JP2905452B2 - Steering control device for traveling work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device for a traveling work machine having a pair of left and right traveling crawlers, such as a combine or a tractor for agricultural work or civil engineering.

[0002]

2. Description of the Related Art A traveling section of a traveling work machine such as a combine or a tractor is constituted by a pair of left and right traveling crawlers, and each traveling crawler is driven by a set of one hydraulic pump and a hydraulic motor. In other words, For example, Japanese Patent Publication No. 54-34972 discloses that the left and right traveling crawlers are driven by a left and right independent hydraulic drive system (two-pump, two-motor type) to perform forward and turning operations.

[0003]

According to this prior art, a crop row detection sensor, flow rate control valves for controlling the rotation speeds of left and right hydraulic motors, and an electric control circuit are provided. When there is no signal from the detection sensor,
The flow control valve is provided with a straight-ahead command signal to control the body to go straight. At the time of turning control, a reference signal for straight-ahead driving is V1, a turning command signal (V1
0), a left subtraction circuit of output signal V2 = V1-V10 and an adder circuit of right output signal V3 = V1 + V10 are provided, and a turning command signal is given to the flow control valve from the operation results of both circuits. The control is performed so that the rotation speed of each hydraulic motor for the left and right traveling crawlers is changed.

For example, at the time of a left turn, the traveling crawler on the left side (the inside of the turn) is decelerated, while the traveling crawler on the right side (the outside of the turn) is accelerated (increased) with respect to the flow control valve. Each provides an input signal. Therefore, in this prior art, when moving from the straight running state to the turning control, the speed of the traveling crawler outside the turning becomes higher than the speed at the time of going straight, and the speed of the traveling crawler inside the turning is reduced than that at the time of going straight. Therefore, there is a problem that the operator who is riding on the traveling work machine is likely to apply a centrifugal force which is suddenly swept out of the turn, and the centrifugal force is also easily increased, so that it is difficult to perform a safe traveling operation.

In addition, the traveling crawler speed on the outer side of turning is increased more than the speed of straight traveling, and the speed of the traveling crawler on the inner side of turning is reduced more than that during straight traveling. Since it is easy to rapidly change in the direction in which the direction becomes smaller as described above, there is also a problem that it is too sensitive as a steering control for following a crop row or changing direction. On the other hand, Japanese Utility Model Laid-Open No. 50-70417 discloses that the rotational speeds of both inner and outer wheels of a turn are made lower than the rotational speeds when traveling straight (of course, the speed of the wheels inside the turn is a lower value). However, when the vehicle shifts from straight running to turning, it suddenly (stepwise) falls to a low rotational speed decelerated by a predetermined value. The acceleration to the deceleration side (minus acceleration) is applied,
There was a problem that the user was forced to perform an unstable operation such as turning forward.

The present invention has been made in order to solve these problems, and does not pose a danger to an operator who gets on a traveling work machine when a turning operation is shifted, particularly when an interlining turning operation is shifted. It is an object of the present invention to provide a steering control device for a traveling work machine as described above.

[0007]

According to a first aspect of the present invention, a steering control device for a traveling work machine includes a hydraulic pump and a hydraulic motor provided on a pair of left and right traveling crawlers of the traveling work machine. In a traveling work machine configured to transmit power by separate left and right hydraulic drive means each comprising: and control means for controlling the rotation speed of the left and right hydraulic motors, the control means includes: Turning
During operation, the outside of the turn corresponds to the operation amount of the steering operation
Turning target value of control output for rotation speed of hydraulic motor
And the control output for the rotation speed of the hydraulic motor inside the
Calculate the target value at the time of turning, and furthermore,
Decreases the number of revolutions from the target value when traveling straight ahead to the target value when turning.
The target arrival time required for rotation is calculated, and the deceleration ratio per unit time of the rotation speed of the hydraulic motor inside the turn is larger than the deceleration ratio per unit time of the rotation speed of the hydraulic motor outside the turn. Each requires the target arrival time ,
The rotational speed of each hydraulic motor for both the left and right traveling crawlers is gradually decelerated so as to become the target value at the time of turning .

[0008] The invention described in claim 2 is the first invention.
In the steering control device for a traveling work machine described in the above item, the control means reduces the rotation speeds of both the hydraulic motors on the outside of the turn and on the inside of the turn from the target values at the time of the straight operation .
The time required to reach the target value during turning
I'll make the inner one longer than the outer one
Control .

[0009]

As described above, according to the first aspect of the present invention, when shifting from the straight traveling state to the turning control, both the hydraulic motor inside the turning and the hydraulic motor outside the turning are simultaneously controlled to the deceleration side from the speed at the time of going straight. Is done. Then, in this case, during the turning operation , the control means performs the turning operation in accordance with the operation amount of the steering operation tool.
When turning the control output for the number of rotations of the outer hydraulic motor
Control of target value and rotation speed of hydraulic motor inside turn
Calculate the output turning target value, and furthermore,
The rotation speed of the motor from the target value when going straight to the target value when turning.
The target arrival time required to decelerate is calculated, and the deceleration ratio per unit time of the rotation speed of the hydraulic motor inside the turn is larger than the deceleration ratio per unit time of the rotation speed of the hydraulic motor outside the turn. , Each said target arrival time
Required by the because the left and right of the rotational speeds of the hydraulic motors for both traveling crawler is to gradually deceleration control respectively so that the swivel target value, girls from the speed during straight
The traveling crawler on the outside of the turn is decelerated.
To the traveling crawler on the inner side of rotation than the rotating speed of the hydraulic motor
The rotation speed of the hydraulic motor is lower
The turning action can be realized,
Both the outside traveling crawler and the time elapsed since the start of turning
As the number of revolutions decreases at a predetermined deceleration ratio,
When observing the turning trajectory, the turning radius at the start of turning is large,
The turning radius gradually decreases as the turning time elapses.
For example, the radius gradually decreases toward the center
A part of the swirl type turning locus will be taken.

[0010] Thereby, the vehicle is mounted on the traveling work machine.
Significantly less deceleration acceleration acting on the operator
Significantly improved ride comfort and comfortable turning operation.
It has the effect of Thus, in the present invention, the turning
Turn inside and outside while decelerating in proportion to time
So, for example, when going straight on the rotation speed of the wheels inside and outside the turn
Set on the deceleration side than the
Conventionally, the rotational speed of the inner side of the turning is set further to the deceleration side
Speed when moving from straight running to turning compared to the control of
There is no sudden step in the change, and it is uncomfortable for the ride comfort of the operator
There is an effect that the driver can steer safely without feeling.

The invention described in claim 2 is the first invention.
In the steering control device for a traveling work machine described in the above item, the control means reduces the rotation speeds of both the hydraulic motors on the outside of the turn and on the inside of the turn from the target values at the time of the straight operation .
The time required to reach the target value during turning
I'll make the inner one longer than the outer one
When the vehicle speed on the outside of the turn reaches the target value during turning, the vehicle speed on the inside of the turn has not yet reached the target value during turning , and a long target arrival time is required. The spiral whose radius gradually decreases toward the center so as to reduce the rotation speed of the hydraulic motor inside the turn
It will take a part of the turning trajectory of the mold,
Deceleration side acting on the operator on the traveling work machine
Acceleration is greatly reduced, and ride comfort is greatly improved.
In addition, there is an effect that the turning operation can be performed comfortably .

[0012]

Next, embodiments of the present invention will be described. As shown in FIGS. 1 and 2, reference numeral 1 denotes a general-purpose combine traveling body having a pair of traveling crawlers 2 a and 2 b on the left and right.
The handling cylinder in the handling room of the threshing device 3 is disposed so that the axis thereof is along the traveling direction of the traveling machine body 1, and below the swinging sorting device using a receiving net and a sheave, and a tangling fan And a wind sorting device based on the wind.

The pre-cutting device 4 has a rectangular tubular feeder house 5 which is opened at the front of the threshing device 3 and which can be raised and lowered by a hydraulic cylinder 6, and a horizontally long bucket-like shape connected to the front end of the feeder house 5. A platform, a scraping auger 8 provided laterally in the platform 7, a reel 9 with a tine bar at a position in front of the platform 7, and a clipper-shaped cutting blade 10 disposed longitudinally on the lower surface of the platform 7 in the left and right directions.

As shown in FIG. 3, the left traveling crawler 2
a and the right traveling crawler 2b are separately driven by one hydraulic pump and one hydraulic motor, which are hydraulic driving means of different systems. That is, power is transmitted from one engine 11 mounted on the traveling body 1 to the left and right hydraulic pumps 12a and 12b to drive them independently, while the left hydraulic motor 13a is driven by the hydraulic pressure from the left hydraulic pump 12a. Then, the left traveling crawler 2a is separately driven by the left hydraulic motor 13a.

On the other hand, the right hydraulic motor 13b is driven by the right hydraulic pump 12b, and the right traveling crawler 2b is driven by the right hydraulic motor 13b. Reference numerals 14a and 14b denote control valves for the hydraulic motors 13a and 13b. The hydraulic motors 13a and 13b are controlled by controlling a hydraulic flow rate or the like for adjusting a swash plate angle in each hydraulic motor.
The rotation speed and the rotation direction can be changed in the forward and reverse directions.

Reference numerals 15a and 15b denote vehicle speed sensors for detecting the number of rotations of the output shaft of each of the left and right hydraulic motors 13a and 13b or the running shaft 16. Each vehicle speed sensor has an electromagnetic pickup on a tooth surface which rotates integrally with the shaft. A sensor that detects the number of rotations from the periodic fluctuation of the magnetic field in proximity to the sensor can be used. Reference numeral 17 denotes one operation lever as a steering operation tool provided on a control unit on the traveling body 1, and the operation lever 17 includes a front-rear direction (A-B direction) of the traveling body 1,
It is configured to be rotatable in the left-right direction (CD direction).

One embodiment is as shown in FIG.
A box 21 having an open upper surface so as to be rotatable only around the axis of a front / rear shaft 20 provided between the front and rear frames 18 and 19.
The operation lever 17 that rotates integrally with the horizontal shaft 22 is attached to a horizontal shaft 22 rotatably mounted on the left and right side plates 21a, 21a of the box 21.
A slider 24 is provided at the lower end of the body 21 for sliding contact with the surface of an arc-shaped resistor of a vehicle speed potentiometer 23 about the axis of the abscissa 22 as a center of rotation. A turning potentiometer 26 provided with an arc-shaped resistance element with which a slider 25 protruding from the outer surface comes into sliding contact,
The rear frame 19 is set so that the front-rear shaft 20 is used as a center of rotation.
And so on.

According to this configuration, the operation lever 17 is rotated (inclined) by an appropriate angle (θ1) in the front-rear direction (AB direction).
In the left and right direction (CD direction),
2) It can be rotated (inclined), and the slider 24 and the vehicle speed pot are adjusted according to the angle θ1 in the front-rear direction.
The resistance value R1 between the terminal 28 of the arc-shaped resistor of the constrainer 23 changes, and a signal of a voltage corresponding thereto is output.
The resistance value R2 between the rotary potentiometer 26 and the terminal 29 of the arc-shaped resistor changes, and a voltage signal corresponding to the change is output.

As another embodiment, a vehicle speed potentiometer having an appropriate structure is fixed to the inner surface or the outer surface of one side plate 21a of the box 21, and the front and rear direction (A
(B direction), a voltage signal corresponding to the relative angular position between the horizontal shaft 22 that rotates in accordance with the rotation of the vehicle speed potentiometer and the turning potentiometer fixed to the front and rear shaft 20 is provided. Alternatively, a voltage output having a magnitude corresponding to the relative rotation angle with respect to the case 21 which is rotatable around the axis of the shaft 20 may be provided.

Further, a push button type interlining turning switch 30 is provided at a hand grip portion of the operation lever 17, and the interlining turning switch 30 can be pressed by a thumb. Then, when further pressed, the lock is released and returned, and a configuration is provided in which the pressed state (ON) and the unlocked state (OFF) can be selectively held by an alternate pressing action.

FIG. 5 shows a central control unit 3 as control means.
FIG. 3 is a diagram showing an input unit and an output unit corresponding to 1. In the input interface unit, the interlining turning switch 30, the turning potentiometer 26, the vehicle speed potentiometer 23, and the switching of the switch to ON or OFF reduce or increase the vehicle speed at a constant rate. A speed change switch 32 for controlling the speed of the left and right hydraulic motors in accordance with a flowchart described below,
ON when executing control so that the vehicle speed becomes a predetermined value
The vehicle speed switch 33 to be kept, the left and right vehicle speed sensors 15a and 15b, the automatic steering switch 34 which is turned on when selecting automatic steering of the combine so as to follow the row of the planted grain culm, the automatic steering operation A cutting selection switch 35 for selecting between row cutting and side cutting, a right cereal culm sensor 37 for detecting the distance from the left and right grass plants to the cereals to be planted, and a left inner cereal culm during the automatic steering operation. Sensor 36
R, a left outer culm sensor 36L, and an engine speed sensor 38 for detecting the speed of the engine 11 are connected respectively.

The right grain culm sensor 37 is provided inside the right weed body and detects the magnitude of the distance from that location to the row of planted grain culms on the left side in four zones. The position closest to the sensor 37 is defined as zone 0,
Zone 1, Zone 2, Zone 3 as the distance increases
And A left inner culm sensor 36R and a left outer culm sensor 36L are provided on the left and right sides of the left herbaceous body, and a cereal culm located close to the inside (right side) of the left herbaceous body is disposed on the left inner culm sensor 36R. At the outside of the left conifer (left side)
Is detected by the left outer culm sensor 36L.

A control signal from the central control unit 31 is transmitted to the control valves 14 on both the left and right sides through an output interface unit.
output to the solenoids 40, 41 for the a, 14b, an auto steering lamp 42 and a vehicle speed switch which are turned on when the auto steering switch 34 is turned on to execute the auto steering control. A vehicle speed lamp 43 which lights when the vehicle speed control is executed by turning on 33 and a reverse buzzer 44 which sounds when the vehicle reverses are connected.

Next, the mode of vehicle speed control will be described with reference to the flowcharts shown in FIGS. FIG. 8 is a main flowchart. Following the start, it is determined in step S1 whether or not the vehicle speed switch 33 is ON. When the vehicle speed switch 33 is no (the vehicle speed switch 33 is OFF), step S2 is performed.
To enter the manual vehicle speed control subroutine. This manual vehicle speed control subroutine allows the operator to arbitrarily change the straight running speed of the aircraft by rotating the operation lever 17. It is also a priority operation that can be executed by interruption.

In this manual vehicle speed control subroutine, when the operator rotates and tilts the one operating lever 17 in the forward or rearward direction, the target vehicle speed is obtained by the output signal of the vehicle speed potentiometer 23 corresponding to the angle. Value (when going straight
(The target value) is set, and the swash plate angles of both the left and right hydraulic motors 13a and 13b are set to the same predetermined value so that the target value is reached, and the combine is caused to travel straight at the speed of the predetermined target value. It is. Whether the current vehicle speed has reached the target value is detected by vehicle speed sensors 15 and 15b,
Feedback control is performed.

In these cases, when the operating lever 17 is in the upright state, the rotational speeds of the left and right hydraulic motors are both zero (neutral position). The forward speed increases as the inclination angle θ1 increases. Similarly, when the operating lever 17 is tilted rearward without tilting to the left and right sides, the traveling body 1 retreats, and as the backward tilt angle of the operating lever increases, the retreat speed increases in proportion thereto.

When the operating lever 17 is turned from the forward tilt (forward zone of the vehicle speed potentiometer) to the backward tilt (reverse zone of the vehicle speed potentiometer), and from the opposite front tilt to the backward tilt, the neutral position (substantially vertical position) is set. After passing through the position (state), the state where the traveling speed is zero is maintained for an appropriate time (approximately 1 second in the embodiment) (the neutral output value is maintained for a certain time), and then the vehicle advances from the forward direction to the backward direction or from the reverse direction to the forward direction. switching, so that eliminate the impact at the time to prevent damage, the running operation of the mechanical mechanism.

The operation lever 17 can also rotate (tilt) in the left-right direction, but the right-left inclination angle (θ2) is within a predetermined small range (the output of the turning potentiometer 26 is in the straight traveling zone). Occasionally, a dead zone in which so-called right and left turning described later is not performed is set. FIG. 9 shows a manual vehicle speed control subroutine. In step Q1, it is determined whether or not the interlining turning switch 30 is ON. When yes (the interlining turning switch 30 is ON), an interlining turning vehicle speed described later is used. The control (step Q5) is executed, and when no (the interlining turning switch 30 is OFF), the next step Q5 is executed.
At 2, it is determined whether or not the turning potentiometer 26 is within the straight traveling zone (the left-right rotation (tilt) angle (θ2) of the operation lever 17 is within a predetermined small range). If yes (within the straight traveling zone), Straight-running vehicle speed control described later (step Q
Execute 3), and when no (out of the straight zone),
The later-described turning vehicle speed control (step Q4) is executed.

[Straight Vehicle Speed Control (Step Q3)] In this state, the interlining turning switch 30 is OFF.
The current vehicle speed at which the operator releases his / her hand from the operation lever 17 is maintained. In other words, the central control device drives both the left and right hydraulic motors 13a, 13b in the same direction so that the traveling speeds of both the left and right traveling crawlers 2a, 2b are the same, and the rotational speeds are matched so that both traveling speeds match. 31 to control valve 14
a, a predetermined target value for each of solenoids 40, 41 of 14b
An output signal having (turning target value) is sent.

For example, with respect to the output value (SP) of the vehicle speed potentiometer 23 corresponding to the inclination angle of the operation lever 17, a proportional function f1 (SP) proportional to the output SP is previously stored in a storage unit in the central control device 31. The right control valve 14b is selected according to the proportional function by selecting the map or the function table.
The central control unit 31 calculates and outputs the right target value R1 = f1 (SP) of the output signal sent to the left control valve 14a and the left target value L1 = R1 of the output signal sent to the left control valve 14a.

As described above, in the straight-ahead vehicle speed control, the vehicle moves forward or backward while maintaining the target vehicle speed corresponding to the forward tilt (rearward tilt) angle of the operation lever 17 manually moved by the operator.

[Turning Vehicle Speed Control (Step Q4)] In this control, the operator turns right when the operator inclines the operating lever 17 forward or backward, and turns left when the operator tilts the operating lever 17 left. . Then, both left and right traveling crawlers 2a,
2b is driven in the same direction, and the deceleration ratio of the number of rotations of the hydraulic motor per unit time to the traveling crawler inside the turning is smaller than the deceleration ratio of the number of rotations of the hydraulic motor to the traveling crawler outside the turning per unit time. Control to increase.

As a first embodiment, as shown in FIG.
Assuming that the rotation speed V1 of the hydraulic motor at the time of going straight before turning is
The rotation speed of the hydraulic motor corresponding to the traveling crawler on the outside of the turn is continuously reduced to V2 over an appropriate time (T1), while the rotation speed of the hydraulic motor corresponding to the travel crawler on the inside of the rotation is appropriately reduced to the time (T2). V3 (V3 <V2 <V
It decelerates continuously to 1). These times T
1, T2 is called target arrival time.

FIG. 10 shows a subroutine of the turning vehicle speed control in this case. For example, following the start of this subroutine, in step R1, when the operator tilts the operation lever 17 to the left as appropriate to make a left turn, the vehicle speed potentiometer corresponding to the front inclination angle of the operation lever 17 at the straight vehicle speed immediately before the turn. The output value (SP) at the time of going straight 23 is read.

Next, in step R2, the right target value MR of the output signal sent to the right control valve 14b corresponding to the outside of the turn is calculated, and in step R3, the left control valve 14 corresponding to the inside of the turn is calculated.
Calculate the left target value ML of the output signal sent to a. In this case, a proportional function f1 (SP) proportional to the output value SP when the vehicle is traveling straight ahead
While the output value (TP) of the turning potentiometer 26 corresponding to the inclination angle of the operation lever 17 in the left-right direction is calculated.
, The proportional function f2 (T
P) and f5 (TP) are calculated, and a right target value MR = f2 (TP) × f1 (SP) of an output signal to be sent to the right control valve 14b corresponding to the outside of the turn is calculated by these proportional functions. Left target value ML of the output signal sent to left control valve 14a corresponding to the inside
= MR × f5 (TP) is calculated by the central controller 31.

Next, in step R4, the time required to reduce the rotational speeds of the left and right hydraulic motors to the respective target values (target arrival time) is calculated. Here, T1 is the right target arrival time, and T2 is the left target arrival time. The target arrival time is set to be longer when the difference between the output value SP at the time of straight ahead immediately before turning and the right or left target value MR or ML at turning is large, and is shortened when the difference is small. Is used to calculate the target arrival time.

At step R5, the right output ratio ΔV corresponding to the deceleration ratio per unit time of the number of rotations of the right hydraulic motor.
R is calculated, and in step R6, the left output ratio ΔV corresponding to the deceleration ratio per unit time of the rotation speed of the left hydraulic motor.
Calculate L. The deceleration ratio (output ratio) per unit time may be one that realizes a constant, so-called linear deceleration state regardless of the passage of time, or may decelerate on the turning start side with the passage of time. The ratio (output ratio) is large,
The deceleration ratio (output ratio) may be set to be smaller as the target value is approached, but in any case, the deceleration ratio per unit time of the number of rotations of the hydraulic motor with respect to the traveling crawler inside the turning is set to the outer turning speed. Is set to be larger than the deceleration ratio of the rotation speed of the hydraulic motor to the traveling crawler per unit time.

Next, in step R7, an output value corresponding to the current rotational speed of the right hydraulic motor (right current output value = GR) during the turning is read, and in step R8, the left current value corresponding to the rotational speed of the left hydraulic motor is read. Output value = GL is read.
In step R9, the right current output value (GR) is changed to the right target value (M
R), it is determined whether GR> MR or not (y
es), in step R10, the right deceleration control is executed in accordance with the right output ratio ΔVR. When no, the rotational speed of the right hydraulic motor has been decelerated to the target value, so that no further deceleration is performed. (Keep the status quo), Step R
In step 11, it is determined whether the left current output value (GL) is larger than the left target value (ML). When GL> ML (yes), in step R12, according to the left output ratio ΔVL,
Execute left deceleration control. When the determination is no, the rotational speed of the left hydraulic motor is also decelerated to a predetermined target value, so the current state is maintained. After executing Step R12, the process returns to Step R7, and the control after Step R7 is repeated thereafter.

As can be understood from these functional relationships, when the turning radius is small, that is, as the inclination angle θ2 of the operation lever 17 to the right or left is large, the traveling crawler speeds on the left and right sides are further reduced. By doing
It does not impair running stability when making small turns. If the turning direction is opposite to the above, the relationship between the right and left target values of the output signal is reversed.

When the turning direction of the operating lever 17 is switched from left to right or right to left, the turning control in the opposite direction is not performed immediately, but is performed for an appropriate period of time (0 to 5 seconds in the embodiment). The output value of the straight-ahead vehicle speed control is output to ensure safe driving. FIG. 7 shows a second embodiment [turning vehicle speed control ']. As shown in FIG. 7, when the rotation speed V1' of the hydraulic motor at the time of going straight ahead just before turning, the rotation of the hydraulic motor corresponding to the traveling crawler on the outside of turning is shown. The number of rotations of the hydraulic motor corresponding to the traveling crawler inside the turn is reduced to V3 '+. DELTA..beta.V over an appropriate time (T2') while the speed is continuously reduced to V2 '+. DELTA..alpha.V over an appropriate time (T1').
After continuously decelerating to (V3 '+ ΔβV <V2' + ΔαV), ΔT1 ′ (T1 ′> ΔT1 ′) outside the turn
And gradually decelerates to V2 '(pulse-like)
In the same manner, the vehicle decelerates stepwise (pulse-like) to V3 'over .DELTA.T2' (T2 '>. DELTA.T2').

The subroutine of the turning vehicle speed control 'in this case is substantially the same as that described above. In this case, the time required to decelerate the rotational speeds of the left and right hydraulic motors to the respective target values (target arrival time = T1 ′ and ΔT1′T2 ′, ΔT
2 ′) is a predetermined proportional function that is increased when the difference between the output value SP at the time of straight traveling immediately before turning and the right or left target value MR or ML during turning is large, and is shortened when the difference is small. This is used to calculate the target arrival time.

Also, the so-called linear deceleration state in which the deceleration ratio of the continuously decelerating section and the decreasing rate per unit time of each stage of the stepwise decelerating section are constant regardless of the passage of time is realized. May be set such that the deceleration ratio increases at the start of turning with time and decreases as the time approaches the target value. The deceleration ratio of the rotation speed of the hydraulic motor per unit time to the traveling crawler is set to be larger than the deceleration ratio of the rotation speed of the hydraulic motor per unit time to the traveling crawler outside the turning.

When returning from the turning vehicle speed control 'to the straight traveling vehicle speed control, the vehicle speed is maintained at a half of the sum of the vehicle speeds on the inside and outside of the turning for an appropriate period of time, and then set to a predetermined straight traveling vehicle speed.

[Interlining Turning Control (Step Q5)] In this control, if the operating lever 17 is tilted right or left while the interlining turning switch 30 is turned on, so-called interlining turning is executed. In this case, when the operation lever 17 is tilted forward, the interlining turns at the time of forward movement,
If the operation lever 17 is tilted backward, the interlining turning at the time of retreat is executed. For example, when the operation lever 17 is appropriately tilted rightward in the forward tilt state, the right and left hydraulic motors mutually move so that the right traveling crawler 2 on the turning inner diameter side moves backward and the left traveling crawler 2 on the turning outside moves forward. Rotate forward and backward. Conversely, when the vehicle is inclined leftward in the forward inclined state, the left and right hydraulic motors rotate forward and reverse to each other so that the left traveling crawler 2 on the turning inner diameter side moves backward and the right traveling crawler 2 on the turning outside moves forward. .

In this case, both left and right traveling crawlers 2a, 2a
b in opposite directions, and reduce the rotational directions and rotational speeds of the left and right hydraulic motors 13a and 13b, respectively, so that the traveling speed of both traveling crawlers is reduced to approximately １ ／ of the speed when traveling straight. For this purpose, the central control unit 31 sends predetermined output signals to the solenoids 40, 41 of the control valves 14a, 14b.

For example, when the operator presses the interlining turning switch 30 and tilts the operating lever 17 to the left as appropriate to turn the interlining in the left direction, the angle corresponds to the inclination angle of the operating lever 17 at the straight running vehicle speed. While calculating a proportional function f1 (SP) proportional to the output value (SP) of the vehicle speed potentiometer 23, the turning potentiometer 2 corresponding to the inclination angle of the operation lever 17 in the left-right direction.
When the output value (TP) is 6 and a proportional function f4 (TP) proportional to the output TP is calculated and calculated, the proportional function f4 (TP) is used to calculate the right side of the output signal sent to the right control valve 14b corresponding to the outside of the turn. The target value MR = f4 (TP) × f1 (SP), and the left target value M of the output signal sent to the left control valve 14a corresponding to the inside of the turn.
The central control unit 31 calculates and outputs L = −MR.

When the inclination angle of the operation lever 17 to the left and right becomes large, the degree of the deceleration is set to be large.
When the interlining turning switch 30 is changed from ON to OFF, an intermediate speed obtained by adding the vehicle speed when the interlining turning switch 30 is ON to the vehicle speed at the time of OFF and dividing by 2 is appropriately set for an appropriate time (implemented). After the duration is maintained (about 6/10 seconds in the example), control is performed so that the vehicle speed at the time of OFF is obtained.

When the interlining turning switch 30 is turned on and the operating lever 17 is not tilted left and right, the speeds of the left and right traveling crawlers 2 are set to approximately １ ／ of the speed when the vehicle is currently traveling straight. It decelerates greatly until it goes straight. In each of the manual vehicle speed controls, the sub speed change switch 3
With ON of 2, the speed can be reduced, for example, to approximately 速度 of the speed in the case of OFF.

If it is determined in step S1 of FIG. 8 that the answer is yes (the vehicle speed switch 33 is ON), a vehicle speed control subroutine is entered (step S3). FIG.
Indicates a vehicle speed control subroutine. In step P1, it is determined whether or not the output value of the vehicle speed potentiometer 23 has changed (in other words, the turning (tilt) angle of the operation lever 17 in the front-rear direction has changed due to the operation of the worker). Determine.

When it is determined "yes" in step P1, the manual vehicle speed subroutine is executed to prioritize the result of the turning operation (manual) of the operation lever 17 (step P2). If no (no change in the forward / backward rotation (inclination) angle of the operation lever 17) in step P1, it is determined in step P3 whether or not the interlining turning switch 30 is turned on. Swivel switch 30
Is ON), the later-described interlining turning vehicle speed control (step P4) is executed, and no (the interlining turning switch 30 is turned OFF).
In the case of FF), in the next step P5, it is determined whether or not the turning potentiometer 26 is within the straight traveling zone (the left-right turning (tilt) angle (θ2) of the operation lever 17 is within a predetermined small range), and yes. In the case of (in the straight traveling zone), the later-described straight traveling vehicle speed control (step P6) is executed, and no
If it is (out of the straight traveling zone range), the later-described turning vehicle speed control (step P7) is executed.

[Straight Vehicle Speed Control (Step P6)] In this state, the interlining turning switch 30 is OFF.
The current vehicle speed at which the operator releases his / her hand from the operation lever 17 is maintained. In the vehicle speed control, the output (load) of the engine 11 is detected by an electronic governor (not shown), and if the load has a surplus, the fuel supply amount (injection amount) is increased and a predetermined output (for example, The engine speed is also increased to achieve the rated output. As a result, the rotation speeds of the left and right hydraulic pumps and, consequently, the rotation speeds of the respective hydraulic motors are also increased. On the other hand, when a large load is applied to the engine, the vehicle speed control is performed such that the engine speed is reduced to a predetermined load (output) and the speed of each of the hydraulic motors is reduced.

In this case, since the straight traveling control is performed, the left and right hydraulic motors 13a, 13b are driven so that the left and right traveling crawlers 2a, 2b are driven in the same direction and the traveling speeds of the both crawlers coincide.
The central control device 31 drives the solenoids 4 of the control valves 14a and 14b in order to drive
Output signals having predetermined target values are sent to 0 and 41, respectively.

The target value is determined from the current engine load state, and a function f6 (engine load) related to the engine load is stored in a map or function set in a storage unit in the central control unit 31 in advance. The central control device selects the right target value MR = f6 (current engine load) of the output signal selected and sent to the right control valve 14b and the left target value ML = MR of the output signal sent to the left control valve 14a. Calculation and output are performed at 31.

[Turning Vehicle Speed Control (Step P7)] In this control, the operator makes a right turn when the operator inclines the operation lever 17 to the right, and makes a left turn when he inclines the operation lever 17 to the left. And
The speed at the time of turning is set so as to be reduced to about 1/2 of the current vehicle speed (a vehicle speed that optimizes the engine load) forward speed V3 or the like. That is, both the left and right traveling crawlers 2a and 2b are driven in the same direction, and the traveling speed of the traveling crawler outside the turning is approximately 1/2 of the speed when traveling straight.
At the same time as the speed of the traveling crawler inside the turning is further reduced than the speed outside the turning,
The central control unit 31 controls the control valves 14a, 14b to reduce the rotational speeds of the left and right hydraulic motors 13a, 13b, respectively.
The output signal having a predetermined target value is sent to each of the solenoids 40 and 41.

In this case, a function f6 (current engine load) related to the current engine load is calculated, and the output value (TP) of the turning potentiometer 26 corresponding to the inclination angle of the operation lever 17 in the left-right direction is calculated. , This output T
The proportional functions f7 (TP) and f8 (TP) proportional to P are obtained by calculation, and the right target value MR = f7 (TP) of the output signal sent to the right control valve 14b corresponding to the outside of the turn is calculated by these proportional functions.
The central control unit 31 calculates and outputs × f6 and the left target value ML = MR × f8 (TP) of the output signal sent to the left control valve 14a corresponding to the inside of the turn.

The proportional function f8 (TP) is set to further reduce the speed inside the turn than the speed outside the turn. When the turning direction of the operating lever 17 is changed from left to right or right to left, the turning control in the opposite direction is not immediately executed, but the vehicle speed control is performed for an appropriate time (0, 5 seconds in the embodiment) once. Output value of
The safety of the maneuver is aimed at.

[Interlining Turn Control (Step P4)] In this control, if the operation lever 17 is tilted right or left while the interlining turning switch 30 is turned on, so-called interlining turning is executed. For example, when the operator presses the interlining turning switch 30 and tilts the operation lever 17 to the left side as appropriate to turn the interlining in the left direction, the function f6 related to the engine load in the straight traveling state is calculated. When the output value (TP) of the turning potentiometer 26 corresponding to the inclination angle of the operating lever 17 in the left-right direction is obtained, a proportional function f9 (TP) proportional to the output TP is calculated and obtained. Right target value MR of the output signal sent to the right control valve 14b corresponding to
(TP) and the left target value ML = −MR of the output signal to be sent to the left control valve 14a corresponding to the inside of the turn, by the central controller 31.
Is calculated and output.

As a result, the central control unit 31 sends the control valve 1
A predetermined output signal is sent to each of the solenoids 40 and 41 of 4a and 14b, and the right and left hydraulic motors mutually move so that the right traveling crawler 2 on the turning inner diameter side moves backward and the left traveling crawler 2 on the turning outside moves forward. The left and right hydraulic motors 13a, 13a rotate forward and backward, and reduce the traveling speed of both traveling crawlers to approximately one-fourth of the speed at the time of straight traveling.
The rotation direction and the number of rotations of b are reduced.

It is preferable to set the function so as to increase the degree of deceleration when the inclination angle of the operation lever 17 to the left and right increases. When the interlining turning switch 30 is changed from ON to OFF, an intermediate speed obtained by adding the vehicle speed when the interlining turning switch 30 is ON to the vehicle speed at the time of OFF and dividing by 2 is appropriately set (in the embodiment, for example). After that, control is performed so that the vehicle speed at the time of OFF is maintained.

In each of the above controls, when the sub-transmission switch 32 is turned on, for example, the speed can be reduced to approximately half of the speed when the sub-transmission switch 32 is turned off. Note that the automatic steering switch 34 is
If N, the left culm sensors 36R, 36 provided on the weeds on the left and right sides of the front end of the harvesting pretreatment device 4 of the combine 1
L and the right culm sensor 37 detect the distance to the cultivated culm row in the field scene, and perform cutting and threshing while steering along the culm row. A flowchart of this automatic steering is shown in FIG.

In this case, the steering also sends output signals having predetermined target values to the solenoids 40, 41 of the control valves 14a, 14b from the central control device 31, and the left and right hydraulic motors 1
This is performed by changing the rotation speed of each of the left and right traveling crawlers 2a and 2b by changing the rotation speed of each of the left and right traveling crawlers 2a and 2b. In this case, when the operating lever 17 is tilted backward (retracting zone), when the operating lever is tilted left and right to turn (turning zone), or the interlining turning switch 30 is turned on.
In the case of, the steering control is released.

Table 1 shows vertical cutting in steering control.
The steering operation of the traveling body by the detection of the right cereal culm sensor 37, the left inner culm sensor 36R, and the left outer culm sensor 36L during each operation of the side cutting is shown.

[0063]

[Table 1]

In Table 1, the zone history refers to the detection result immediately before the latest detection result when the zone detection by the right culm sensor 37 is executed at appropriate time intervals. In the vertical mowing state, the place where the zone history is marked (─) means that the operation is determined ignoring the result of the zone history, and the place marked with (*) in the left culm sensor detection result is either ON or OFF. It means that there may be.

Further, when both the left inner grain culm sensor 36R and the left outer grain culm sensor 36L are ON, the left epiphyte is proceeding so as to split the planted grain culm, Do not turn. In the side-cutting state,
When the zone history is any of 0,1,2,3 and the latest detection result of the right culm sensor 37 is "3", that is, the zone changes from 0,1,2,3 to 3. Occasionally, while the planted culm is located far to the right of the right weed body, the traveling aircraft is moving away from the planted culm at the right end even from the zone history, so the traveling aircraft is turned right. Thus, the harvesting of cereals by the pre-cutting device 4 is increased, and when the zone history is either 0 or 1 and the detection result of the latest right cereal culm sensor 37 is "1", When the zone changes from 0,1 to 1, the planted culm is located close to the right side of the right weed plant, while the traveling aircraft approaches the rightmost planted culm at the right end, considering the zone history. Therefore, the traveling body is turned to the left so that there is no remaining mowing.

When the zone history changes from 0,1,2 to 2, and when the zone history changes from 0 to 0, the vehicle does not turn unnecessarily as straight ahead. In other zone histories, the previous operating state is continued.

[Brief description of the drawings]

FIG. 1 is a plan view of a combine.

FIG. 2 is a side view of the combine.

FIG. 3 is a schematic diagram of a drive transmission system of a traveling crawler.

FIG. 4 is a perspective view of an operation lever.

FIG. 5 is a block diagram of a control circuit.

FIG. 6 is a diagram showing a change in the rotational speed of a hydraulic motor in a first embodiment of turning vehicle speed control.

FIG. 7 is a diagram showing a change in the rotational speed of a hydraulic motor in turning vehicle speed control;

FIG. 8 is a main flowchart.

FIG. 9 is a flowchart of a manual vehicle speed control subroutine.

FIG. 10 is a flowchart of a turning vehicle speed control subroutine.

FIG. 11 is a flowchart of a vehicle speed control subroutine.

FIG. 12 is a flowchart of an automatic steering control subroutine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine body 2a, 2b traveling crawler 3 Threshing device 4 Harvesting pre-processing device 11 Engine 12a, 12b Hydraulic pump 13a, 13b Hydraulic motor 14a, 14b Control valve 17 Operating lever 23 Vehicle speed potentiometer 26 Rotating potentiometer 30 Core turning switch 31 Central control apparatus.

Claims (2)

(57) [Claims] 1. A power transmission system comprising a pair of left and right traveling crawlers of a traveling work machine, each of which is separately driven by right and left hydraulic driving means including a hydraulic pump and a hydraulic motor;
In a traveling work machine comprising control means for controlling the number of revolutions of the left and right hydraulic motors, the control means operates the steering operation tool during a turning operation.
Control of the number of rotations of the hydraulic motor outside the swing
Output turning target value and rotation speed of hydraulic motor inside the turning
With the turning target value of the control output for
Rotate the rotation speed of both the left and right hydraulic motors from the target value when going straight
Calculates the target arrival time required to decelerate to the hour target value
And, than deceleration rate per unit of rotational speed times the turn-locus outer side of the hydraulic motor, in large state the deceleration rate per unit rotational speed of the inner side of the turning hydraulic motor time, each said eye
A time required to reach the target, and gradually reducing the rotational speeds of the respective hydraulic motors for the left and right traveling crawlers so as to reach the target value at the time of turning. Control device. 2. The control device according to claim 1, wherein, during the turning operation , the rotational speeds of the hydraulic motors on the outside and inside of the turn are set to the target values when the vehicle is traveling straight.
The target time for reaching the target value at the time of turning to decelerate from the value is controlled so as to make the target inside the turn longer than the target outside the turn. 2. A steering control device in the traveling work machine according to 1.