JP2892130B2 - Left and right attitude control device of seedling plant in riding type rice transplanter - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic horizontal posture control device for maintaining a horizontal posture of a seedling plant in a riding rice transplanter for planting seedlings in a field. .

[Problems to be solved by conventional technology and invention]

When planting seedlings in a field by a riding rice transplanter, a seedling plant is attached to the front or rear part of the traveling machine via a link mechanism so as to be able to rotate left and right and up and down, and the seedling plant has its traveling direction. Planting mechanisms are provided at appropriate intervals on the left and right, so that the planting mechanism that rotates up and down with the progress of the rice transplanter divides the seedling mats of the seedling mounting table in the seedling planting apparatus into plant scenes while appropriately dividing the seedling mats by the number of plants. Configuration is well known.

Further, when correcting the left and right inclination posture of the seedling plant with the hydraulic actuator, in Japanese Utility Model Laid-Open Publication No. 59-179517, a pair of left and right buffer springs is interposed between the actuator and the seedling plant. It has been proposed that shocks at the start and stop of the operation of the actuator should not be largely transmitted to the seedling plant.

By the way, if the spring constant of the buffer spring is increased (made to be a hard spring), the movement of the actuator is immediately transmitted to the seedling-planting device and the above-mentioned shock cannot be relieved. Spring).

Then, when the movement of the actuator is transmitted to the seedling plant via the buffer spring to correct the left-right inclination posture of the seedling plant, for example, the seedling plant having a large mass (inertial force) is stopped. When rotating the actuator by driving the actuator, the buffer spring contracts due to the large inertial force of the seedling apparatus in the stopped state. Since the force is transmitted in the direction of returning to the posture, there is a time delay in response by the buffer spring system from the time when the actuator is actually driven to the time when the seedling plant starts to move.

Similarly, when the unevenness of the field is severe, for example, when the seedling plant is slowly moving in one direction (for example, right down) or when the actuator is driven to move quickly in the same direction (down right), Again, the response from the buffer spring system is such that the buffer spring contracts or expands against the large inertial force of, and then transmits the force from the buffer spring to the seedling value in the direction to return the seedling plant to the normal posture. Time was sent.

In order not to cause such a time delay, when the actuator is directly connected to the seedling plant, the driving force of the actuator is directly transmitted to the seedling plant, and there remains a problem that so-called shock cannot be reduced.

On the other hand, Japanese Utility Model Laid-Open Publication No. 1-109912 discloses a method of detecting the degree of inclination of the seedling plant by using image information obtained by a video camera and a detection result obtained by a tilt sensor. It is disclosed that a mounted hydraulic actuator corrects a left-right inclination posture.

However, in the case where the imaging screen has a two-dimensional plane having a vertical and horizontal spread like a video camera, the number of data of the image information is enormous, and the capacity of the storage unit for that must be increased, and Although the calculation of image processing for obtaining predetermined data required for automatic posture control is complicated, even if the inclination degree of the seedling planting device can be detected from the image information, how much the seedling planting device Since the dynamic behavior of whether the vehicle is tilted at the speed or the acceleration cannot be detected, it is impossible to execute the control for reducing the degree of the shock.

An object of the present invention is to solve the above technical problem.

[Means for solving the problem]

In order to achieve this object, a first aspect of the present invention is a rolling shaft provided with a seedling device mounted on a traveling body so as to be vertically movable via a link mechanism, and provided between the link mechanism and the seedling growing device. The seedling device is mounted so as to be rotatable left and right around it, and an actuator provided in a link mechanism is configured to execute control to maintain the seedling device in a horizontal posture in the left and right directions, at the start of driving of the actuator and in the correction direction. Immediately after the inversion drive,
The pulse occupancy (duty actor) for driving the actuator is controlled so as to be reduced by a certain time. According to the first aspect of the invention, in addition to the configuration of the invention, the seedling plant includes A tilt angle sensor for detecting the left-right tilt angle, an acceleration sensor for detecting the acceleration when the seedling plant is rotated left and right, and / or a tilt speed sensor for detecting the rotation speed when the seedling plant is rotated left and right. Is established,
According to these detection results, when the actuator is started to be driven and immediately after the correction change driving, the driving pulse occupancy of the actuator is controlled to be reduced by a certain time.

[Functions and effects of the invention]

According to the first aspect of the invention, the right and left inclination posture of the seedling plant is corrected by directly driving the seedling plant by the actuator. In this case, at the time of starting the driving of the actuator and immediately after the correction change driving, The pulse occupancy (pulse duty actuator) for driving the actuator is reduced. Here, the pulse occupancy (pulse duty actuator) is generated to drive the actuator.
Refers to the ratio of the width of one pulse itself to the pulse delivery period of the periodic pulse train.If the pulse occupancy is large, the actuator is driven to a large extent within a certain period of time.If the pulse occupancy is large, the actuator is finely divided. Drive. For example, the projecting amount of the piston rod per unit time of the hydraulic actuator is large when the pulse occupancy is large (the moving speed of the piston rod is high).
That is, when the pulse occupancy is small, the amount of protrusion / retreat per unit time is small (the moving speed of the piston rod is low).

In addition, when the actuation of the actuator is started, the actuator starts to be driven to rotate the seedling device to the right or left from a state where both the seedling device and the actuator are stopped (a state where there is no rotation in the left-right direction). When the actuator is modified and driven, a command is issued from the control device to increase the pulse occupancy of the lower left rotation from 25% to 50%, or to drive the lower left rotation pulse. When the occupancy is changed from 50% to 0% (stop), or when the pulse occupancy of the left-downward rotation is 25%, the pulse occupancy of the right-downward rotation is changed to 25%. It refers to the case of reversing.

In this way, by reducing the occupation rate of the driving pulse of the actuator for a certain period of time at the start of driving of the actuator or at the time of correction change driving, the driving speed of the actuator and the driving of the seedling device at the time of correcting the posture of the seedling plant are reduced. The driving shock of the seedling planting device can be reduced while not causing a time delay with the posture correction speed.

According to the second aspect of the present invention, the seedling plant is provided with the inclination angle sensor and the acceleration sensor (in some cases, the inclination speed sensor). It can also be grasped from the acceleration of the inclination of the planting device and the inclination speed. If zero, the seedling plant is inclined rapidly from the stopped state, or the seedling plant is inclined at a constant speed (in this case, the acceleration is For example, the actuator can be operated without a time delay from the detection results, and the attitude of the seedling plant can be quickly and accurately corrected.

〔Example〕

The embodiment will be described below. In the drawings, reference numeral 1 denotes a traveling body, which comprises a body frame 2, front wheels 3, 3 attached to a front side thereof, and a swing case 4 which is vertically rotatable at a rear side. , 4 and rear wheels 5, 5, which are provided on the upper surface of the body frame 2 with a steering seat 6 and a steering handle 7 to transmit the driving force of the engine 8 on the front upper surface of the body frame 2. In this configuration, the rear wheels 5 are driven via the transmission mechanism in the part case 9 and the swing cases 4,4.

A seedling device 10 attached to the rear part of the traveling machine body 1 so as to be vertically movable via a parallel link mechanism 11, a central transmission case 12,
On the left and right sides of the central transmission case 12, planted transmission cases 14, 14, 14 are attached at appropriate intervals via connecting pipes 12a with transmission shafts inserted therein, and a float 10 below each planted transmission case 14.
a, and a laterally reciprocally movable seedling mounting table 15 that is inclined so that the upper end approaches the traveling machine body.
On the left and right sides of the rear part 14, a seedling planting mechanism 16 in which the planting claws rise and fall between the seedling outlet at the lower end of the seedling table 15 and the field scene 17.
Is provided.

The parallel link mechanism 11 is driven up and down by the hydraulic cylinder 13 on the traveling body 1 side.

The parallel link mechanism 11 includes a top link 18 and a pair of left and right lower links 19, 19, and the base end of the top link 18 is pivotally connected to a portal frame standing on the vehicle body frame 2 by a pin. The portal type strut 20 to which each tip of the lower link 19, 19 is attached is rotatably connected to the rolling shaft 22 of the hitch portion 21 in the seedling planting device 10, and the seedling planting device 10
In this configuration, the traveling body 1 can be turned up and down (rolling) right and left around the rolling shaft 22 so that the float 10a on the lower surface slides in the field scene.

Guide parts 23, 23 protruding from both right and left planted transmission cases 14, 14
On the other hand, a rail 24 at the lower rear end of the seedling mounting table 15 is slidably fitted, while a guide rail 25 on the upper rear side of the seedling mounting table 15 is provided with a pair of projecting projections from the left and right planting transmission cases 14, 14. The rollers 26 are slidably fitted to the upper roller portions 27, 27, respectively.

A bracket 28 attached to the portal 20 has a horizontal reciprocating hydraulic cylinder 29 serving as an actuator for rolling control.
Is fixed, and both ends of a piston rod 30 that can move left and right in the hydraulic cylinder 29 are rotatably mounted via a universal joint portion 31 to a connecting rod 32 that is attached to the pair of right and left columns 26 and 26.

The power from the engine 8 is transmitted to a transmission mechanism in a power transmission unit case 9 via a clutch to drive the rear wheels 5 and is transmitted to a seedling plant 10 via a PTO shaft.

An electromagnetic solenoid control valve 35, which can be operated by rotating a swingable arm 34 projecting from a steering gear box 33 associated with the steering handle 7, operates a hydraulic cylinder 37 in a hydraulic circuit 36. A steering arm 39 of a steering mechanism 38 connected to a swingable hydraulic cylinder 37 is rotatable around a rotation fulcrum 40, and front wheels 3, 3 are connected by a pair of tie rods 41, 41 connected to the steering arm 39. The other control valve 42 in the hydraulic circuit 36 is for controlling the hydraulic cylinder 13 for raising and lowering the seedling plant, and the reference numerals 43, 44, 45, 46, 47 The five control valves are electromagnetic solenoid control valves for controlling the rolling (horizontal attitude).

Reference numeral 50 denotes an inclination angle sensor provided at an appropriate position of the seedling plant 10 in order to detect a left-right inclination angle of the working machine such as the seedling plant 10 with respect to a field scene, and reference numeral 51 denotes an inclination angle provided on the steering body. Sensors, both inclination angle sensors 50, 51
As shown in FIG. 5, a movable coil 55 with a pendulum 54 rotatable about a shaft 53 is provided in a case 52,
Bridge circuit consisting of 0, R1, R2 and LED1 which is a light emitting element
And a pair of left and right photocouplers of LED2, light receiving elements PT1 and PT2, and an external power supply E.

In the horizontal state of the tilt angle sensor 50 (51), the light receiving element
The light receiving amounts of PT1 and PT2 are equal and the bridge circuit is balanced. When the tilt angle (θ1) is tilted, the pendulum 54 remains so as to be in the direction of gravity (vertical direction), the light receiving plate 54a receives light from one of the light receiving elements PT1 and the other light receiving element PT2 receives light. It turns ON, the balance of the bridge circuit is lost, and the current flows to the moving coil 55, and the current causes the moving coil
When the rotational torque generated at 55 and the moment due to the weight of the pendulum 54 are balanced (θ2), the pendulum 54 stops, and the current value (I) at that time becomes an output signal, which is compared with the inclination angle (θ1). (See FIG. 5).

Reference numeral 56 denotes an acceleration sensor provided near the rolling shaft 22 of the seedling plant 10, which can detect the acceleration when the seedling plant 10 rotates left and right around the axis of the rolling shaft 22. A thin disk-shaped piezo plastic film is mounted as a vibrator inside the diaphragm, and the diaphragm structure fixed on the circumference enables separation of vertical and horizontal components in the acceleration direction.

The tilt angle sensors 50 and 51 and the acceleration sensor 56 are provided with A / D converters at their output units, and input digital signals to an input interface to a control unit 57 described later.

Electronic control type control means 57 such as a microcomputer
Is composed of an 8-bit or 16-bit microprocessor and executes program control. A central processing unit (CPU) that executes various operations, and a read-only memory (ROM) that stores initial values and control programs in advance. )
And a readable / writable memory (RAM) for storing a time-varying input signal or the like and outputting it at the time of calculation, and interfaces 58 and 59 connected to the input / output unit.

Reference numeral 60 in FIG. 7 denotes an automatic switch for setting a mode for automatically executing the rolling posture control, 61 denotes a planting switch that is input when the seedling plant is operated and planted,
Reference numeral 62 indicates when the rolling posture is manually controlled.
A changeover switch for forcibly tilting the seedling plant 10 rightward or leftward, and appropriately drives the electromagnetic solenoid control valves 43, 44, 45, 46, 47. Reference numeral 63 denotes the electromagnetic solenoid control valves 43, 4
4, 45, 46, 47 is a drive circuit for appropriately driving, control means
At 57, an output signal for driving the electromagnetic solenoid at a predetermined pulse occupancy is output as described later.

In the embodiment, the inclination angle, which is the detection result of the inclination angle sensor 50 mounted on the seedling plant 10, and the acceleration, which is the detection result of the acceleration sensor, are all input to the seedling plant.
The inclination means 50 outputs a signal of a correction amount S for controlling the right and left inclination of the seedling planting apparatus 10 to be maintained in a substantially horizontal posture in accordance with the magnitude of the inclination angle and the magnitude of the acceleration of 10. ,
With this signal, the drive circuit 63 of the electromagnetic solenoid of the control valves 43 to 47 for the attitude control hydraulic cylinder 29 is operated.

The attitude control will be described with reference to a subroutine flowchart shown in FIG.
Turn on the automatic switch 60 to execute the posture control automation.
OFF is determined, and when OFF, the seedling plant is lowered left (step 803), right lowered (step 804), or turned OFF (hydraulic cylinder 29) in step 802 by manual step 62.
(The projection state of the piston rod 30 is maintained). At this time, the pulse occupancy is set so that the movement speed of the piston rod of the hydraulic cylinder 29 is approximately 20 milliseconds / second.
50%.

When the automatic switch 60 is ON, ON / OFF of the planting work switch is determined in step 805, and when it is OFF, the process returns to before step 801.

When the planting work switch is ON, the acceleration sensor
56 reads the detection value V _G of (step 806), step 807
Performs a magnitude comparison with the acceleration direction and the reference value _VH1 .

Here, V _G0 is the output voltage value when the acceleration is zero,
The reference value V _H1 is a dead zone (acceleration below a certain value,
In this state, the threshold value is set so that the posture control of the seedling plant is not executed.

When V _G0 −V _G > V _H1 at step 807, that is, when the seedling plant 10 is accelerating in the right-down direction, the hydraulic cylinder 29 drives the seedling plant 10 to the left (step 808).

When V _G -V _G0> V _H1 at step 807, that is, NaeUe device 10 at the time the lower left down direction acceleration, driving the NaeUe device 10 by a hydraulic cylinder 29 to the right down (step 809).

When V _G −V _G0 ≦ V _H1 in step 807, the acceleration of the seedling plant 10 in either the left or right direction is small, and the seedling plant 10 is not tilted in any direction.
In step 810, the detection value Vθ of the inclination angle sensor 50, that is, the left-right inclination angle of the seedling plant is read.

Next, at step 811, the direction of the inclination angle and the reference value V _H2
Performs a magnitude comparison with.

Here, Vθ ₀ is the output voltage value when the inclination angle is zero, and the reference value V _H2 is the dead zone (the inclination angle is equal to or less than a certain value, in which state the posture control of the seedling plant is not executed. Threshold).

When Vθ ₀ −Vθ> V _H2 , that is, when the seedling transplanting device 10 is in the right-down state, the hydraulic cylinder 29 drives the seedling transplanting device 10 to the left (step 812).

When Vθ−Vθ ₀ > _VH2 , that is, when the seedling transplanting device 10 is in the left descending state, the hydraulic cylinder 29 drives the seedling transplanting device 10 rightward downward (step 813).

Further, when Vθ−Vθ ₀ ≦ _VH2 , the right and left inclination angle of the seedling planting device is small, so that the seedling planting device is not tilted to the right or left, and in the next step 814, the planting switch 61 Determine whether it has been changed to OFF. Where O
In the case of FF, the worker once stopped the seedling planting operation in order to reverse (turn around) the direction of the traveling body 1 at the ridge of the field or the like. Forcibly return to the center to keep it in the position,
Return to step 801. Planting switch in step 814
When the switch 61 is ON, it is further determined whether the automatic switch 60 is ON or OFF. When the switch 61 is ON, the process returns to step 806 in order to execute the attitude control.
Return to before 1

FIG. 9 shows a drive pattern of the hydraulic cylinder 29 which is an actuator. For example, depending on the combination of the magnitude of the inclination angle and the magnitude of the acceleration, the stop state, the right-down drive and the left-down drive are each 4 times. 9 with one driving pattern
One pattern (A to I) is set.

In this case, at the time of starting the driving of the hydraulic cylinder 29 as the actuator and immediately after the correction change driving, the pulse occupancy for driving the actuator is controlled to be reduced by a certain time (T1 second).

For example, as shown in FIG. 10, when shifting from the E pattern (stop) to the G pattern (pulse occupancy rate of 50%) which is lowered left, only T1 seconds (= 0.2 seconds, for example) of the control start has a pulse occupancy of 20%. At 50% pulse occupancy.

FIG. 11 shows a case where the pattern is changed to the H pattern (pulse occupancy rate of 75%) which is lowered to the left within T1 seconds from the start of the control of the G pattern. Operate at a pulse occupancy of 20% and thereafter at a pulse occupancy of 75%.

FIG. 12 shows T2 after T1 seconds from the start of control of the G pattern.
In the second case, the pattern is changed to the H pattern (pulse occupancy of 75%) which is lowered to the left. In this case, the operation is performed with a pulse occupancy of 20% for T1 seconds from the start of the control of the G pattern. Until the control command of the H pattern for lower left is issued (T2
The second operation is performed in the G pattern (pulse occupancy of 50%), and thereafter, the operation is performed in the H pattern (pulse occupancy of 75%).

When the correction change driving is performed from a state where the pulse occupancy is large to a state where the pulse occupancy is small, similarly, immediately after the correction change driving, the pulse occupancy for driving the actuator is reduced by a certain time (T1 second). Control. When the correction direction is reversed (reversed), it is desirable that the stop section (E pattern) be kept for a fixed time (T1 second).

For example, as shown in FIG. 13, when shifting from the H pattern (pulse occupancy rate of 75%) to the F pattern (pulse occupancy rate of 25%), the pulse occupancy rate is reduced to 50% for a certain time (T1 second). After that, the operation shifts to the F pattern. However, when the change from the large pulse occupancy to the small pulse occupancy differs by only one rank (for example, when the pulse occupancy shifts from 50% to 25%), the pulse occupancy is reduced by one rank change.

The detected values of the inclination angle and acceleration (in some cases, inclination speed) are read by fuzzy control (not shown), and two input variables (antecedent parts) (x, y) and a control device (= hydraulic cylinder 29) are read. (Consequent part) (= drive pattern of the hydraulic cylinder 29) is described as an ambiguous relationship with z. In this case, only the fuzzy rule in which the set of the tilt angle and the acceleration is the antecedent and the drive pattern of the hydraulic cylinder 29 corresponding thereto is the consequent, or in addition to the fuzzy rule, the tilt angle and the tilt speed May be added as a consequent part, and a fuzzy rule in which the drive pattern of the hydraulic cylinder 29 corresponding thereto is a consequent part. Then, an appropriate number of drive patterns may be obtained based on these fuzzy rules.

As means for detecting the inclination speed, a rolling shaft 22
An angular velocity sensor may be mounted in the vicinity or the like, and an output signal from this sensor may be used.

As described above, when the fuzzy control in which the inclination angle and the acceleration (considering the inclination speed in some cases) are set as the antecedent part (input part) and the correction amount of the lateral inclination of the seedling plant is set as the consequent part (output part) is executed. Compared with the conventional numerical control (control using a function of a mathematical expression having a variable of an input detection value) in consideration of a conventional tilt angle and acceleration and possibly a tilt speed, precision is lacking because of ambiguity. However, it is possible to express the situation and state such as the lateral inclination of the seedling planting apparatus in a qualitative expression, and to finely and quickly calculate a correction amount suitable for the situation and the state, which is quick and smooth. It is possible to realize the control of the movement (not jerky).

In addition, by optimizing the fuzzy rules and the membership function in fuzzy inference, it is extremely easy to reduce the frequency of the control output, and there are also effects such as smooth control and reduction of power consumption.

Furthermore, as a prerequisite to the fuzzy inference, by adding a tilt speed in addition to the tilt angle and acceleration, even when the seedling plant tilts at a constant speed, the posture correction control can be executed,
This has the effect of improving control accuracy and realizing smooth control.

As means for detecting the degree of lateral inclination of the seedling planting apparatus, means for detecting the amount of vertical movement of the float sliding in the field scene as in the conventional technique may be used.

[Brief description of the drawings]

1 shows a side view of a riding type rice transplanter, FIG. 2 shows a plan view, FIG. 3 shows a side view of a main part of a connecting portion between a seedling planting apparatus and a traveling machine body, FIG. 4 is a view from IV-IV of FIG. 3, FIG. 5 is a block diagram of a perspective sensor, FIG. 6 is a hydraulic circuit diagram, FIG. 7 is a block diagram of a control means, FIG. 8 is a flowchart, FIG. FIG. 10 is a diagram showing a driving pattern of the actuator, and FIGS. 10 to 13 are diagrams for explaining the operation of the actuator. 1 ... running body, 3,5 ... wheels, 10 ... seedling plant, 15 ...
… Seedling table, 16… Planting mechanism, 11… Link mechanism, 22…
Rolling axis, 50, 51… Tilt sensor, 56… Acceleration sensor, 57… Control means, 29… Hydraulic cylinder as actuator, 43,44,45,46,47… Control valve, 63… Drive circuit.

Claims (2)

(57) [Claims] 1. A seedling plant is mounted on a traveling body so as to be vertically movable via a link mechanism, and the seedling plant is rotatable left and right around a rolling axis provided between a liking mechanism and the seedling plant. And a control for holding the seedling plant in the left-right horizontal position by an actuator provided in the link mechanism, and for driving the actuator at the start of driving the actuator and immediately after the correction change driving. The right and left attitude control device of the seedling planting device in the riding type rice transplanter, wherein the pulse occupancy of the seedling is controlled to be reduced for a predetermined time. 2. A seedling plant is mounted on a traveling body so as to be vertically movable via a link mechanism, and the seedling plant device is rotatable left and right around a rolling axis provided between the link mechanism and the seedling plant. Mounted in the left and right attitude control device of the seedling device configured to execute a control to hold the seedling device in the left and right horizontal attitude by the actuator provided in the link mechanism, A tilt angle sensor for detecting a left-right tilt angle, an acceleration sensor for detecting an acceleration when the seedling plant is rotated left and right, and / or a tilt speed sensor for detecting a rotation speed when the seedling plant is rotated left and right are provided. According to these detection results, when the actuator is started to be driven and immediately after the correction change driving, the pulse occupancy for driving the actuator is controlled so as to be reduced by a certain time. Lateral attitude control device NaeUe device in riding rice transplanter for.