JP2966722B2 - Elevation control of rice transplanter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for connecting a seedling planting device to a rear portion of a traveling machine body via a link mechanism which is vertically moved and oscillated by the operation of a lifting drive means. The present invention relates to a raising and lowering control of a rice transplanter provided with a control means for controlling the operation of the raising and lowering driving means based on a detection value from a sensor float for detecting a fluctuation of a ground pressure with respect to the rice planting machine.

[0002]

2. Description of the Related Art In the above-described raising and lowering control of a rice transplanter, a control means includes a raising and lowering driving means per unit time according to respective detection values from a sensor float detected under a certain reference condition. Storage means for storing a basic operation characteristic in which the operation amount of operation is set, and the control means comprises:
When the variation of the ground pressure with respect to the float is detected by the sensor float due to the grounding of the float, the operation of the lifting / lowering drive means is controlled by the operation amount based on the basic operation characteristic corresponding to the detected value from the sensor float. I have.
However, if the operation of the raising and lowering drive means is controlled by the amount of operation operation based on the basic operation characteristics, the change in the amount of seedling in the seedling planting apparatus, the change in the amount of fertilizer in the fertilizer, or the individual of the raising and lowering drive means It is obtained after the operation of the lifting / lowering driving means based on the basic operating characteristics, due to the difference or the operation error of the lifting / lowering driving means due to a change in the viscosity of the hydraulic oil accompanying a change in the outside air temperature when the lifting / lowering driving means is a hydraulic type. Conventionally, since the detection value from the sensor float and the reference value of the sensor float do not match, the control means conventionally operates the detection value from the sensor float and the reference value of the sensor float after the operation of the lifting / lowering drive means based on the basic operation characteristics. Is configured to perform feedback control for correcting the lifting drive means until the values match.

[0003] Incidentally, by controlling the operation of the lifting and lowering drive means based on the value detected from the sensor float for detecting the fluctuation of the ground pressure with respect to the float, the seedling planting along the undulation of the muddy field in the field during the seedling planting operation. The planting elevating control of the device can be performed, whereby the seedlings can be planted at a stable and constant planting depth on the mud surface of the field.

[0004]

However, as in the above-mentioned prior art, the control means controls the operation error of the lift drive means based on the basic operation characteristics, and causes an error in the operation of the lift drive means each time. If correction is performed by the correction operation of the lifting drive means by feedback control, if the operation error of the lifting drive means is relatively small, the operation time of the lifting drive means required for correction is relatively short. It is possible to satisfactorily correct the planting and raising and lowering control of the seedling planting device by the operation of the raising and lowering drive means without adversely affecting the planting and raising and lowering control. When the operating error of the lifting / lowering drive means, which changes abruptly and occurs each time the operation of the lifting / lowering drive means is controlled based on the basic operation characteristics, appears relatively large In each case, it is necessary to perform a large correction in which the operation time of the lifting drive means required for the correction is relatively long, and the detection value (the ups and downs of the mud surface of the field) from the sensor float that changes every moment is required. The delay in the planting and raising and lowering control of the seedling planting device by the operation of the raising and lowering driving means is caused one after another, and it becomes impossible to plant a good seedling at a suitable planting depth in a field. Had become.

SUMMARY OF THE INVENTION It is an object of the present invention to efficiently correct the operation error of the lifting / lowering drive means so that a good seedling can be planted by the planting apparatus.

[0006]

In order to achieve the above object, according to the first aspect of the present invention, a seedling planting device is connected to a rear portion of a traveling body via a link mechanism which moves up and down by operating a lifting and lowering drive means. In the raising and lowering control of a rice transplanter having control means for controlling the operation of the raising and lowering driving means based on a detection value from a sensor float that detects a variation in ground pressure with respect to a float equipped with the seedling planting device, Storage means for storing, in the control means, basic operating characteristics of the elevation drive means in accordance with the detected value of the sensor float; detection values from the sensor float obtained after operation of the elevation drive means; Comparison means for comparing the reference value of the control means, and correction means for correcting the operation characteristics of the lifting drive means based on the comparison result from the comparison means, wherein the control means And configured to control the operation of the elevating drive means based on the operation characteristics after the positive.

In the second aspect of the invention, the seedling planting device is connected to the rear portion of the traveling body via a link mechanism that moves up and down by the operation of the lifting / lowering driving means, and grounds the float mounted on the seedling planting device. Detecting means for detecting the elevation angle of the link mechanism in the elevation control of the rice transplanter having control means for controlling the operation of the elevation drive means based on a detection value from a sensor float for detecting a change in pressure Storage means for storing, in the control means, basic operating characteristics of the lifting / lowering drive means in accordance with a detection value of the detection means; and a detection value from the detection means obtained after operation of the lifting / lowering drive means. A comparison unit that compares the control value with a reference value of the detection unit; and a correction unit that corrects an operation characteristic of the elevation drive unit based on a comparison result from the comparison unit. Stage is configured to control the operation of the elevating drive means based on the operating characteristics of the corrected.

According to the third aspect of the present invention, the seedling planting device is connected to the rear portion of the traveling body via a link mechanism which is vertically moved and oscillated by the operation of the lifting / lowering driving means, and is grounded to the float mounted on the seedling planting device. Detecting means for detecting the elevation angle of the link mechanism in the elevation control of the rice transplanter having control means for controlling the operation of the elevation drive means based on a detection value from a sensor float for detecting a change in pressure And a first storage means for storing, in the control means, basic operating characteristics of the elevating drive means in accordance with a detection value of the sensor float, and a first storage means for obtaining the sensor float obtained after the operation of the elevating drive means. First comparing means for comparing a detected value with a reference value of the sensor float, and operating characteristics of the lifting drive means based on a comparison result from the first comparing means. First correction means, second storage means for storing basic operation characteristics of the elevation drive means according to the detection value of the detection means, and detection values from the detection means obtained after the operation of the elevation drive means And second reference means for comparing the reference value of the detection means, and a second correction means for correcting the operating characteristics of the lifting drive means based on the comparison result from the second comparison means, the control means Are configured to control the operation of the lifting / lowering drive means based on the corrected operation characteristics.

[0009]

According to the first aspect of the invention, the control means converts the detected value from the sensor float obtained after the operation of the lifting / lowering drive means based on the operation characteristic performed last time and the reference value (control target value) of the sensor float. The correction means calculates a correction coefficient based on the operation error of the elevation drive means which is compared by the comparison means and obtains the operation characteristic (the operation characteristic of the elevation drive means per unit time according to the detection value from the sensor float). The actuation amount itself is corrected in advance, and the next operation control of the elevation drive means is performed based on the corrected operation characteristic, so that the operation control of the elevation drive means based on the previous operation characteristic is generated. Changes in the amount of seedlings in the seedling planting equipment, changes in the amount of fertilizer in the fertilizer application equipment, individual differences in the lifting and lowering drive means, and changes in the viscosity of hydraulic oil due to changes in the outside air temperature. Operating errors becomes those already eliminated in the operation control of the elevation drive means based on the operating characteristics of the next time. For example, even when an operation error of the lifting drive means appears relatively large due to a sudden change in the overall weight of the seedling planting device due to seedling supply or fertilizer supply, etc., the lifting drive means detected by the comparison means. Based on the comparison result between the sensor float detection value obtained after the operation of the sensor float and the reference value of the sensor float, the correcting means operates the lifting / lowering driving means (e.g., up / down movement per unit time according to the detection value from the sensor float). The amount of operation of the drive means) is corrected, and the control means controls the operation of the lifting drive means based on the corrected operation characteristics. The error has already been eliminated in the operation control of the lifting / lowering drive means based on the corrected operation characteristics to be performed from the next time.
As in the above-described prior art, it is not necessary to perform a large correction operation by feedback control in which the operation time of the vertical drive unit required for correction is relatively long each time the operation control of the vertical drive unit based on the basic operation characteristics is performed. In addition, it is possible to prevent a delay in the planting raising and lowering control of the seedling planting device by the operation of the raising and lowering driving means one after another with respect to the detection value from the sensor float that changes from moment to moment (undulation of the muddy surface of the field). Become so.

According to the second aspect of the present invention, the comparison means detects a value detected by the detection means for detecting the elevation angle of the link mechanism obtained after the operation of the elevation drive means, and the reference value (control target value) of the detection means. The correction means corrects the operation characteristics of the lifting drive means based on the comparison result, so that, for example, the seedling planting device is lifted and floated to ground the float, such as when supplying seedlings. Even if you do not let it
It is possible to correct an operation characteristic by detecting an operation error of the lifting / lowering drive means caused by a sudden change in the overall weight of the seedling planting device due to the supply of seedlings, the supply of fertilizer, or the like.
That is, at the stage before the seedling planting operation is performed, it is possible to eliminate an operation error of the lifting drive means caused by a sudden change in the overall weight of the seedling planting apparatus due to the supply of seedlings or the supply of fertilizer. Become.

According to the third aspect of the present invention, before the seedling planting operation is performed, the operation error of the raising and lowering driving means caused by a sudden change in the total weight of the seedling planting device due to the supply of seedlings or the supply of fertilizer is eliminated. In addition, during the seedling planting operation, the operating characteristics of the lifting drive means caused by a sudden change in the overall weight of the seedling planting device due to seedling replenishment or fertilizer replenishment have been eliminated, Based on the detection information from the sensor float that accurately detects the variation of the ground pressure, the operation of the lifting / lowering drive unit can be accurately controlled according to the ups and downs of the muddy surface of the field.

[0012]

Therefore, according to the first aspect of the present invention, the planting elevating control of the seedling planting apparatus without delay with respect to the detection value from the sensor float can be performed, and the height of the seedling planting apparatus with respect to the mud surface of the field can be controlled. Can be kept constant with high accuracy,
Seedlings can be planted at a more stable and constant planting depth on the mud surface of the field. In other words, the planting accuracy can be improved.

According to the second aspect of the present invention, since the planting elevating control of the seedling planting apparatus can be performed without delay from the planting start time to the detection value from the sensor float, the planting mud surface can be controlled from the planting start time. Seedlings can be planted at a more stable and constant planting depth.

According to the third aspect of the present invention, it is possible to perform planting elevating control of the seedling planting apparatus without delay with respect to the detection value from the sensor float from the time of planting start, and to perform the field mud Since the operation of the raising and lowering drive means can be accurately controlled in accordance with the ups and downs of the surface, the seedlings can be stably maintained at a constant planting depth with respect to the mud surface of the field from the start of planting to the end of planting. Can now be planted.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an overall side view of a riding type rice transplanter. The riding type rice transplanter includes a riding type traveling machine body 1 and a hydraulic cylinder 2A constituting a lifting drive means 2 at a rear portion of the traveling type body 1. It is constituted by a seedling planting device 4 that is connected so as to be able to move up and down via a parallel quadruple link mechanism 3 that moves up and down by the operation of an electromagnetic control valve 2B.

As shown in FIG. 2, the seedling planting device 4 includes a feed case 5 to which power is transmitted from a driving part of the traveling machine body 1 and a rectangular frame 6 extending from the feed case 5 to the left and right. A frame-mounted planting transmission case 7 extending in three rows from the square frame 6 to the rear, a pair of left and right planting mechanisms 8 pivotally supported at the rear of each planting transmission case 7, planting It is constituted by a seedling mounting table 9 that reciprocates and moves laterally with a constant stroke with respect to the transmission case 7, a leveling float 10 provided below each planting transmission case 7, and the like.

As shown in FIGS. 2 and 3, at the front of each planting transmission case 7, a float fulcrum pipe 11 spanning across the right and left planting transmission cases 7 has an axis P1.
They are pivotally connected so as to be rotatable around them. A swing arm 12 that rotates integrally with the float fulcrum pipe 11 below each planting transmission case 7 extends rearward from the float fulcrum pipe 11. The float 10 is connected to the swing end of each swing arm 12 via a support shaft 13 so as to be vertically swingable around the axis P2. As shown in FIGS. 3 and 4, the float fulcrum pipe 1
1, an operation lever 14 that is rotatable integrally with the float fulcrum pipe 11 extends toward the traveling machine body 1. On the other hand, the rectangular frame 6 has a locking device 1 that locks and holds the operation lever 14 at an arbitrary position by engaging with the operation lever 14.
5 are provided.

That is, the operation lever 14 is rotated around the axis P1 of the float fulcrum pipe 11 and is locked and held at an arbitrary position by the locking member 15, so that the float 10 can be moved with respect to the planting transmission case 7. The relative height can be changed so that the seedling planting depth can be adjusted according to the hardness of the mud in the field.

As shown in FIGS. 3 and 4, each float 1
0, a center float 1 based on the fluctuation of the contact pressure is provided above a front portion of the center float 10A located at the center.
A potentiometer type float sensor Fs for detecting the vertical swing displacement amount of 0A via the link mechanism 16 is provided. This float sensor Fs has a feed case 5
A pair of upper and lower links 1 supported to be vertically swingable with respect to
7 is fixed to a bracket 18 supported at the tip. Upper link 17 of a pair of upper and lower links 17
Is engaged with a pin 14a extended from the operation lever 14, and the operation of the operation lever 14 changes the relative height of the float 10 with respect to the plantation transmission case 7, so that the plantation transmission case 7, the relative height of the float sensor Fs is also changed. Then, as shown in FIG. 5, the rice transplanter has a detection value detected by the float sensor Fs and a control target value (reference value) set by a potentiometer type setting device 19 provided in the control section of the traveling body 1. The control device 20 including the microcomputer controls the operation of the electromagnetic control valve 2B for switching the flow of the hydraulic oil to the hydraulic cylinder 2A so that the value is equal to the value. The planting height of the plant 4 can be controlled by maintaining the planting height of the plant 4 at the set ground height and keeping the planting depth of the seedlings by the planting device 4 constant.

That is, the center float 10A, the link mechanism 16, and the float sensor Fs constitute a sensor float SF for detecting the height of the planting apparatus 4 above the ground. Further, the control device 20 controls the sensor float SF
It functions as a control means for controlling the operation of the lifting drive means 2 based on the detection value from.

The planting elevating control by the control device 20 will be described in detail. As shown in FIG. 5, the control device 20 includes a sensor float SF detected under a certain reference condition.
(For example, the duty of the pulse current to the solenoid of the electromagnetic control valve 2B set in accordance with the respective detection values from the sensor float SF per unit time according to the respective detection values from the sensor float SF) Storage unit 20A for storing the basic operation characteristics in which the ratio (ratio) is set, the sensor float S set by the setting unit 19, and the detection value from the sensor float SF obtained after the operation of the elevation drive unit 2.
A comparing means 20B for comparing a reference value of F with a comparing means 2
And a correction means 20C for correcting the operation characteristics of the lifting drive means 2 based on the comparison result from the start of the seedling planting operation.
When the sensor float SF detects a change in the contact pressure with respect to the float 10 due to the contact of the sensor float SF, first, the reference value (control target value) of the sensor float SF and the sensor float S
The operation of the raising and lowering drive means 2 is controlled by an operation amount based on the basic operation characteristic corresponding to the detection value from the F to raise and lower the seedling planting apparatus 4 (for example, the duty according to the detection value from the sensor float SF) The ratio of the pulse current is supplied to the solenoid of the electromagnetic control valve 2B, and the seedling planting apparatus 4 is moved up and down by the amount of expansion and contraction of the hydraulic cylinder 2A obtained when the electromagnetic control valve 2B is operated. Then, the detected value from the sensor float SF obtained after the operation is compared with the reference value of the sensor float SF set by the setting device 19 by the comparing means 20B, and based on the comparison result, the operation error of the elevation drive means 2 is determined. When detected, the correction means 2 is set based on the operation error.
The basic operating characteristics are corrected by calculating a correction coefficient based on 0C (for example, by multiplying the duty ratio of the pulse current for the solenoid of the electromagnetic control valve 2B set according to each detection value from the sensor float SF by the correction coefficient. Correct the duty ratio of the pulse current). Next, float 1
When a change in the ground pressure with respect to 0 is detected by the sensor float SF, the elevation drive means 2 uses an operation amount (for example, a corrected duty ratio) based on a corrected operation characteristic corresponding to a detection value from the sensor float SF. Control the operation of
Thereafter, when an operation error of the lifting / lowering driving means 2 is detected in the operation control of the lifting / lowering driving means 2 based on the corrected operating characteristics before the seedling planting operation is completed, the operating characteristics are corrected each time. And the operation control of the elevation drive means 2 is performed based on the newly corrected operation characteristic. That is, each time an operation error of the elevation drive unit 2 is detected, the operation characteristic itself is corrected, and the operation control of the elevation drive unit 2 is performed based on the corrected operation characteristic. The operation error is eliminated.

[Other Embodiments] Other embodiments of the present invention will be listed below. The rice transplanter may be, for example, any of four-row, five-row, six-row, and eight-row. The control means 20 may be configured to perform the correction operation of the lifting drive means by feedback control at the same time as correcting the operation characteristics. In the above embodiment, the sensor float SF serving as a criterion for detecting an operation error of the lifting / lowering driving means 2 is described.
Has been described using the setting device 19 to set the reference value of, for example, a mud hardness detection sensor for detecting the hardness of the field mud, and the sensor float SF based on the detection value from the mud hardness detection sensor. If the configuration is such that the reference value of the sensor float SF can be automatically set, the elevation driving means 2 is set based on the automatically set reference value of the sensor float SF.
May be detected. As shown in FIG. 7, a detecting means SL for detecting the elevation angle of the link mechanism 3 is provided.
A storage means 20D for storing basic operating characteristics of the lifting / lowering driving means 2 in accordance with the detection value of the detection means SL; a detection value from the detection means SL obtained after the operation of the lifting / lowering driving means 2; And a correction unit 20F for correcting the operation characteristic of the lifting / lowering driving unit 2 based on the comparison result from the comparison unit 20E. If an operation error is detected, the correction means 20F
The operation characteristic of the lift drive unit 2 may be corrected based on the comparison result from E, and the control unit 20 may control the operation of the lift drive unit 2 based on the corrected operation characteristic. As shown in FIG. 8, a detecting means SL for detecting the elevation angle of the link mechanism 3 is provided.
First storage means 20A for storing the basic operation characteristics of the lifting / lowering driving means 2 in accordance with the detection value of the sensor float SF, the detection value from the sensor float SF obtained after the operation of the lifting / lowering driving means 2, and the sensor float SF The first comparison means 20B compares the detected value of the detection means SL with the first comparison means 20B for comparing the operation characteristics of the lifting drive means 2 based on the comparison result from the first comparison means 20B. Second storage means 2 for storing the basic operation characteristics of the corresponding elevation drive means 2
0D and the detection means S obtained after the operation of the lifting drive means 2
L and a reference value of the detecting means SL, and a second correcting means 20F for correcting the operating characteristics of the lifting drive means 2 based on the comparison result from the second comparing means 20E. When the operation error of the lifting / lowering driving means 2 is detected based on the comparison result from the first comparing means 20E, the first correcting means 20F causes the lifting / lowering driving means based on the comparison result from the first comparing means 20E. When the operation error of the lifting / lowering drive unit 2 is detected based on the comparison result from the second comparison unit 20E, the second correction unit 20F outputs the comparison result from the second comparison unit 20E. The operating characteristics of the lifting drive means 2 are corrected based on the
May be configured to control the operation of the lifting drive means 2 based on one or both of the corrected operating characteristics.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is an overall side view of a riding rice transplanter.

FIG. 2 is a plan view of the seedling planting apparatus.

FIG. 3 is a cross-sectional side view of a lower part of a seedling planting device showing a configuration of a sensor float.

FIG. 4 is a front view of a lower part of the seedling planting apparatus showing a configuration of a sensor float.

FIG. 5 is a block diagram showing a control configuration.

FIG. 6 is a block diagram showing a control configuration in another embodiment.

FIG. 7 is a block diagram showing a control configuration according to another embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 traveling body 2 elevating drive means 3 link mechanism 4 seedling planting device 10 float 20 control means 20A storage means (first storage means) 20B comparison means (first comparison means) 20C correction means (first correction means) 20D storage means (Second storage unit) 20E comparison unit (second comparison unit) 20F correction unit (second correction unit) SF sensor float SL detection unit

Claims (3)

(57) [Claims] 1. A seedling planting device (4) is connected to a rear portion of a traveling machine body (1) via a link mechanism (3) that moves up and down and swings by the operation of a lifting / lowering driving means (2). Control means (20) for controlling the operation of said lifting drive means (2) based on a detection value from a sensor float (SF) for detecting a change in ground pressure with respect to a float (10) provided in the device (4); A lift control of a rice transplanter, comprising: a sensor float (SF) provided in the control means (20).
Storage means (20A) for storing basic operating characteristics of the lifting / lowering driving means (2) in accordance with the detected value of (f), and the sensor float (SF) obtained after the operation of the lifting / lowering driving means (2)
Comparing means (20B) for comparing the detected value from the sensor with a reference value of the sensor float (SF);
The lifting drive means (2) based on the comparison result from B)
Correction means (20C) for correcting the operation characteristics of the rice transplanter, wherein the control means (20) controls the operation of the elevation drive means (2) based on the corrected operation characteristics. Lifting control. 2. A seedling planting device (4) is connected to a rear portion of the traveling machine body (1) via a link mechanism (3) which is vertically moved and oscillated by the operation of a vertically moving drive means (2). Control means (20) for controlling the operation of said lifting drive means (2) based on a detection value from a sensor float (SF) for detecting a change in ground pressure with respect to a float (10) provided in the device (4); A lifting / lowering control of a rice transplanter comprising: detecting means (SL) for detecting a vertical swing angle of the link mechanism (3);
Storage means (20) for storing basic operation characteristics of the elevation drive means (2) according to the detection value of the detection means (SL).
D), a detection value from the detection means (SL) obtained after the operation of the elevation drive means (2), and the detection means (S
L) a comparing means (20E) for comparing with a reference value; and a correcting means (20) for correcting the operation characteristic of the elevation drive means (2) based on the comparison result from the comparing means (20E).
F), wherein the control means (20) controls the operation of the lifting drive means (2) based on the corrected operation characteristics. 3. A seedling planting device (4) is connected to a rear portion of the traveling machine body (1) via a link mechanism (3) which is vertically moved and oscillated by the operation of a lifting / lowering drive means (2). Control means (20) for controlling the operation of said lifting drive means (2) based on a detection value from a sensor float (SF) for detecting a change in ground pressure with respect to a float (10) provided in the device (4); A lifting / lowering control of a rice transplanter comprising: detecting means (SL) for detecting a vertical swing angle of the link mechanism (3);
First storage means (20A) for storing basic operation characteristics of the elevation drive means (2) in accordance with the detected value of the sensor float (SF), and the first storage means (20A) obtained after activation of the elevation drive means (2). First comparing means (20B) for comparing a detection value from the sensor float (SF) with a reference value of the sensor float (SF), and the lifting / lowering based on a comparison result from the first comparing means (20B). First correcting means (20C) for correcting the operating characteristics of the driving means (2), and second storage means for storing basic operating characteristics of the elevation driving means (2) according to the detection value of the detecting means (SL) (20D) and a second comparing means (20E) for comparing a detected value from the detecting means (SL) obtained after the operation of the lifting / lowering driving means (2) with a reference value of the detecting means (SL). From the second comparing means (20E) Second correcting means for correcting the operating characteristics of the lift driving means (2) based on the comparison result (20
F), wherein the control means (20) controls the operation of the lifting drive means (2) based on the corrected operating characteristics.