JP2712431B2 - Tractor laser leveling controller - Google Patents

Description

The present invention relates to a working device provided on a tractor body by irradiating a laser beam horizontally at an arbitrary height on a field scene and setting the irradiated surface as a reference height. The present invention relates to a laser leveling control device for a tractor that controls height elevation.

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Application Laid-Open No. Sho 54-117708, laser light is radiated horizontally to an arbitrary height on a field scene, and this irradiation is performed. There has been a technique for maintaining the height of a tilling work device provided on a mobile work machine at a constant level with the surface being a reference height. However, the technique disclosed in the above publication raises and lowers the working device so as to maintain a constant tillage level of the tillage working device on the basis of the transmission and reception levels between a transmitter for transmitting electromagnetic waves and the receiver. This work equipment does not have a flat plate. There was a problem that the waves were large.

Further, when a work device such as the tilling work device is rotatably connected to the tractor, it was necessary to install the work device in a place where the light receiver for receiving the laser beam was not tilted as much as possible by the rolling movement of the work device. .

Means for Solving the Problems In order to solve the above problems, the present invention is configured as follows. That is, in order to form a field scene evenly, a laser beam is radiated horizontally to an arbitrary height on the field scene, and the irradiation surface is set as a reference height, and the height of the tilling work device provided on the vehicle body is set to the height. In the tractor for raising and lowering, the tillage working device is provided with a leveling plate for leveling the soil discharged backward from the tilling portion and a leveling sensor for detecting the angle of the leveling plate, and the reference height And a laser leveling control device for a tractor that forms the irradiation surface and the field scene substantially parallel while maintaining the distance between the leveling plates constant and the angle of the leveling plate constant.

Further, the laser light is horizontally radiated to an arbitrary height on the field scene so that the light receiving device for receiving the laser light is not affected as much as possible by the rolling movement of the working device. In the tractor that controls the height of the working device provided on the vehicle body as a height, a pair of left and right lower links that are raised and lowered by a lift arm are provided at the rear of the vehicle body, and the distance between the lower link on one side and the lift arm is constant. The distance between the other lower link and the lift arm is configured to be movable up and down by expansion and contraction of a rolling cylinder, and a working device is rotatably connected to the left and right lower links, and a light receiver that receives the laser beam is disposed at the distance. Is provided so as to be deviated to the lower link side in which the constant is provided.

Functions and Effects of the Invention Since the present invention is configured as described above, the following functions and effects are provided. The worker irradiates laser light horizontally at a preset height before starting the work. In the tractor, the tilling device is landed and the tilling unit is driven. Then, the tractor sets the irradiation surface of the laser beam as a reference height,
From the reference height, the work apparatus is run while maintaining the distance between the leveling plates of the tilling work apparatus constant and the angle of the leveling plate constant while raising and lowering the work apparatus.

The soil released from the tilling section is pushed backward by the flat plate,
At this time, since the angle of the leveling plate is kept constant, the surface of the field is leveled evenly without ripples, and the field surface is formed substantially horizontal.

Further, in the tractor that is connected in a rollable manner as described above, the laser receiver is provided so as to be deviated to the lower link side with a constant interval.

Therefore, even if the working device is rolled and tilted left and right, the laser light receiver is located on the side serving as a rotation fulcrum in rear view of the tractor, so that vertical fluctuation due to the left and right tilt can be minimized.

Embodiment In the example shown in the figures, the level floodlight (1) is supported by a sensor pole (12) on the ridge (11) of a field or the like. In this configuration, the laser light emitted from the laser light emitting device (13) is reflected by a reflecting mirror (16) rotated by a motor (15) around a vertical axis (14), and is orthogonal to the axis (14). The laser beam is projected (2) while irradiating and moving within a certain angle range on the level surface. (17) is a horizontal setting device for setting the light emission (2) from the level light emitter (1) so as to be parallel to the horizontal plane. (18) is a case that covers the outer periphery of the level light receiving sensor (4).
A light emitting window (19) is provided in the section. (20) is a vertical position adjusting screw for changing the vertical direction of the case (18) with respect to the sensor pole (12), and (21) is a tilt angle adjusting screw for adjusting the horizontal tilt angle with respect to the vertical direction.

The tractor body (3) has a steering wheel (22), a cabin (23) containing a cockpit, and the like, and four wheels that are driven by an engine to drive steerable front wheels (24) and rear wheels (25). As a driving form, a pair of left and right lower links (8) and (9) and a top link (26) are connected to the rear part so as to be vertically rotatable, and a lift arm (7), a lift rod (28), and a rolling cylinder (10) are provided. ) To move up and down,
At the rear end of the lower link (8) (9) and the top link (26), a tilling work device as a work device (5) is mounted.
The lower link (8) on the left is connected to the lift arm (7) by a lift rod (28) of a fixed length, but the lower link (9) on the right and the lift arm (7) extend and contract. The lower link (9) is moved up and down by expansion and contraction of the rolling cylinder (10) by connecting with a free rolling cylinder (10) to connect the hydraulic circuit of the rolling control device. (9) Rolling control of the working device (5) connected over the space is performed.

The level light receiving sensor (4) is provided above the rear portion of the vehicle body (3) near the lower link (8) on the left side. A sensor pipe (33) is attached to a bracket (29) attached directly or indirectly to the rear frame of the cabin (23) via a boss (32) screwed to a screw rod (31) rotated by a motor (30). Is provided to control the vertical movement.
A sensor body (35), which is rotated around a vertical axis (37) by a stepping motor (34), is provided at an upper end of the sensor body. A light receiving element (36) composed of a diode or the like is arranged next to this, and the outer peripheral portion is covered with a transparent cover (38) to constitute a level light receiving sensor (4). (41) includes each of the light receiving elements (36),
A spiral wiring portion that conducts between the sensor pipe (33) and the harness portion (40) connected to the controller (39). The boss (32) is provided with a magnetic body (42), and the bracket (29) is provided with magnetic sensors (43) at regular intervals along a position facing the magnetic body (42). The height position of the magnetic body (42) is constantly detected based on the relationship between the magnetic body (42) and the magnetic sensor (43), and the elevation control of the level light receiving sensor (4) by the motor (30) is detected and controlled. .

In the working device (5), the tillage device is provided with a tillage shaft (52) on which a tillage claw (44) is disposed on a peripheral surface, and a tillage cover (45) on an upper portion.
On the back side of the cultivated soil surface (4)
7) A leveling plate (48) for leveling is provided so that it can rotate vertically.
A spring (50) is installed between the cultivator (49) and the soil surface (4
7), and the elastic force is adjusted by the handle (51). The cultivating shaft (52) having the cultivating claws (44) is interlocked with the power take-off shaft of the tractor body (3), and the height of the cultivating device with respect to the vehicle body (3) is determined by the lift arm (7) that moves up and down the cultivating device. The lift angle sensor for detecting the elevation position is a work height sensor (6). Further, a flat plate angle sensor (53) for detecting an angle of the flat plate (48) with respect to the till cover (45) is provided, and according to a till depth set by a till depth setting device (54) provided in a cockpit portion, Tillage depth control is performed so as to maintain the set tillage depth while detecting the flattening angle of the flat plate (48). (55) is a height adjuster for adjusting the height of the level light receiving sensor (4).

Light is emitted from the level projector (1). The laser beam emitted from the laser light emitting device (13) is reflected by the rotating reflecting mirror (16), and a predetermined height position on the field scene (46) is projected from the light emitting window (19) along the horizontal plane at a predetermined angle. Is irradiated and rotated in the range (θ).

The level light sensor (4) of the tractor body (3) receives the light emission (2) from the level light projector (1) and detects the height of the body (3) from the field reference plane. Since the height of the horizontal light receiving sensor (4) with respect to the vehicle body (3) is determined, the height of the vehicle body (3) can be known by knowing the light receiving position of the light emission (2) of the level light receiving sensor (4). That is, the height of the vehicle body (3) can be detected in the controller (39) by the light receiving portion of the light receiving element (36). When the light beam (2) is received at a high position of the light receiving element (36), the vehicle body (3) is at a low position and the running soil surface is low. Conversely, when the light (2) is received at a low place, the vehicle body (3) is at a high position and the running soil surface is high. The level light receiving sensor (4) is automatically raised and lowered by a motor (30) so that the light projecting (2) is received by a light receiving element (36) in the upper and lower central portions. The movement of the body (42) is detected by the magnetic sensor (43), and the height is calculated by the controller (39).

The working device (5) assumes a working position such as plowing by the downward movement of the lift arm (7), and the working position such as the tillage depth is determined by the tillage depth setting device (54). While the leveling angle of the leveling plate (48) at this time is detected by the leveling angle sensor (53), the lift arm (7) is controlled to move up and down so as to maintain the leveling angle constant. Control to maintain the depth at the set depth.

The working height sensor (6) detects the height of the working device (5) with respect to the vehicle body (3) from the angle of the lift arm (7). In the level control device provided on the tractor body (3), The current height of the working device (5) from the reference level surface is constantly calculated and displayed based on the input from the working height sensor (6) and the input from the controller (39).

It can also be used for level control of the working device (5). For example, when leveling the soil surface plowed with a tillage device in parallel with the level surface, control the pressing force of the leveling plate (48) that leveles this soil surface, or control the leveling angle. By moving the cultivated soil at a high place on the soil surface to a low place, it is made closer to a horizontal plane.

The rolling control detects the left and right inclination of the vehicle body (3) and controls the distance between the lower link (9) and the right lift arm (7) by the expansion and contraction of the rolling cylinder (10). At this time, the operation is performed by raising and lowering the right side around the connecting position of the working device (5) by the lower link (8) on the left side. Therefore, the lower link (8) and the level light receiving sensor (4) at the time of rolling control are used. The height between the two hardly changes. By this rolling control, the soil surface (47) by the tillage device is leveled horizontally horizontally.

When the tractor body (3) returns from the forward stroke level control to the return stroke level control, the sensor body (35) is turned about half a turn by the stepping motor (34).
The light receiving element (36) is switched to face the level projector (1).

Bracket (2) for attaching level sensor (4)
9) may be mounted in the left rear corner of the cabin (23), in which case the sensor pipe (33) is
6) Pinion (57) rotated by motor (30)
May be vertically movable (Fig. 8), and a sensor pipe (33) may be attached to the bracket (29) via a parallel link (58) so as to be vertically movable. The parallel link (58) may be configured to rotate up and down by engagement of the motor (30) and the pinion (57), and the sensor pipe (33) may be controlled to move up and down in parallel (ninth embodiment).
Figure).

[Brief description of the drawings]

1 shows an embodiment of the present invention. FIG. 1 is a side view,
2 is a partial rear view, FIG. 3 is a perspective view, FIG. 4, FIG.
The drawings are a partial side sectional view, FIGS. 6 and 7 are partial plan sectional views, and FIGS. 8 and 9 are side views showing some other embodiments. In the figure, reference numeral (1) denotes a level projector, (2) denotes a light projector, (3)
Is a vehicle body, (4) is a level sensor, (5) is a working device,
(6) is a working height sensor, (7) is a lift arm, (8)
(9) indicates a lower link, and (10) indicates a rolling cylinder.

Claims (2)

(57) [Claims] 1. A tractor for horizontally irradiating a laser beam horizontally to an arbitrary height on a field scene and controlling the height of a tilling work device provided on a vehicle body with the irradiated surface as a reference height, The tilling work device is provided with a leveling plate for leveling the soil discharged backward from the tilling portion and a leveling sensor for detecting the angle of the leveling plate, and the interval between the leveling plates is fixed from the reference height. And the illuminated surface and the field scene are formed substantially parallel while maintaining the angle of the leveling plate constant. 2. A tractor that horizontally irradiates a laser beam to an arbitrary height on a field scene and controls the height of a working device provided on a vehicle body to be raised or lowered by using the irradiated surface as a reference height.
A pair of left and right lower links that are raised and lowered by a lift arm are provided at the rear of the vehicle body, the distance between the lower link on one side and the lift arm is constant, and the distance between the other lower link and the lift arm moves up and down due to the expansion and contraction of the rolling cylinder. A tractor, wherein a working device is rotatably connected to the left and right lower links, and a light receiver for receiving the laser light is provided so as to be deviated to the lower link side having the constant interval. Laser leveling controller.