JP3114182B2 - Body posture control device for mobile agricultural machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a vehicle attitude control device for a mobile agricultural machine, and can be used for a traveling device such as a combine or a seedling plant.

(Conventional technology and problems to be solved by the invention) In the combine work, there is a form in which the harvesting work and threshing work and the like are stabilized by maintaining the vehicle body in a horizontal horizontal position and a front and rear horizontal position. When controlling the horizontal attitude when these inclination angles are equal to or more than a predetermined value while detecting the left-right inclination angle or the front-back inclination angle of the vehicle body by the provided inclination sensor, since the inclination fluctuation of the vehicle body is large, Hunting is easy to occur. The present invention is intended to reduce the swing caused by control hunting of a vehicle body.

(Means for Solving the Problems) The present invention calculates a moving average for averaging the read values of the vehicle body inclination detected by the inclination sensor at predetermined intervals, and calculates the moving average from the dead zone of the inclination sensor for a predetermined time or more. In a mobile agricultural machine that performs horizontal control output for controlling the vehicle body to a horizontal posture by moving the vehicle, even if the moving average deviates from the dead zone of the tilt sensor, the read value detected by the tilt sensor detects the dead zone. Alternatively, the horizontal control output is stopped when the read value detected by the inclination sensor deviates to a side opposite to the moving average with respect to the dead zone, to thereby provide a configuration of the vehicle body attitude control device.

(Operation) When the vehicle body leans left or right or back and forth due to the inclination of the running ground or the like while the vehicle is running, the inclination sensor detects the inclination and averages the actual read values at predetermined intervals to calculate a moving average. I do. When the average value of the moving average deviates from the dead zone of the tilt sensor for a certain period of time, horizontal control output is performed so that the vehicle body is in a left-right or front-rear horizontal posture.

Even if the moving average value is deviated from the dead zone of the tilt sensor, when the actual detection value detected by the tilt sensor detects the dead zone, the vehicle body tilts less and the vehicle is in a substantially horizontal posture. No control output is performed. Also, when the actual read value detected by the tilt sensor is deviated from the dead zone on the side opposite to the moving average, the horizontal control output is not performed.

(Effects of the Invention) As described above, the output of the vehicle body horizontal control calculates the moving average value that averages the read values detected by the inclination sensor at predetermined intervals, and the moving average value is calculated over a certain period of time. This is performed when the vehicle is deviated from the dead zone, and the horizontal control output can be performed while detecting an accurate change in inclination without being affected by local deviation.

Also, even if the moving average value deviates from the dead zone of the tilt sensor, when the actual read value of the tilt sensor is in the dead zone, In this case, since the horizontal control output is stopped and performed by the actual read value before the moving average value is calculated, there is no delay in response as in the case of stopping by the moving average value.

Further, the control output is performed only when the moving average deviates from the dead zone for a certain period of time, and is not directly related to the actual read value. Even if the read value sometimes enters the dead zone and stops the control output momentarily, the control valve or the like hardly responds, the operation continues, and the hunting phenomenon of the horizontal control can be prevented.

(Example) On the figure side, a chassis 1 supporting and mounting a combine harvester, a threshing device, a steering device, and the like is tilted forward and downward with respect to a vehicle body 2 around a support shaft 3 at a front end from a front-rear average posture. The front and rear horizontal control can be performed by moving the robot back and forth.
A pitching cylinder 4 for this purpose is provided between a link arm 5 pivotally supported at the rear of the chassis 1 and the chassis 1 so as to be able to control the expansion and contraction. The vertical interval of the rear end portion can be changed.

A pair of left and right crawler frames 8 on which the rolling wheels 6 are disposed and around which the crawlers 7 are wound are supported by a pair of front and rear support arms 9 and 10 on both left and right sides of the vehicle body 2. , And the crawler frame 8 and the like, as a four-point link configuration, the left and right crawler frames 8 are vertically moved independently of the vehicle body 2 while maintaining an average state. The support arms 9 and 10 are pivotally supported on the vehicle body 2 by support shafts 3 and 11.
A rolling cylinder 13 is provided between the left and right support arms 10 at the rear and the vehicle body 2. The expansion and contraction of the rolling cylinder 13 causes the support arms 9, 10
Is rotated to move the crawler 7 up and down. A drive transmission case is integrally provided at the front end of the vehicle body 2, and a drive shaft projecting left and right from the drive transmission case
Reference numeral 14 is provided with a driving sprocket 15 to wind around the front end of the crawler 7 and to rotate the crawler 7.

Pitching cylinder 4 and left and right rolling cylinder
The hydraulic circuit 16 includes a hydraulic pump P, a relief valve 1
7, unloading valve 18, pitching valve 19 for expanding and contracting pitching cylinder 4, left and right rolling cylinders
Left and right rolling valves 20 for expanding and contracting 13 are arranged. These pitching valves 19 have front and rear solenoids 22, 23 before and after output from a controller 21 having a microcomputer, and the left and right rolling valves 20 have upper and lower solenoids 24, 25, 26, 27. Thus, the switching control is performed. 28 is a solenoid of the unload valve 18. 29 is an automatic lamp that lights up while automatic control is being performed.

Also, on the input side of the controller 21, an overall up / down switch
30, tilt lever switch 31, threshing clutch switch 32,
Body horizontal switch 33, left and right tilt sensor 34, front and rear tilt sensor 35, left stroke sensor 36, right stroke sensor 37,
And a front-rear stroke sensor 28 and the like.

The overall up / down switch 30 includes left and right upper solenoids 24, 26,
Alternatively, the vehicle height can be changed by raising and lowering the vehicle body 2 with respect to the right and left crawlers 7 with respect to the left and right crawlers 7 by simultaneously turning on the lower solenoids 25 and 27. The tilt lever switch 31 turns the switch on the tilt side by turning the tilt lever of the control device in the left / right and front / rear directions, and switches the rolling valve 20 or the pitching valve 19 to move the vehicle body 2 to this position. When the tilt lever is tilted to the left from the neutral position, the lower left solenoid 25 and the upper right solenoid 26 are simultaneously
When it is turned on, the left rolling cylinder 13 is shortened and the right rolling cylinder 13 is extended, so that the vehicle body 2 is rolled to the lower left side. When the tilt lever is tilted to the right from the neutral position, the lower right solenoid 27 and the lower left solenoid
24 are simultaneously turned on, and the vehicle body 2 is similarly rolled to the lower right side. When the tilting lever is tilted back and forth, the rolling valve 20 remains in the neutral position, the front solenoids 22 and 23 are turned on in front of the pitching valve 19, and the front solenoid 22 tilts the chassis 1 forward and downward. The solenoid 23 operates to incline backward and downward.

The threshing clutch switch 32 is turned on by the vehicle body horizontal switch 33.
At this time, the vehicle body 2 or the chassis 1 is horizontally controlled by turning on the clutch of the threshing device. When the threshing clutch switch 32 is turned on, the left / right tilt sensor 34 or the front / rear tilt sensor 35 Is the body 2 or chassis 1
Of the vehicle body 2 by performing a rolling control or a pitching control when these inclination angles exceed the dead zone.
, Or the front-rear horizontal control of the chassis 1.

By turning this switch ON,
The left and right horizontal control of the vehicle body 2 and the front and rear horizontal control of the chassis 1 are performed. When the vehicle body horizontal switch 33 is turned off, the left and right crawlers 7 become parallel to the left and right with respect to the vehicle body 2, and the chassis 1 becomes parallel to the front and rear with respect to the vehicle body 2. In addition, by the vehicle body horizontal switch 33, the other overall up / down switch 30, the tilt lever switch 31, the threshing clutch switch 32 and the like have priority.

The left-right inclination sensor 34 detects the left-right inclination angle or horizontal of the vehicle body 2, and the front-rear inclination sensor 35 detects the front-rear inclination angle or horizontal of the chassis 1.

The left stroke sensor 36 is provided on the left rolling cylinder 13, the right stroke sensor 37 is provided on the right rolling cylinder 13, and the front-rear stroke sensor 38 is provided on the pitching cylinder 4. Alternatively, the extension amount of the pitching cylinder 4 is detected.

The controller 21 reads these tilt angles A and calculates a moving average value B based on the detection inputs of the left and right tilt sensors 34 and the front and rear tilt sensors 35, and calculates a dead zone N set in advance.
Are compared with each other. The horizontal control process in the controller 21 is performed according to a flow as shown in FIG. As the horizontal control output, the moving average value B is deviated outward from the dead zone N for a certain period of time until the output delay increases by the count of the output delay timer, so that the horizontal control output for horizontally controlling the vehicle body 2 is performed.

When the read value A detects the dead zone N, or when the read value A and the average value B deviate from each other to the dead zone N, the horizontal control output is stopped. Here, the case where the read value A detects the dead zone N is a case where the average value is outside the dead zone N and the vehicle body 2 momentarily returns to the horizontal position side to detect the dead zone N. Also, the case where the read value A is deviated to the opposite side to the average value B is that the vehicle body 2
Greatly swings, for example, when the vehicle body 2 in the state where the left inclination is detected instantaneously detects the right inclination beyond the dead zone N.

When the average value enters the dead zone N, even if the average value temporarily deviates from the dead zone thereafter, the output is not output until the output is delayed by the output delay timer set.

This horizontal control is performed on both sides of the left-right horizontal control and the front-rear horizontal control. However, the present invention can be applied to a configuration in which only one of the front-rear horizontal control and the left-right horizontal control is performed.

The tilt sensor 34 or 35 of the present invention is provided with a delay timer, and as shown in FIG. 6, even if the tilt angle deviates outward from the dead zone N, the tilt sensor 34 does not immediately output the detection result. It may be provided so that the signal is output (ON) when the same detection area is further maintained after a delay of a certain time t.

FIG. 7 shows a control mode in which horizontal control starts a control output based on a moving average value B of the tilt sensor 34 or 35 and stops the control output with a read value A of the tilt sensor. When the average value B does not change over a certain period of time, the control output is stopped based on the average value B instead of the read value of the tilt sensor, and the positioning accuracy of the horizontal control can be improved. . Average value is dead zone N
If the average value is stable for more than a certain time within the dead zone N, the output is stopped. If the average value is stable for more than a certain time outside the dead zone N, either the left or right tilt output is performed. When the average value is not stable for a certain period of time, the signal is output when both the read value and the average value are outside the dead zone.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view, FIG. 2 is a control block diagram, FIG. 3 is a hydraulic circuit diagram, FIG. Waveform diagram,
FIG. 5 is a flowchart of the control, FIG. 6 is an operation diagram of a partially different invention, and FIG. 7 is a control flowchart of a partially different invention. (Explanation of reference numerals) 1 ... chassis, 2 ... body, 4 ... pitching cylinder,
7 Crawler, 13 Rolling cylinder, 19 Pitching valve, 20 Rolling valve, 34 Left / right tilt sensor, 35 Front / back tilt sensor.

Claims (1)

(57) [Claims] A moving average is calculated by averaging a reading value of the vehicle body inclination detected by the inclination sensor at predetermined intervals, and the moving average is deviated from a dead zone of the inclination sensor for a predetermined time or more, thereby moving the vehicle body horizontally. In a mobile agricultural machine that performs horizontal control output to control the attitude, even if the moving average deviates from the dead zone of the tilt sensor, the read value detected by the tilt sensor detects the dead zone, or A vehicle attitude control device, wherein a horizontal control output is stopped when a read value deviates to a side opposite to the moving average with respect to a dead zone.