JP2704293B2 - Control device for mobile farm machine - Google Patents

Description

The present invention relates to a mobile agricultural machine, and more particularly, to a mobile agricultural machine having an elevating member that can be freely moved up and down by the operation of an actuator, and working on a tip of the elevating member. The present invention relates to lifting control of a lifting member of a mobile agricultural machine provided with a device.

(B) Conventional technology Conventionally, a management machine that performs intermediate management work such as topping up a seedling planted in a field with a mobile farming machine, for example, a rice transplanter, or removing weeds growing in the field, has at least 90 wheels. 2. Description of the Related Art Some body frames supported by wheels that can change the direction are provided with a stick that can be positioned at least in front and rear of the body and that can be driven up and down. Then, at the time of turning when the management machine reaches the end of the field, first, the stick located at one of the front and rear is lowered to lift the one wheel, and in this state, the wheel is turned in a predetermined direction, Then, after turning the wheels, the stick is raised to ground the one wheel, and then the stick located on the other is lowered to lift the other wheel, and in this state, the other wheel is turned in a predetermined direction. Then, after turning the other wheel, the stick is raised to touch the other wheel to change the direction of the aircraft.

In addition, the management machine attaches a grain culm detection sensor to the tip of the stick for detecting whether the plant is in the state of row planting or in the state of horizontal planting in the headland, and fixes the sensor in a state where the stick is fixed at an appropriate position. , While traveling at a predetermined height where the grain culm can be easily detected.

(C) Problems to be Solved by the Invention However, in the above-described management machine, when the body is tilted due to the tilt of the cultivator in the field or the like, the gap between the grain stalk detection sensor attached to the tip of the stick and the rice field is reduced. The distance changes,
In a remarkable case, there is a possibility that the sensor may be damaged due to contact with the rice field surface or may become inoperable due to adhesion of mud.

In order to solve the above-mentioned problem, the present applicant has proposed a moving agricultural machine having a control means for raising and lowering a stick so that a grain culm detection sensor has a certain height (Japanese Patent Application No. 63-63).
-151545; unpublished). This control means detects the inclination angle of the airframe and controls the lifting and lowering of the stick based on the detection signal.It is convenient when the up-down interval of the cultivator in the field is wide, but the up-down interval is small and the When pitching occurs, the value of the inclination angle also vibrates, and accordingly, the stick also vibrates up and down.

In order to suppress such vibration, it is possible to average the data of the detection signal of the inclination angle of the aircraft for a predetermined time and operate the stick based on the average value. When the stick is lowered by the control means and the aircraft suddenly heads down, it takes time until the stick is raised, and there is a possibility that the grain culm detection sensor located at the tip of the stick may come into contact with the rice field.

(D) Means for Solving the Problems The present invention has an object to solve the above problems, and has an elevating member (11) that can be freely raised and lowered by the operation of an actuator (17). And a moving agricultural machine (1) having a working device (13) provided at a tip of the elevating member (11), an elevating position detecting means (27a) for detecting an elevating position of the elevating member (11), An inclination detecting means (27a) for detecting an inclination angle of the body (1), and a small average as a short-term average and a large average as a long-term average of signals from the inclination detecting means (27a) are calculated. And a calculating means (27c) for calculating a lifting position target value of the lifting member (11) corresponding to each of the actuators (27c) based on signals from the calculating means (27c) and the lifting position detecting means (27a). 1
7) is operated to raise and lower the elevating member (11) at a high speed corresponding to the small average when ascending, and at a low speed insensitive to the large average when descending.
d) is provided.

(E) Action Based on the above configuration, when performing intermediate management work such as fertilization and weeding, the mobile agricultural machine (1) travels while working between the streaks of the grain stalks planted in the field. When the body is tilted due to unevenness or the like, the working device (13) at the tip of the elevating member (11) tends to move up and down with respect to the field scene. In this case, the current position of the elevating member (11) is detected by the elevating position detecting means (27a). On the other hand, the inclination angle of the body is detected by the inclination detecting means (27b) and input as a signal to the calculating means (27c) to calculate the small average and the large average, and the elevation of the corresponding lifting member (11) is calculated. The position target value is calculated. Then, the current position of the elevating member (11) detected by the elevating position detecting means (27a) is compared with the elevating position target value calculated by the calculating means (27c) by the elevating control means (27d). The ascending and descending member (11) is moved up and down to the target position by actuating the actuator (17) with high speed sensitivity corresponding to the small average when ascending, and insensitive to low speed corresponding to the large average when descending.

The reference numerals in parentheses are for referring to the drawings, and do not limit the configuration.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

The management machine 1 that performs intermediate management such as fertilization, control and weeding is the first
As shown in the figure, the vehicle has a substantially rectangular body frame 5 supported by wheels 2a and 2b and wheels 3a and 3b, and a turning support shaft 6 installed at the upper center of the body frame 5. Is provided with a revolving portion 7 which is rotatable in the horizontal direction. Links 9 and 10 are rotatably supported on the turning portion 7 in a vertically rotatable manner, and a stick 11 as an elevating member is attached to the ends of the links 9 and 10. The stick 11 is linked 9,
It is configured so that it can be freely positioned in the vertical direction with the rotation of 10. In the vicinity of the pivot base of the link 9, a hydraulic cylinder 17 as an actuator installed in the pivot section 7 is provided.
Are connected at one end.

For the time being, a parallel link 15 is attached to the turning section 7 on the opposite side of the location where the links 9 and 10 are attached, and a fertilizer section 16 is attached to the tip of the parallel link 15. A hydraulic cylinder (not shown) is attached to the other end of the parallel link 15, so that the fertilizer application section 16 can be moved up and down by the operation of the hydraulic cylinder. Further, fertilizer tanks 20 and 20 are provided at the center of the swirling unit 7 so as to sandwich the swirling unit 7.
Send fertilizer to

On the other hand, an engine 23, a transmission, a solenoid valve, a hydraulic pump, a battery, a control unit 29, and the like are arranged on a plate 30 below the body 5, and the control unit 29 includes a lifting member 11 as a control unit 27 Each unit such as a position detecting unit 27a, an inclination detecting unit 27b, a calculating unit 27c, and an elevating control unit 27d is incorporated.

Also, an arm member 12a,
A beam sensor 12b as a working device is rotatably supported at the tip of these arm members 12a and 12b.
3 is installed. The beam sensor 13 is an emitting element 13a
And the light receiving element 13b. When the management machine 1 runs along the strip of the rice culm, the issuing element 13a and the light receiving element 1b are provided.
It is configured so that two or more rice stalks intervene with 3b. And usually, these rice culms make the issuing element 13
The light emitted from a is blocked and does not reach the light receiving element 13b.However, when it comes to the headland, the distance between the rice culms is wide, so the light from the issuing element 13a reaches the light receiving element 13b and Can be detected. When the management machine 1 changes direction at the headland, the stick 11 is pushed into the rice field, one of the wheels 2a, 2b is lifted, and the stick 11 is rotated in a predetermined direction.
And the wheels 2a and 2b are grounded, but in this case, the beam sensor 13 rotates the arm members 12a and 12b to retract.

As shown in FIG. 2, the inclination angle of the control device 1 in the front-rear direction is measured every 20 ms by the inclination detecting means 27b, converted into a predetermined unit, and input as a signal (raw inclination data) to the calculating means 27c. You. In the calculating means 27c, this 20
Collect 5 signals for each ms and calculate the average value. Deriving this average value is referred to herein as small averaging, and the value is referred to as small average. Then, five small averages every 100 ms are collected to obtain an average value. This is called a large average, and the value is called a large average.

More specifically, in the gradient raw data shown in FIG. 2, for example, five data items of [A], [B], [C], [D], and [E] are taken out, the average value thereof is calculated, and a small average [F] is obtained. And Furthermore, the small average [g] [h] [li] [nu]
The five data of [f] are taken out and the average value is calculated to obtain a large average [ru]. Then, as shown in FIG. 3, the calculating means 27c sets the stick 1 corresponding to the small average.
The target position TGT1 of 1 is calculated, and the target value TGT2 corresponding to the large average is calculated. Current position ST of stick 11
K is measured by the elevation position detecting means 27a. That is,
It is detected by the elevation position detection means based on signals from a potentiometer provided on the rotating shafts of the links 9 and 10 connected to the stick 11 and an inclination sensor of the body.

Then, the vertical position target value of the stick 11 and the current position of the stick 11 are compared by the vertical control means 27d, and the current position STK of the stick 11 is STK <TGT1−
The stick 11 is raised as shown in [o] in FIG. 3 from the time when β has been reached, and stopped when STK <TGT1-α is no longer satisfied. Conversely, if the current position STK of the stick 11 is S
The stick 11 is lowered as shown in [W] from the time when TK> TGT2 + β, and stopped when STK> TGT2 + α stops. Here, α and β are provided as dead zones, and α <β.

In this case, the rising of the stick 11 corresponds to the small average, and the small average from 100 ms ago to the present time is performed in units of 20 ms, and the descent corresponds to the large average, and the large average from 500 ms ago to the present time is 100 ms. Performed on a unit basis. In this case, the lifting and lowering of the stick 11 is performed by operating a hydraulic pump and a solenoid valve arranged on the frame 30 in response to a command from the lifting and lowering control means 27d, and thereby the hydraulic cylinder 17 expands and contracts. On the descending side of the stick 11, the descending command signal from the elevation control means 27d becomes an inching signal,
It is configured to lower the speed than when climbing.

Since the present embodiment has the above-described configuration, for example, when performing fertilization work on rice culm planted in a field, turning on the traveling clutch causes the management machine 1 to reach the work start position on one headland. It travels and travels straight between the plants along the strip of rice culm from the start position to the other headland. At this time, the management machine 1 raises the stick 11 to a predetermined height and lowers the fertilizer application section 16.

Then, when the management machine 1 reaches the other headland, the traveling clutch is turned off, the fertilizer application section 16 is raised, and the fertilizer application operation is stopped. By operating the hydraulic cylinder 17 in this state, the stick 11 descends toward the rice field surface, and lifts the wheels 2a and 2b which have been working as front wheels. And
In this state, the wheels 2a and 2b are turned 90 degrees, and then the stick 11 is lifted to ground the wheels 2a and 2b. Next, the turning part 7 is turned by 180 degrees, and the stick 11 is turned to one headland side. In this state, the stick 11 is lowered to the rice paddy surface, and the wheels 3a and 3b are lifted. 3b
Is rotated 90 degrees, the stick 11 is lifted, and the wheels 3a and 3b are grounded. After that, the swivel part 7 is turned 90 degrees and the stick 11
When the traveling clutch is turned on with the vehicle oriented in the traveling direction of the control device 1, the power from the engine 23 is transmitted to the wheels 2a, 2b, 3a, 3b via the transmission, and the control device 1 travels straight along the headland. Resume.

Then, the management machine 1 stops after traveling an appropriate distance, and steers the wheels 2a, 2b and the wheels 3a, 3b 90 degrees in the next traveling direction in the same manner as described above, toward the other headland. It runs straight while performing fertilization work along the strip of rice culm. The above-mentioned steering operation is repeated to perform fertilization work on the entire field.

Also, during the traveling operation of the management machine 1 described above, the stick 11
The beam sensor 13 installed at the tip of the is raised and lowered at appropriate times so as not to contact the rice field surface due to the inclination of the body, and the ground height thereof is kept constant. That is, as shown in FIG.
Inclination angle of the body frame 5 is detected by the inclination sensing means 27b, calculating means 27c on the basis of the inclination data signal and calculates a small average and large average inclination angle (S _1). Furthermore, it calculates a stick target value TGT2 for stick target value TGT1 and large average for small mean (S _2). Then, first, the stick target value TGT1 with respect to the small average and the current position S of the stick 11 detected by the elevation position detection means 27a
TK is compared by the elevation control means 27d (S _3). STK
If <GTT1, the UP dead zone flag is reset and ST
K <TGT1-alpha determination is made as to whether (S _4). STK <TGT1A−
A alpha, unless down dead band flag is set STK <whether TGT1-beta is determined (S _5). STK <TGT1
If −β, the stick 11 is raised (S ₆ ).

If the value of the current position STK of the stick 11 and the value of the small average TGT1 are not STK <TGT1, this time is compared with the stick target value TGT2 for the large average. And STK> TGT2 +
whether α is determined (S _7). If STK> TGT2 + α and the UP dead zone flag is not set
STK> TGT2 + whether a β is determined (S _8). STK> TG
If T2 + β, the stick 11 is lowered. On this occasion,
Since the stick lowering signal of the raising and lowering control means 27d is an inching signal, the lowering speed of the stick 11 is lower than the raising speed.

In this way, when the management machine 1 runs on the field and the front wheels 2a, 2b ride on the ridges of the tillage and head up as shown in FIG. 5, the stick 11 corresponds to a large average to a predetermined height. And slowly descend. And this time the rear wheel
The stick 11 in which 3a and 3b ride on the convex portion of the tillage and head down moves quickly and sensitively according to the small average. Therefore, even if the management machine 1 pitches due to the unevenness of the cultivator in the field, the stick 11 is controlled to move up and down to a predetermined position slowly when descending and rapidly when rising, so that the beam attached to the tip of the stick 11 There is no danger that the sensor will be brought into contact with the rice field surface, and the beam sensor 13 will not be damaged or will not be inoperable due to the adhesion of mud.

(G) Effects of the Invention As described above, according to the present invention, the signal from the tilt angle detecting means (27b) is converted into a small average and a large average by the calculating means (27c), and The actuator is actuated based on the signal and the elevating position detecting means (27a) for detecting the position of the elevating member, and the elevating member (11) is sensitive to high speed corresponding to the small average when ascending and corresponding to the large average when descending. As the moving agricultural machine (1) pitches, the working device provided at the tip of the lifting member (11) does not come into contact with the surface of the ground or the rice field, even if pitching occurs, so that the working device ( 13) It is possible to prevent the failure and the inability to operate due to the adhesion of mud.

[Brief description of the drawings]

FIG. 1 is an overall side view of a management machine (mobile farming machine) according to the present invention, FIG. 2 is a diagram for averaging and averaging raw inclination data of an aircraft, and FIG. FIG. 7 is a diagram showing target values of the stick corresponding to the position and the small average and the large average of FIG. FIG. 4 is a flowchart showing the control of raising and lowering the stick in a flowchart. FIG. 5 is a diagram showing the front wheel of the management machine riding on the protrusion of the tillage, and the arrow represents that the stick is controlled to be lowered. It is. FIG. 6 is a view in which the rear wheel of the management machine is mounted on the convex portion of the plow, following FIG. 5, and the arrow indicates that the stick is controlled to rise. 1 ... moving agricultural machine (management machine), 11 ... elevating member (stick), 13 ... working device (beam sensor), 17 ... actuator (hydraulic cylinder), 27a ... elevating position detecting means, 27b ... tilt Detecting means, 27c ... Calculating means, 27d ... Elevating control means.

Claims (1)

(57) [Claims] 1. A mobile agricultural machine having an elevating member which can be freely driven up and down by operation of an actuator, and a working device provided at a tip of the elevating member, wherein the elevating member detects an elevating position of the elevating member. Position detecting means, an inclination detecting means for detecting an inclination angle of the aircraft, calculating a small average that is a short-term average and a large average that is a long-term average of signals from the inclination detecting means, and respectively A calculating means for calculating a corresponding lifting / lowering position target value of the lifting / lowering member; operating the actuator based on a signal from the calculating means and the lifting / lowering position detecting means to cause the lifting / lowering member to correspond to the small average when ascending. And a lift control means for controlling the lift to be sensitive to high speed and to be insensitive to low speed at the time of descending in correspondence with the large average.