JP2994950B2 - Rolling control device for planting part in 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 rolling control device for a transplanting part in a transplanting machine such as a riding rice transplanter.

[0002]

2. Description of the Related Art In general,
Some of these seed transplanters perform a rolling control based on the driving of an actuator connected to a rolling detection sensor for a planting portion that is supported to be able to freely roll (left and right tilt) with respect to a traveling machine body. Then
In order to eliminate a deviation between the rolling detection value of the rolling detection sensor and a preset rolling set value, a drive command corresponding to the deviation is output to the actuator. Conventionally, however, a drive command corresponding to the deviation is output at a time. Therefore, overshoot (actuator drive exceeding a target position) based on a delay (time constant) of sensor output and body rolling during actuator drive. ) Occurs, and as a result, there is a problem that the accuracy of the rolling control is significantly reduced due to the so-called hunting that repeats the overshoot. Further, in the case where the planting section is provided with a seedling mounting table which is traversed in synchronization with the planting timing, the acceleration or rolling caused by the lateral feeding of the seedling gantry (assembly play, gear backlash, etc. Although the detected rolling value changes based on the permissible slight rolling), in the related art, the driving command is output based on the detected value change, so that the planting section is in the proper posture. Nevertheless, there is a disadvantage that the actuator is driven uselessly and control accuracy is reduced.

[0003]

SUMMARY OF THE INVENTION The present invention has been conceived in view of the above-mentioned circumstances, and has as its object to provide a rolling control apparatus for an implanted portion in an implanting machine which can eliminate these disadvantages. In a working vehicle that performs a rolling control based on driving of an actuator connected to a rolling detection sensor, a planting portion supported in a freely rotatable manner with respect to the traveling body, the rolling detection value of the rolling detection sensor and A drive control division output unit for dividing and outputting a drive command corresponding to the deviation to a rolling control unit for outputting a drive command to the actuator based on a deviation from a previously set rolling set value; and And a drive command re-evaluation means for re-evaluating the drive command based on the deviation. Further, a seedling mounting table which is laterally fed in synchronization with the planting timing, and which has a planting portion which is supported in a freely rotatable manner with respect to the traveling machine body, can be rolled based on driving of an actuator connected to a rolling detection sensor. In the work vehicle to be controlled, a change amount of the detected rolling value is calculated by a rolling control unit that outputs a drive command to an actuator based on a deviation between the detected rolling value of the rolling detection sensor and a preset rolling set value. A change amount calculating means that determines a change in the detected value based on the lateral movement of the seedling mounting table when the calculated detected value change amount is smaller than a preset change amount, and issues a drive command. And a drive command output restricting means for restricting the output. According to the present invention, with this configuration, the occurrence of hunting is reliably prevented, and the accuracy of the rolling control is significantly improved.
A malfunction caused by the lateral feeding of the seedling mounting table can be reliably prevented.

[0004]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine of a riding rice transplanter, and a planting section 3 is connected to a rear portion of the traveling machine 1 via a lifting link mechanism 2 that operates to raise and lower hydraulic pressure. The planting section 3 is detachably connected to a rear end of the elevating link mechanism 2 and has a boss portion 4a integrally provided at a lower end thereof.
Rolling support shaft 5 rotatably supported on the boss portion 4a via a pair of front and rear bearings 5a, and is integrally connected to the rear end of the rolling support shaft 5, and is provided at both left and right end portions with a seedling table. A working section frame 6 on which a support stay 6a is erected, a planter case 7 fixedly attached to the working section frame 6, a planter arm 8 arranged side by side with the planter case 7, a seedling support stand 6a The seedling table in a forwardly inclined posture is supported at the upper end portion of the base and the upper end portion of the planter case 7 via a slide piece S so as to be reciprocally movable left and right, and is forcibly fed laterally in synchronization with the scraping timing of the planter arm 8. 9. Center and side floats 10, 1 and 1 provided at the center of the bottom of the planter case 7 and at both left and right sides so as to be vertically swingable.
1 and so on. That is, the planting portion 3 is supported by the holder frame 4 connected to the traveling machine body 1 via the lifting link mechanism 2 so as to be freely rotatable via the rolling support shaft 5. Is the same as before.

[0005] Reference numeral 12 denotes the holder frame 4 and the planting portion 3.
(A seedling table 9), an intermediate frame (intermediate member) which is formed integrally with a lower end portion of the intermediate frame 12 is a boss portion 4 a of the holder frame 4. Is rotatably supported by an external fitting. That is, the intermediate frame 4 can be freely rolled relative to the holder frame 4 and the planting portion 3, and the rolling fulcrum coincides with the rolling fulcrum of the planting portion 3. The intermediate frame 4 of the present embodiment includes a frame body 12b in an upright posture and a T-shaped frame portion 12c that projects forward from the upper end of the frame body 12b along the rear side surface of the seedling mounting table 9. It is arranged so as to be located between the seedling mounting support 6a and the seedling mounting 9 in a side view.

[0006] Reference numeral 14 denotes a first rolling ammunition composed of a pair of left and right coil ammunition. The first rolling ammunition 14 is provided between the frame main body 12 b of the intermediate frame 12 and the working section frame 6. It is interposed in a C shape. That is, the overall load of the planting section 3 is balanced based on the elasticity of the first rolling machine 14, but during the planting operation,
Since the planting section 3 attempts to roll in a predetermined direction based on the rotational force of the joint shaft J (which connects the body-side PTO shaft and the working section-side input shaft), the coil bullet on the side that extends during rolling in that direction. By setting a larger urging force on the machine than the coil ammunition on the other side, the working unit posture during the planting operation is maintained in parallel.

Reference numeral 15 denotes a second rolling ammunition composed of a pair of left and right coil ammunition. The second rolling ammunition 15 includes a T-shaped frame portion 12c of the intermediate frame 12 and both ends of the seedling mounting table 9. Is placed in a C-shape between
To balance the eccentric load accompanying the lateral feed of That is, the rollable planting portion 3 is held by the first and second rolling ammunition machines 14 and 15, and the driven rice paddle surface of the planting portion 3 based on the buoyancy of the center float 10 and the side float 11. It is configured to perform a so-called driven rolling control that allows a following action.

On the other hand, reference numeral 16 denotes a motor (actuator) provided with a speed reduction mechanism provided at a side position of the holder frame 4 via a bracket 17, and a pinion gear 16a for outputting a driving force of the motor 16 has a bracket. 1
The intermediate gear 18 rotatably provided on the gear 7 meshes with the rack 19, and the intermediate gear 18 further meshes with a rack 19 projecting sideways from the intermediate frame 12. When the motor 16 is driven, the rack 19 moves left and right with rotation of the intermediate gear 19, and the intermediate frame 12 is forcibly rolled based on the horizontal movement.

Reference numeral 20 denotes a pendulum-type or other rolling detection sensor that is mounted on the rear surface of the intermediate frame 12 via a sensor bracket 20a. The rolling detection value of the rolling detection sensor 20 is controlled by a control unit 21 described later. To be entered. And the control unit 2
In step 1, the motor 16 is driven and controlled so that a rolling detection value of the rolling detection sensor 20 matches a preset rolling set value (horizontal set value or tilt set value), and the intermediate frame 12 is controlled based on the drive control. Is forcedly controlled to be in a constant posture (horizontal control or tilt control). That is, by forcibly controlling the intermediate frame 12 serving as a reference point of the rolling ammunition 14, 15 to a fixed attitude regardless of the body rolling, the control range of the driven rolling control by the rolling ammunition 14, 15 is expanded, Rolling ammunition 14,
The left-right balance is equalized to improve the accuracy of the driven rolling control. In addition, 22L, 22
R is a limit switch for detecting the left and right rolling limit positions of the intermediate frame 12.

Next, the processing procedure of the planting section control (forced rolling control) executed by the control section 21 will be described separately for a basic processing section, a reevaluation processing section, and a change amount processing section. In the basic processing, it is determined whether or not the deviation (absolute value) of the rolling detection value from the rolling set value exceeds the dead zone. If the determination is NO, the drive command output of the motor 16 is stopped. On the other hand, if YES is determined, the rolling direction is determined, and a driving command corresponding to the rolling direction is output. If any of the limit switches 22L, 22R is turned on during motor driving, the driving command is output. Output is stopped immediately. By the way, in the basic processing of this embodiment,
When the motor is stopped, a first dead zone A (motor drive condition value) having a small dead width is used, and when the motor is driven, a second dead zone B (motor stop condition value) having a large dead width is used. That is, when the motor drive is stopped, even if the output of the drive command is stopped based on the comparison between the deviation and the dead zone, the intermediate frame 12 may roll beyond the target position based on the delay of the sensor output. However, by setting the dead zone large in advance by the amount of overshoot based on the delay of the sensor output, the intermediate frame 12 can be stopped accurately at substantially the center of the dead zone, that is, near the target position.

In the re-evaluation process, when the judgment of the deviation is YES, the output time is calculated immediately after that, and a predetermined coefficient K (K <1) is added to the driving time corresponding to the deviation.
Is multiplied to calculate the output time, and the calculated output time is set in a subtraction timer. Further, after the timer is set, a drive command is output based on the basic processing. During the output of the drive command, it is determined whether or not the subtraction timer is 0 and whether the deviation is larger than the dead zone B. It is determined whether or not it is. Then, when any of the judgments change (the timer judgment is YES
Alternatively, the output of the drive command is stopped. However, if the output is stopped based on the timer determination, the output time is again determined based on the deviation because the intermediate frame 12 has not reached the target position. Is executed, the calculated output time is set in a subtraction timer, and the above-described processing is repeated, and the intermediate frame attitude is corrected stepwise based on the repeated processing. That is, the rolling posture of the intermediate frame 12 is corrected step by step while being re-evaluated based on the sequentially changing deviation.
The overshoot of the intermediate frame 12 due to the delay of the sensor output or the rolling of the machine while the motor is being driven is reliably prevented.

In the re-evaluation process, when the output of the driving command is stopped based on the timer judgment, the re-evaluation is immediately executed to output the driving command, but there is a delay in the sensor output. Therefore, immediately after the stop, the corrected rolling angle has not yet been input to the control unit 21. Therefore, if re-evaluation is performed immediately after the stop, an excessive output time is calculated and overshoot may be caused. There is. Therefore, in this embodiment, when the output of the drive command is stopped, a re-evaluation timer corresponding to the delay time of the sensor output is set, and the execution of the re-evaluation is restricted until the re-evaluation timer ends.

In the change amount processing, the rolling detection value is stored in the memory area (No. 0 to No. 11) every predetermined time t, and the stored data (1) is stored based on the data stored in No. 0. No. to No. 11) are calculated, and each difference is summed up at every predetermined time T (t × 10) to calculate the sum of the differences (the amount of change in the detected value within the time T). After calculating the sum of the differences, comparison with a preset change amount is performed. When the difference sum is smaller than the set change amount, the output of the drive command is regulated. That is, since the set change amount is set based on a detected value change that occurs with the lateral feed of the seedling mounting table 9,
If the sum of the differences is smaller than the set change amount, it is determined that the detected value change has occurred based on the lateral feed of the seedling mounting table 9, so that useless motor driving can be prevented. Moreover, in this embodiment, the detection value storage time t is set to 1/10 of the sensor time constant so that the difference sum calculation time T substantially matches the time constant of the sensor output. , It is possible to perform a change amount detection with a small error with the harmony.

In the embodiment of the present invention configured as described above, the control unit 21 outputs a drive command to the motor 16 based on the detection of the rolling detection sensor 20 to forcibly control the intermediate frame 12 to a fixed posture. That is, without outputting a drive command corresponding to the deviation between the rolling detection value and the rolling set value at a time, a drive command of a predetermined ratio is output in a stepwise manner, and the drive command is output to the deviation at each drive command output. The drive command will be reevaluated based on this. Therefore, the rolling attitude of the intermediate frame 12 is corrected stepwise while monitoring the deviation that changes sequentially. Therefore, even if the sensor output is delayed or the body rolls while the motor is driven, the target position is not changed. , The occurrence of an overshooting driving beyond the above can be reliably prevented. As a result, the occurrence of a hunting phenomenon in which the overshooting is repeated can be avoided, and the accuracy of the rolling control can be significantly improved.

Further, when performing the re-evaluation, a re-evaluation timer corresponding to the delay time of the sensor output is set,
Since the execution of the reevaluation is restricted until the end of the reevaluation timer, even if the temporary sensor output is delayed,
There is no inconvenience of calculating an excessive output time and causing an overshoot.

When the amount of change in the detected rolling value is smaller than the set amount of change, it is determined that the detected value has changed based on the lateral feed of the seedling mounting table 9 and the output of the drive command is regulated. Therefore, even if the rolling detection value changes based on the acceleration and the rolling generated due to the lateral feeding of the provisional seedling mounting table 9, no driving command is output, and as a result, the intermediate frame 12 is in the proper posture. In spite of this, it is possible to eliminate all inconveniences such as causing the motor 16 to be driven uselessly and lowering the control accuracy.

Further, when the motor is stopped, the first dead zone A having a small dead zone is used, and when the motor is driven, the second dead zone B having a large dead zone set in advance in consideration of the delay of the sensor output is used. Even if the output of the temporary sensor is delayed when driving is stopped, the intermediate frame 12
Does not roll beyond the target position, and stops accurately at substantially the center of the dead zone, that is, near the target position. As a result, overshoot and hunting can be more reliably prevented.

The present invention is, of course, not limited to the above-described embodiment, and can be practiced, for example, in a system in which the planting section is forcibly controlled by the actuator drive without using an intermediate frame. Needless to say.

[0019]

In summary, since the present invention is configured as described above, the actuator for controlling the rolling of the planting portion is required to determine the difference between the rolling detection value of the rolling detection sensor and the preset rolling set value. Although the drive is performed in response to a corresponding drive command, the drive command is not output at once, but is output separately, and each time a drive command is output, the drive command is output based on the deviation. The drive command will be reevaluated. That is,
Since the rolling posture of the planting section is corrected stepwise while monitoring the sequentially changing deviation, even if a delay occurs in the provisional sensor output or the body rolls while the actuator is driven, the rolling position exceeds the target position. It is possible to effectively prevent the occurrence of overshoot in which the actuator is driven, and as a result, it is possible to avoid the occurrence of a hunting phenomenon in which overshoot is repeated, thereby significantly improving the accuracy of rolling control and the like.

When the amount of change in the rolling detection value is smaller than a preset change amount, it is determined that the detected value change has occurred based on the lateral feed of the seedling mounting table, and the output of the drive command is output. In the case of restricting, even if the rolling detection value changes based on the acceleration or rolling caused by the lateral feeding of the temporary seedling mounting table, it is mistaken as a detection value change due to the body rolling. No drive command is output to the actuator, and therefore,
The inconvenience of driving the actuator in spite of the proper posture of the planting section can be eliminated, and the control accuracy can be further improved.

[Brief description of the drawings]

FIG. 1 is a side view of a riding type rice transplanter.

FIG. 2 is a side view of the planting section.

FIG. 3 is a front view of a main part of the same.

FIG. 4 is a plan view of a main part of the same.

FIG. 5 is a block diagram showing input and output of a control unit.

FIG. 6 is a flowchart showing control of a planting section.

FIG. 7 is an explanatory diagram showing a calculation procedure of a change amount.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 2 Elevating link mechanism 3 Planting part 4 Holder frame 5 Rolling support shaft 6 Working part frame 12 Intermediate frame 14 First rolling elastic machine 15 Second rolling elastic machine 16 Motor 19 Rack 20 Rolling detection sensor 21 Control part

Claims (2)

(57) [Claims] 1. A work vehicle for performing rolling control of an implanted portion supported in a rolling manner with respect to a traveling machine body based on driving of an actuator connected to the rolling detection sensor, wherein the rolling detection sensor detects the rolling. A drive command division output unit that divides and outputs a drive command corresponding to the deviation to a rolling control unit that outputs a drive command to the actuator based on a deviation between the value and a preset rolling set value; and outputs a drive command. And a drive command re-evaluation means for re-evaluating the drive command based on the deviation for each time. 2. A planting portion having a seedling mounting table which is fed laterally in synchronization with planting timing and which is supported in a freely rotatable manner with respect to a traveling machine body, for driving an actuator connected to a rolling detection sensor. In a working vehicle that performs rolling control based on a change in the rolling detection value, a rolling control unit that outputs a drive command to an actuator based on a deviation between a rolling detection value of the rolling detection sensor and a preset rolling set value is provided. A change amount calculating means for calculating the amount; if the calculated detected value change amount is smaller than a preset change amount, it is determined that the detected value change has occurred based on the lateral feed of the seedling mounting table. And a drive command output restricting means for restricting the output of the drive command.