JP3114346B2 - Agricultural machine work machine control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling various working machines such as a rotary tilling apparatus, a seeder, and a chemical sprayer mounted on an agricultural machine such as a tractor.

[0002]

2. Description of the Related Art Various working machines are mounted at the rear of a tractor, but none of the working machines has a microcomputer.
For example, when connecting a rotary tilling device to a tractor to control the tillage depth or rolling, first, a controller that controls the tractor is installed on the tractor side, and various types are mounted on the rotary side. The sensors are attached to keep the rotary in the desired position.

Also, in the case of, for example, a medicine sprayer other than a rotary, there is no microcomputer similarly, so that it is necessary to adjust the spray amount of the medicine sprayer separately from the control of the tractor. The operator simultaneously adjusts the spray amount of the sprayer while operating the tractor.

[0004]

In the case of such a conventional apparatus, since the working machine does not have a controller,
When the type or model of the working machine mounted on the tractor changes, the operator or serviceman performs a setting operation to switch the software prepared in advance in the controller of the machine according to the model or model. If the operator neglected this setting operation, the intended performance could not be exhibited.

[0005] In the case of a medicine spreader or the like, there has been no attempt to transmit control information related to the control of the tractor to the sprayer side, so that a controller is mounted on the tractor. However, it was not possible to take advantage of it and make a complex control.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has the following technical means. That is, in a machine in which a work machine is detachably mounted on an agricultural machine to control the work machine, an input port of a setting device or a sensor, an output port to an actuator, and a communication port are provided on the machine side. A controller having an input port for the sensor, an output port to the actuator, and a communication port is also provided on the work machine side, and a communication port for both controllers is provided. And a working machine control device for an agricultural machine, wherein the working machine is connected by a communication line and the operation amount of the actuator on the working machine is set by a setting device on the machine.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. First, the structure will be described.
The front and rear parts of the fuselage are provided with front wheels 2, 2 and rear wheels 3, 3, respectively.
5 is fixedly provided. In the hydraulic cylinder case 5, a single-acting hydraulic cylinder 6 is provided.
Lift arms 7, 7 are pivotally mounted on both left and right sides of the gear 5 so as to be freely rotatable.

Here, the hydraulic cylinder 6 and the lift arms 7, 7 are collectively referred to as a hydraulic lifting mechanism 8. A rotary tillage device 14 having no controller is connected to a rear end of a three-point link mechanism 12 including a top link 10 and lower links 11 and 11 so as to be able to move up and down. 1
5 and 15 are lift arms 7 and 7 and lower links 11 and 1 respectively.
The lift rod 15 on the right side is constituted by a double-acting hydraulic cylinder 15a, and hydraulic oil is supplied and discharged into the hydraulic cylinder 15a by switching a control valve described later. The rotary tilling device 14 is tilted left and right. Numeral 16 designates an inclination sensor mounted on the lateral side of the hydraulic cylinder case 5, which is a tractor-1.
Detects the left-right inclination of. Reference numeral 17 denotes a stroke sensor for detecting the relative amount of rotation between the tractor 1 and the rotary tilling device 14, which is constituted by a linear potentiometer. It is arranged on the lateral side of the hydraulic cylinder 15a. Numeral 20 denotes a hydraulic control lever for position control, and at the turning base of the hydraulic control lever 20, a ground height of a rotary tilling device 14 connected to a rear portion of the tractor 1 is set. A ground height setting device 21 composed of a potentiometer is provided.

On the other hand, a ground height sensor 23 composed of a potentiometer is also provided at the rotation base of the one-side lift arm 7, and the lift arms 7, 7 are located at positions set by the hydraulic operation lever 20. It is configured to rotate and stop at the set position. In the drawing, reference numeral 18 denotes an inclination setting device for setting the inclination of the work machine, and 19 denotes a vehicle speed sensor attached to the lower abdomen of the tractor-1.

Next, the structure of the rotary tilling device will be briefly described. The rotary tilling device 14 comprises a tilling portion 34, a main cover 35 covering the upper portion of the tilling portion 34, and a rear portion of the main cover 35. And a rear cover 36 pivotally mounted on the rear cover.
6, the lower end of the main cover 35 is slid in contact with the ground to even out the plowed soil surface, and the rear end of the main cover 35 has a rear cover.
A tillage depth sensor 37 for detecting the rotation angle of 36 is provided.

FIG. 2 is a block diagram showing a control system, and includes a setting device 21 for setting the height of the rotary tillage device 14 above ground.
Tillage setting device 22 for setting tillage depth, rotary tillage device 14
The inclination setting device 18 for setting the right and left inclination angles, the ground height sensor 23, the tillage depth sensor 37, the stroke sensor 17, the inclination sensor 16, and the vehicle speed sensor 19 are connected to a controller 25 comprising a microcomputer.

On the output side of the controller 25, a lift proportional control valve 4 for raising and lowering the lift arms 7, 7 is provided.
2, a lowering proportional control valve 43, a horizontal control valve 44 for extending the horizontal control hydraulic cylinder 15a, and a horizontal control valve 45 for shortening the horizontal control hydraulic cylinder 15a. 46 is a controller 25
Clock port 47 for outputting a synchronization signal, transmission port 48 for sending a command to an external device or an external controller, and reception of a signal from an external device or an external controller. A receiving port 49 is provided. In the above example, since no controller is mounted on the rotary tilling device 14, the rotary tilling device 14 is controlled to be lifted or lowered or horizontally controlled by the controller 25 on the machine side. .

FIG. 3 shows a state in which a chemical sprayer 50 is mounted in place of the rotary tilling device 14. The medicine sprayer 50 has a flow rate sensor 52 for detecting a flow rate, an opening degree sensor 53 for detecting an opening degree of an opening / closing valve, a medicine remaining amount sensor 54 for detecting a remaining amount of medicine, and a motor for controlling the opening / closing valve. TA5
7 are provided. The medicine sprayer 50 is provided with a controller 58 for adjusting the opening degree of the on-off valve, in other words, for controlling the spray amount. FIG. 4 simply shows the structure of the controller 58.

FIG. 5 is a communication data format for performing communication from the controller 25 on the side of the apparatus to the controller 58 on the side of the medicine sprayer 50, and FIG. This shows the contents of the communication data format when communication is performed from the side to the controller 25 of the main unit.
In this embodiment, an 8-bit CPU is used for both the controllers 25 and 58, and the start frame (0FF) is used.
The type and amount of information transmitted between H) and the stop frame (0FFH) are set in advance. In this embodiment, a ground speed, a tillage depth set value, and a ground height detection value indicating the height of the lift arm 7 are transmitted to the controller 58 of the work machine as 1-byte information as control information on the machine side. Is done.
On the other hand, the type of the working machine (for example, 8
1H indicates a medicine sprayer, 91H indicates a powder sprayer), 1-byte data relating to the medicine flow rate and the remaining amount of the medicine are transmitted to the apparatus.

FIG. 7 shows a control flow of the medicine sprayer 50 as a working machine. First, the data value of each sensor is read (step S1), and then the data sent from the tractor-machine is referred to. That is, the data transmitted from the controller 25 of the tractor machine via the transmission port 48 is received by the controller 58 of the working machine, and the ground speed of the tractor 1 is referred to. Is performed (step S2). Then, for example, a spraying rate per unit area is calculated from the referenced ground speed and the detected medicine flow rate (step S3), and a comparison with a preset spraying rate is performed (step S4). When the application rate is smaller than the set value, the opening of the on-off valve is increased (step S).
9) Conversely, when the value is larger than the set value, the opening degree is reduced (step S8).

In this embodiment, the chemical sprayer 50 has been described as an example. However, the present invention can be applied to various working machines such as a seeder having a controller and a fertilizer sprayer. It is not limited to the example of the sprayer. Although illustration is omitted, if the cultivation depth setting device 22 that is provided as standard equipment in the tractor-1 and is used in place of various setting devices of other working machines can be substituted, the number of parts can be reduced and the cost can be reduced. It is convenient because it is suppressed. That is, instead of providing a setting device for each work machine, the tillage depth setting device 22 provided on the tractor side is used as a drug spraying rate setting device in the drug sprayer 50, for example, and in the case of a seeder. By using this as a seeding amount setting device, a setting device for each work machine is not required, so that it can be configured at a low cost.

Next, FIGS. 8 to 10 will be briefly described. FIG. 8 shows a general control block of an agricultural machine such as a tractor. In recent years, agricultural machines have rewritten various types of data and used them for the next work, and EEPR has been proposed to enable this.
There is OM. The EEPROM does not lose its stored contents even when the controller power is turned off. However, the number of times of rewriting is limited, and FIGS. 9 and 10 monitor the number of times of rewriting due to such a problem. When it reaches, the writing area is changed. In this example,
The area of A0 is used until the number of times of writing reaches the specified number of times. After the number of times of writing reaches the specified number of times, the counter value is once set to zero, and the writing is performed by moving to the area of A1. Hereinafter, this operation is sequentially repeated to update the storage area.

[0018]

As described above, the present invention relates to an apparatus for controlling a work machine by detachably mounting a work machine on an agricultural machine. In this machine, a setting device and an input port of a sensor and an actuator are provided. A controller having an output port to the machine and a communication port is installed, and the input port of the sensor is also provided on the work machine side.
Since a controller having an output port to the actuator and an communication port and a communication port is provided, and the communication ports of both controllers are connected by a communication line, for example, such as a tractor By using the control information detected by the controller of the agricultural machine as it is, various working machines connected thereto can be controlled very finely, and the control system of the working machine is improved.

Further, since the operation amount of the actuator on the working machine side is set by the setting device on the machine side, the number of parts can be reduced and the cost can be reduced, which is convenient.

[Brief description of the drawings]

FIG. 1 is a side view when a rotary tilling device is attached to a tractor.

FIG. 2 is a block diagram of a control system.

FIG. 3 is a side view of the medicine sprayer.

FIG. 4 is a view for explaining a controller of the medicine spraying machine.

FIG. 5 is a diagram for explaining the contents of a format of communication data.

FIG. 6 is a diagram for explaining the contents of a format of communication data.

FIG. 7 is a flowchart.

FIG. 8 is a block diagram.

FIG. 9 is a diagram illustrating a storage area of an EEPROM.

FIG. 10 is a flowchart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tractor 2 Front wheel 3 Rear wheel 4 Transmission case 6 Hydraulic cylinder 7 Lift arm 8 Hydraulic elevating mechanism 14 Rotary tillage device 21 Height setting device for ground 22 Setting device for height of soil 23 Sensor for height of ground 25 Controller 37 Tillage depth sensor 42 Ascent proportional control valve 43 Ascent proportional control valve 46 Communication port 47 Clock port 48 Transmission port 49 Reception port

Claims (1)

(57) [Claims] 1. A controls the working machine equipped with agricultural machinery removably working machine setter or sensor to the camera side
A controller having an input port of the sensor , an output port to the actuator, and a communication port is mounted.
Input port of sensor and output port to actuator
And a controller having a communication port and connecting the communication ports of both controllers with a communication line.
The working amount of the actuator on the work machine is set to the setting device on the machine.
A work machine control device for an agricultural machine, characterized in that it is set by setting .