the front and rear portions of the feeder house 11 at a substantially central position in the left-right direction so that the first working portion 15 can be adjusted for left-right rolling around a support pin portion protruding forward, and a hydraulic cylinder ( (Not shown), the left and right tilt angles can be adjusted.

FIG. 3 is a block diagram of a device for transmitting power from the engine 8 to the traveling units 3, 3 and the first working unit 15 and the second working unit 10. The traveling unit including the hydraulic continuously variable transmission mechanism from the engine 8 and the like. Power is transmitted to both the left and right traveling parts 3, 3 via the transmission 24, while power is transmitted from the engine 8 to the first working part 15 and the second working part 10 via the working part transmission 25.
Reference numeral 26 is a first load sensor that detects the load of the first working unit 15, reference numeral 27 is a second load sensor that detects the load of the second working unit 10, and each load sensor 26, 27 uses a torque sensor or the like. To do.

Reference numeral 28 is a throttle control section for adjusting the output of the engine 8, and reference numeral 29 is a shift driving means such as a switching valve for operating the traveling section transmission 24.

FIG. 4 shows a block diagram of the control means of the present invention. Reference numeral 30 is a central control unit (CPU) provided with a read-only memory (ROM), a readable / writable memory (RAM), etc., and reference numeral 31 is a reference numeral. 1 A / D converter for converting an analog signal from the load sensor 26 into a digital signal, reference numeral 32 is an average value calculation circuit for averaging a plurality of detection values detected by the first load sensor 26, the first work Obtain the load ρ in section 15.

Reference numeral 33 is a detection phase difference signal processing circuit of the first load sensor 26, and reference numeral 34 is the load ρ obtained from the average value calculation circuit 32, and the load is calculated at appropriate time intervals or appropriate travel distance intervals. Change amount of ρ (hereinafter referred to as load change amount)
It is a change amount calculation circuit that calculates Δρ.

Reference numeral 35 is an A / D converter that converts an analog signal from the second load sensor 27 into a digital signal, and reference numeral 36 is an average value calculation circuit that averages a plurality of detection values detected by the second load sensor 27. Then, the load θ in the second working unit 10 is obtained.

Reference numeral 37 is a detected phase difference signal processing circuit of the second load sensor 27, and reference numeral 38 is a load θ obtained from the average value calculation circuit 36 at every calculation time interval or at appropriate travel distance intervals. Change amount (hereinafter referred to as load change amount) Δ
It is a change amount calculation circuit that calculates θ.

Here, θ is the load value of the first working unit 15, the result detected by the voltage value or the like is shown as a digital value, the reference value is set to “0”, and when the load ρ is larger (heavy) than the reference value, “+” is given. "
The value on the negative side is taken, and when it is smaller (lighter) than the reference value, the value on the “−” side is taken. The value of this load ρ may be an average value of the detection values of a plurality of times.

Δρ is the amount of change in the load ρ in the first working unit 15, that is, the deviation between the previous value and the subsequent value of the load ρ obtained for each appropriate time interval or appropriate mileage interval.

θ indicates the value of the load of the second working unit 10, the result detected by the voltage value or the like is indicated by a digital value, and the reference value is set to “0”,
When the load θ is larger (heavy) than the reference value, it takes a value on the “+” side, and when it is smaller (lighter) than the reference value, it takes a value on the “−” side. The value of the load θ may be the average value of the detected values of a plurality of times.

Further, Δθ is a change amount of the load θ in the second working unit 10, that is, a deviation between a previous value and a subsequent value of the load θ obtained at appropriate time intervals or appropriate travel distance intervals.

Based on these four values of ρ, Δρ, θ, and Δθ, the central control device 30 finally determines the speed adjustment instruction amount so based on the following fuzzy rule calculation.

In this case, in the fuzzy control, the data processing of the detection result obtained by the first load sensor 26 and the second load sensor 27, which are the two detection means, is executed at high speed, and the condition of the detection target in the control is executed. It is suitable for control in the case where it is difficult to strictly model and describe the relationship between input and output, in other words, the relationship between input and output.

Next, fuzzy control using fuzzy inference will be described.

In general, in control based on fuzzy inference, a control algorithm is described as an ambiguous relation between a plurality of input variables of information for control, for example, two input variables (x, y) and an output (manipulation amount) z to a control device. Is what you do.

 For example, if x is small and y is large, let z be medium.

 If x is large and y is medium, z is increased.

, The control algorithm is (if ‥‥
It is expressed by what is called a fuzzy control rule of (if-then) format. The if ‥‥ part of the rule is the antecedent part,
The part of then ‥‥ is called the consequent part.

Now, in applying this fuzzy control rule to the control of the automatic speed adjustment, in the present embodiment, the load ρ and the change amount Δρ of the load ρ in the first working unit 15 obtained at appropriate time or appropriate distance are The data set and the data set of the load θ and the change amount Δθ of the load in the second working unit 10 obtained for each appropriate time or appropriate distance are used as the antecedent part, and the operation instruction amount s for speed adjustment is Table 1 shows a total of 18 rules from to fuzzy control rules, which are the subject part.

Here, for example, the rule of indicates that if the label of ρ is “large and light” and the label of Δρ is “0”, the label of s is “increases slightly”.

From Table 2 to Table 6, each deviation ρ, Δρ, θ, Δθ
Fuzzy variables taken by each input variable and the output variable of the operation instruction amount s are indicated by discrete fuzzy variables discretized into an integer region.

The fuzzy variable area, which is an ambiguous area, is defined by giving a degree (grade) in which elements (members) of the entire set of input variables are included in the area (variation). The function that gives is called the membership function. For example, the region of the fuzzy variable of ρ is defined by giving the degree (grade) in which the elements (members) of the entire set of the load ρ are included in the region (domain).

The (value) at the top of each table indicates a domain of each variable. For example, -5 to 5 in Table 2 are values taken by the input variable ρ.

In the embodiment, the labels of the fuzzy variables related to the loads in Tables 2 to 5 are “large and light”, “small and light”,
There are five types of "0", "small heavy" and "large heavy", and the labels of the fuzzy functions related to speed adjustment in Table 6 are "large deceleration", "small deceleration", "as is" and "small acceleration". , "Large acceleration", and the degree (fitness = membership value) in which the value of the variable is included in the set of labels is expressed stepwise by an integer from 0 to 10.

Below, the load value in the first working unit 15 is ρn−1.
= 3 and ρn = 4, the load change amount Δρ (= ρn-ρ
n-1) = 1, the load values in the second working unit 10 are θn−1 = −1, θn = −2, and the load change amount Δθ (= θn−θn−1) = − 1. At this time, a control method of fuzzy inference in this embodiment will be described.

The fuzzy control rules that are established from the set of ρ = 4 and Δρ = 1 are two in Table 1.

In other words, when ρ = 4, the values are “large and light” and “small and light” from the value in Table 2 and when Δρ = 1, the value is “small and light” from the value in Table 4 when Δρ = 1. And "0", therefore, when checking the combinations existing up to and including in Table 1, there are two.

Similarly, the fuzzy control rules that are established from the set of θ = −2 and Δθ = −1 are three in Table 1 and.

In the fuzzy control rule, the label of ρ as the antecedent takes “large and light”. The adaptability of the membership function at the label “large and light” that can be taken by the variable ρ = 4 at this time is “8” from Table 2. Similarly, the label of Δρ as the antecedent part takes “0”. At this time, the fitness of the membership function at the label “0”, which can be taken by the variable Δρ = 1, is “7” from Table 4.

The smaller value "7" of the goodness of fit "8" and "7" of these two membership functions is the whole antecedent part of the fuzzy control rule "if ρ is large and light and Δρ is 0". It is the degree of conformity to the condition of.

Furthermore, since the label of the operation instruction amount s given by the consequent part (inference result) of the fuzzy control rule “s accelerates small” is “small accelerate”, the discrete type in Table 6 The upper limit of the goodness of fit of the membership function is set to "7", which is the goodness of fit in the entire antecedent part.

 This relationship is shown in FIGS. 5, 6, and 7.

In the same way as described above, the fuzzy control rule relationship is
Shown in Fig. 9, Fig. 10 and Fig. 10, the fuzzy control rules are shown in Figs. 11 to 13, the fuzzy control rules are shown in Figs. 14 to 16, and the fuzzy control rules are shown in Fig. 17. As shown in FIG. 19, after performing a total of 5 processes, the operation instruction amount s obtained from each rule is combined. The combination is obtained by superimposing the respective operation instruction amounts s and adopting the largest value.

The final output value, the speed adjustment instruction amount so, is the value of the barycentric position of the set of membership functions of s thus obtained (see FIG. 20).

In this way, an output signal is output according to the final numerical value of the steering instruction amount so calculated by the central control device 30, and the traveling unit transmission 24 is speed-shifted via the speed shift drive means 29 to increase the speed. Or decelerating or maintaining the same speed.

Therefore, the traveling speed of the traveling work machine is increased or decreased by associating the load of the first working unit and the degree of the load change amount thereof with the degree of the load of the second working unit and the degree of the load change amount thereof, Each working part can be maximized,
In addition, each working unit can be automatically driven at a speed at which no trouble occurs.

If fuzzy control is adopted in the automatic speed control as in the present embodiment, a plurality of different detection targets (in the present embodiment, loads for a plurality of works as inputs and the load change amounts thereof) and input conditions are used. It is possible to perform control using various combinations of the above as the condition section, and furthermore, the adaptability of the input can be changed extremely easily by the control software.

Needless to say, in the present invention, even if the number of working units is three or more, the arithmetic processing can be performed in the same manner as in the above embodiment.

[Brief description of the drawings]

FIG. 1 is a plan view of a combine, FIG. 2 is a side view, FIG. 3 is a block diagram of a power transmission unit from an engine, and FIG. 4 is a block of an automatic speed control device. Figures 5, 6 and 7 show membership functions for fuzzy control rules, Figures 8 and 9 and 10 respectively.
Figure is a figure of membership function in case of fuzzy control rule, Figures 11 and 12 and 13 are figures of membership function in case of fuzzy control rule, Figures 14 and 15 and 16 are Figure of membership function in case of fuzzy control rule, Figures 17, 18 and 19 are figures of membership function in case of fuzzy control rule, Figure 20 is speed adjustment instruction amount
It is explanatory drawing which shows the determination method of so. 1 …… Working machine, 3,3 …… Running section, 4 …… Control section, 6 ……
Threshing unit, 10 …… Second working unit, 15 …… First working unit, 24 ……
Traveling section transmission, 25 ... Working section transmission, 26 ... First load sensor, 27 ... Second load sensor, 28 ... Throttle control section, 29 ... Shift drive means, 30 ... Central control unit,
31, 35 …… A / D converter, 32,36 …… Average value calculation circuit, 33,3
7: Detection signal phase difference processing circuit, 34, 38: Change amount calculation circuit.

Claims (1)

(57) [Claims] 1. A structure in which power from an engine in an automatic traveling work machine is transmitted to a plurality of working units and a traveling unit respectively, and each of the working units is provided with a load sensor for detecting the load thereof. In a speed control device that increases or decreases the traveling speed of the automatic traveling work machine based on the detection result of the load center, the load change amount of each working unit is calculated from the detection results of the plurality of load sensors at appropriate time intervals or mileage intervals. Change amount calculating means and an instruction amount deciding means for deciding the speed adjustment instruction amount by a combination of two or more sets of the load in each working unit and the data of the load change amount. Speed control device for traveling work equipment.