JP3541150B2 - Work vehicle lift control device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a lifting / lowering operation means for raising / lowering a working device which can be raised / lowered relative to a traveling machine body, and a ground surface which outputs a detection value of a ground height of the working device every time a set time elapses or every time the vehicle travels a set distance. A work comprising: a height detecting means; and a control means for controlling the elevating operation means based on the detection information of the ground height detecting means so that the ground height of the working device becomes a target ground height. The present invention relates to a vehicle lift control device.
[0002]
[Prior art]
Conventionally, in the lifting / lowering control device for a working vehicle having the above-described configuration, the working height of the working device is configured to be detected by using an ultrasonic ground height sensor as the ground height detecting means. There has been a configuration in which the elevation operation means is controlled such that the height of the device above the ground is equal to the target height above the ground. In addition, the above-mentioned ultrasonic ground height sensor is configured to include an ultrasonic transmitter and an ultrasonic receiver, and transmits ultrasonic waves from the ultrasonic transmitter, and the ultrasonic waves are transmitted to the ground. Based on the elapsed time until the reflected wave is received by the ultrasonic receiver, the distance to the ground, that is, the height of the ground is detected, such an ultrasonic sensor is set time The detection value is output every time (for example, several tens of msec) elapses.
Then, when there is a deviation between the ground height of the working device and the target ground height, the lifting / lowering operation means is started to raise and lower the working device. Using the detected value of the detected ground height as feedback information, that is, while detecting the actual ground height of the working device, the detected value of the ground height is used as the target ground height. The lifting operation means is feedback-controlled so as to be at a height (first prior art).
[0003]
Further, as a configuration different from the configuration of the first prior art, for example, there is a configuration disclosed in JP-A-8-37865.
In other words, a working device (cutting processing unit) that can move up and down with respect to a traveling body of a combine, which is an example of a work vehicle, is configured to be able to move up and down with a hydraulic cylinder as a lifting and lowering operation means and has an ultrasonic sensor. The configuration for controlling the operation of the hydraulic cylinder so that the ground height of the working device detected by the configured ground height detecting means is equal to the target ground height is the same as that of the first related art. However, the method of detecting the ground height by an ultrasonic sensor is different.
That is, the ultrasonic sensor outputs a detection value of the ground height every 20 ms, and the control device detects the height of the traveling body every 5 cm based on the output of the ultrasonic sensor during the interval of 5 cm based on the output of the ultrasonic sensor. The average value of the plurality of detected values is calculated, and the plurality of detected values obtained every 5 cm during the past 30 cm travel from that time are further averaged to obtain the average value as the ground height. ing. Therefore, every time the traveling body travels the set distance (5 cm), the detected value of the ground height of the working device is obtained, and the ground height thus obtained becomes the target ground height. Next, the pressure oil supply state to the hydraulic cylinder is controlled. In other words, if there is a deviation between the height of the working device above the ground and the target height above the ground, the hydraulic cylinder is actuated by obtaining the direction of lifting and lowering operation and the operating speed by the hydraulic cylinder. Feedback control is performed on the hydraulic cylinder (elevation operation means) such that the detected value of the ground height obtained every time the vehicle travels the set distance (5 cm) is used as feedback information so that the detected value of the ground height becomes the target ground height. (Second prior art).
[0004]
Further, as another conventional technique, there is one configured as follows.
A grounding type sensor comprising, as the ground height detecting means, a contact piece movable up and down with respect to the working device while following the ground, and a lifting amount detecting means for detecting the height of the contact piece with respect to the working device. Each time the traveling body travels the set distance, or every time the set time elapses, averages a plurality of detection values detected by the grounding type sensor during that time, and performs the averaging process. The obtained value is obtained as the ground height of the working device, and the elevation operation means is controlled such that the ground height thus obtained becomes the target ground height. In other words, if there is a deviation between the height of the working device above the ground and the target height above the ground, the lifting / lowering operation by the lifting / lowering operation means is started to raise and lower the working device. Each time the vehicle travels, or using the detected value of the ground height of the working device obtained each time the set time elapses as feedback information, that is, what height is the actual ground height of the working device? In this configuration, the elevation operation means is feedback-controlled so that the detected value of the ground height becomes the target ground height while detecting whether the vehicle is moving or not (third related art).
[0005]
As in the second prior art and the third prior art, each time the vehicle travels a set distance or every time a set time elapses, an average process of a plurality of detection values is performed, and based on the average value, The ground height is determined because, in a field where mowing work is performed by this type of work vehicle, the running surface for which the ground height is to be detected has fine irregularities, such as straw chips and weeds. Therefore, it is possible to prevent the variation in the detection value from being increased due to such fine irregularities, straw chips, weeds, or the like.
[0006]
[Problems to be solved by the invention]
However, in any of the first, second, and third conventional configurations, when the elevation operation means is controlled such that the ground height of the working device becomes the target ground height, every time the set time elapses, Alternatively, the ground height detected by the ground height detecting means every time the vehicle travels a set distance is used as feedback information, and the lifting operation means is configured to be feedback controlled. Yes, there was room for improvement.
[0007]
That is, in the above-described conventional configuration, when controlling the operation of the lifting / lowering operation means, it is determined whether or not the actual ground height of the working device is the target ground height based on the detection information of the ground height detection means. It is necessary to control while judging whether or not, as described above, the detection operation by the ground height detecting means is performed every time the set time elapses or every time the vehicle travels the set distance, the detected value of the ground height of the working device. Is output, the detection speed is slower than the detection speed required when controlling the operation of the lifting / lowering operation means. Therefore, there is a disadvantage that the lifting / lowering operation of the lifting / lowering operation means is overshot.
More specifically, the detected ground height is output by the ground height detecting means, and when there is a deviation between the detected ground height and the target ground height, the working device is operated to eliminate the deviation. The elevation operation means will be operated so as to reach the target ground height, but thereafter, the detected ground height is output after the set time has elapsed from the previous output time or after the set distance traveled Yes, by the time the next detected ground height is output, the lifting / lowering operating means continues the lifting / lowering operation beyond the target ground height, and the working device overshoots beyond the target ground height. Sometimes. Then, when the next detected ground height value is output, a deviation occurs again between the detected ground height value and the target ground height.
As a result, when the traveling body continues traveling, the overshoot due to the delay in the output timing of the detection value of the ground height is repeatedly generated as described above, the convergence to the target ground height is poor, and the lifting and lowering of the work equipment is performed. There have been disadvantages such as the operation being frequently repeated, resulting in poor ride comfort and difficulty in stabilizing the working height. Incidentally, in order to converge to the target ground height, as the deviation between the detected value of the ground height and the target ground height decreases, the lifting speed by the lifting / lowering operation means is set to be smaller. It was bad.
[0008]
The present invention has been made in view of such a point, and an object thereof is to provide a stable state in which there is little possibility that the lifting / lowering operation of the working device is frequently repeated due to the overshoot by the lifting / lowering operation means as described above. An object of the present invention is to provide a lift control device for a work vehicle, which can perform lift control by using the control device.
[0009]
[Means for Solving the Problems]
According to the characteristic configuration of the first aspect, lifting operation means for raising and lowering the working device capable of moving up and down with respect to the traveling machine body, and the ground height of the working device every time a set time elapses or every time the vehicle travels a set distance. Ground height detecting means for outputting a detected value of the height, and based on the detection information of the ground height detecting means, the elevation control means is controlled so that the ground height of the working device becomes the target ground height. In a lift control device for a work vehicle provided with control means, a body height detection means for detecting a height of the work apparatus with respect to the traveling body is provided, and the control means includes a ground height detection means. If there is a deviation between the detected ground height detected and the target ground height, the working device is moved up and down with respect to the traveling body in order to set the detected ground height to the target ground height. Required lift or target lift Elevation amount calculation processing for obtaining a position, and detection of the anti-machine body height detecting means to raise or lower the required lifting amount from the current height of the working device or to raise or lower the working device to the target lifting position. The anti-aircraft elevating process for operating the elevating operation means based on the information is repeatedly executed.
[0010]
Therefore, when there is a deviation between the detected ground height of the working device detected by the ground height detecting means and the target ground height, the control means sets the detected ground height to the target ground height. A required vertical movement amount of the working device with respect to the traveling machine body or a target elevation position of the working device with respect to the traveling machine body for making the detected ground height the target ground height is obtained.
Next, based on the detection information of the anti-machine body height detecting means, the lifting / lowering operating means is operated to raise / lower the required lifting / lowering amount from the current height of the working apparatus, or the working apparatus is raised / lowered to the target lifting / lowering position. The anti-aircraft elevating process for operating the elevating operation means is performed to perform the operation. That is, using the detection information of the anti-aircraft height detecting means as feedback information, it is determined whether the actual anti-aircraft height of the working device is at a height corresponding to the required elevating amount or at the target elevating position. Meanwhile, the lifting operation means is controlled. Then, the above-described vertical movement amount calculation processing and the anti-aircraft vertical movement processing are repeatedly executed.
[0011]
As a result, detection information of the airframe height which is easy to detect in a state where a time delay hardly occurs compared to the information of the ground height output every time the set time elapses or every time the vehicle travels the set distance is used as feedback information. By controlling the lifting / lowering operation means, it is possible to reduce the above-mentioned overshoot due to a time delay and to converge to the target ground height as quickly as possible, and the lifting / lowering operation of the working device is frequently repeated. The conventional disadvantages such as poor ride comfort and difficulty in stabilizing the work height have been resolved, and it is now possible to perform the ascent / descent control in a stable state.
[0012]
According to the characteristic configuration of the second aspect, in the first aspect, the control unit is configured to execute the vertical movement amount calculation processing after the anti-aircraft vertical movement processing ends.
[0013]
Therefore, when there is a deviation between the ground height of the working device and the target ground height, an anti-aircraft elevating process is executed so as to eliminate the deviation and raise or lower the necessary amount of vertical movement or move to the target vertical position. The lifting operation is continued until the processing is completed, and after the processing is completed, the next lifting / lowering amount calculation processing is executed.
As a result, for example, if the above-mentioned elevating amount calculation processing is executed during the execution of the elevating operation by the elevating operation means, a new anti-aircraft elevating processing is executed in a state where the deviation has not been eliminated, and frequent elevating operations are performed. However, with the above-described configuration, it is possible to perform the ascent / descent control in a stable state without such disadvantages and with a low possibility that the ascent / descent operation of the working device is frequently repeated. .
[0014]
According to the characteristic configuration described in claim 3, in claim 1 or 2, the elevating operation means is configured to be capable of changing an operation speed when performing the elevating operation of the working device, and the control means is configured to control the paired operation. The control unit controls the elevating operation unit in a state in which the operation speed is increased as the remaining amount of the required elevating amount is larger, or as the distance from the target elevating position is increased, when performing the body elevating process. It is configured to
[0015]
When executing the anti-aircraft elevating process, as the remaining amount of the required elevating amount is larger, or as the distance from the target elevating position is increased, the operating speed at which the operating device is operated by the elevating operation means. To make it bigger. Therefore, when moving away from the target position, it is quickly moved up and down at a large speed, so that it can be moved up and down efficiently, and the operation speed decreases as it approaches the target position, so the lifting operation is stopped at the target position. Since the vehicle is in the low-speed state when it is made to stop, the shock at the time of stopping can be suppressed to a small value.
[0016]
According to the characteristic configuration described in claim 4, in claim 1 or 2, before the working device starts work in a work process, and after the work device starts work in the work process. Work start state determination means for determining whether or not the work start state is during a set time has elapsed or until the vehicle travels a set distance is provided, and the control means performs the anti-aircraft elevating process. When the work start state is determined by the work start state determination unit, the operation speed is increased, and the lifting / lowering operation is performed at a higher speed than when the work start state is not determined. It is configured to control the means.
[0017]
Since the operation speed is increased when the work start state is determined as compared with when the work start state is not determined, for example, by turning the body on a headland, The ground is often rough, but if the work is started in the next work process after turning on such a headland (the above work start state), the ground may be rough and there may be many irregularities. In such a state, in such a state, the operating speed is increased to quickly move up and down, so that it is possible to perform ascent and descent control while minimizing disadvantages such as a working device accidentally rushing into the ground, and When the start state has not been determined, that is, after the set time has elapsed from the start of the work or after the set distance has been traveled, there is little unevenness due to rough ground, so the operation speed is reduced and the overspeed is reduced. To reduce the risk of over preparative like occur perform stable control.
[0018]
According to the characteristic configuration described in claim 5, in claim 1 or 2, before the work device starts work in a work process, and after the work device starts work in the work process. Work start state determination means for determining whether or not the work start state is during a set time has elapsed or until the vehicle travels a set distance is provided, and the control means performs the anti-aircraft elevating process. In the state where the remaining amount of the required lifting amount is large, or as the distance from the target lifting position is increased, the operation speed is increased, and when the remaining amount of the required lifting amount is the same, Alternatively, the operation speed when the distance from the target elevating position is the same, the work start state is not determined when the work start state is determined by the work start state determination unit. Larger than sometimes State, and is configured to control the lifting operation means.
[0019]
Therefore, when executing the anti-aircraft elevating process, as the remaining amount of the required elevating amount is larger, or as the distance from the target elevating position is increased, the elevating operation means may be used to elevate and lower the working device. Since the operation speed is increased, when the vehicle is far from the target position, it is quickly moved up and down at a large speed, so that it can be efficiently moved up and down. As the operation speed becomes smaller as approaching the target position, the target position is obtained. When the lifting operation is stopped, the vehicle is in the low speed state, so that the shock at the time of stopping can be suppressed to a small value.
[0020]
In addition, even when the remaining amount of the required lifting amount or the distance from the target lifting position is the same, the work start state is not determined when the work start state is determined. The operating speed is increased as compared with the case where the operation is performed.
For example, the ground is often rough on the headland due to the turning of the aircraft, and when starting work on the next work process after turning on such a headland, the ground becomes rough. In such a state, the operating speed is increased and the robot is quickly moved up and down in such a state, so that the lifting / lowering control is performed while avoiding disadvantages such as the working device accidentally rushing into the ground as much as possible. In addition, when the work start state is not determined, that is, after the set time has elapsed since the start of the work or after the set distance has been traveled, there is little unevenness due to rough ground, so the operation speed is low. Is reduced, and the possibility of hunting or the like is reduced, and stable control can be performed.
[0021]
According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the ground height detecting means repeatedly outputs a detected value of the ground height of the working device at a set sampling cycle. It is provided with a sound wave type ground height sensor.
[0022]
As the above-mentioned ground height detecting means, for example, it is also conceivable to provide a ground-type sensor having a configuration in which a contact piece that moves up and down while following the ground is provided and a vertical movement amount of the contact piece is detected by a potentiometer. However, there is a possibility that straw debris and weeds may be present in the field where the ground height is to be detected, but if the ground-type sensor as described above, the debris and weeds are caught and accumulated on the contact pieces. However, there is a disadvantage that the device cannot be used in a short period of time, but by using an ultrasonic type ground height sensor, it is possible to detect the ground height satisfactorily for a long time without causing such a disadvantage. In addition, since the detection value is output repeatedly at the set sampling period, the control state can be controlled, for example, by averaging a plurality of detection values or using the output information as it is. Etc. can also be advantageously be used by selectively output in accordance with the.
[0023]
According to the characteristic configuration described in claim 7, in claim 6, the ground height detecting means detects the ground height sensor while the set time elapses or while the vehicle travels the set distance. The plurality of detected ground heights are averaged to obtain the detected ground height.
[0024]
During the lapse of the set time, or during the travel of the set distance, a plurality of ground heights detected by the ground height sensor are averaged to obtain a detected ground height, so that the detailed Even if there is abnormal data that locally changes due to irregularities, straw chips, weeds, etc., by averaging multiple detected values, these abnormal data are used as is for the elevation control, and the elevation operation can be performed. By avoiding disadvantages such as overshooting, there is little possibility that frequent lifting and lowering operations are repeated.
[0025]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a lift control device for a work vehicle according to the present invention will be described with reference to the drawings. FIG. 1 shows the front of a combine as a working vehicle. This combine is a working device that cuts planted grain culms and transports the harvested grain culms rearward to the front of a traveling machine body V configured to be able to travel with a pair of left and right crawler traveling devices 1L and 1R. A mowing processing unit 2 is provided so as to be able to move up and down, and a threshing device 3 for threshing the harvested culm, a Glen tank 4 for storing threshed grains, a boarding operation unit 5 and the like are provided on the rear side of the traveling machine V. Be composed.
[0026]
The cutting processing unit 2 includes a weeding tool 6 for sorting and cultivating the planted cereal culm of the target crop, a raising device 7 for raising the planted cereal culm in an upright position, and cutting the root side of the raised cereal culm. And a vertical transport device 9 for transporting the harvested stalks rearward while gradually changing the harvested culm to a horizontal tilting posture, and the vertical movement of the machine body about the horizontal axis X. It is freely pivoted. The reaping unit 2 is configured to be driven up and down by an expansion and contraction operation of a hydraulic cylinder CY as an up and down operation means.
[0027]
A stock sensor S0 for determining whether or not the cutting processing unit 2 is in a cutting operation state by detecting whether or not a cut grain culm is present at a transfer entrance portion of the vertical transfer device 9 is provided. Provided. In addition, an ultrasonic sensor S1 for detecting a height to the ground is provided at a position on the rear side of the weeding implement 6. As shown in FIG. 2, the ultrasonic sensor S1 is mounted on a cutting frame 12 extended from the traveling machine body to support the weeding implement 6, the raising device 7, and the like, and is directed downward. It is composed of an ultrasonic transmitter 10 for transmitting ultrasonic waves and an ultrasonic receiver 11 for receiving ultrasonic waves reflected on the ground. After the ultrasonic transmitter 10 transmits ultrasonic waves, The non-contact type is configured to detect the height above ground by measuring the elapsed time until the ultrasonic wave receiver 11 receives the reflected wave that is reflected.
In addition, the reception of the ultrasonic wave is determined to be “reception” on condition that the reception intensity is higher than the set intensity (threshold), and the receiver 11 transmits the ultrasonic wave. For the purpose of avoiding erroneous detection by receiving a direct wave from the device 10, the set intensity is set to a large value close to the maximum value until a predetermined time immediately after transmission elapses, It is configured to gradually decrease with the lapse of time thereafter. Therefore, the ultrasonic sensor S1 has a configuration in which it is not determined to be "reception" when the ultrasonic reflection target is very far or extremely close. The ultrasonic sensor is configured to output a detection value of the ground height of the mowing unit 2 every 20 ms (set sampling cycle).
[0028]
As shown in FIG. 2, the hydraulic cylinder CY is constituted by a single-acting cylinder, and the supply state of the hydraulic oil to the hydraulic cylinder CY is changed to an ascending position by the supply of the hydraulic oil, a neutral stop position, and other supply to the hydraulic device. A three-position switching type electromagnetically operated ascending control valve V1 is provided for switching each position, and a pair of drain oils branched in parallel from the hydraulic oil supply passage 18 to the hydraulic cylinder CY from the hydraulic pump P The passage 19 is provided with an orifice 20 through which pressurized oil passes, and a two-position switching type lowering control valve V2 that switches between a discharge position for discharging the pressurized oil and a stop position for stopping the discharge of the pressurized oil. Each of the ascending control valve V1 and the descending control valve V2 is configured to be switched by a control device 14 as an example of a control means including a microcomputer.
[0029]
The hydraulic cylinder CY is configured so that the operation speed can be changed and adjusted. That is, when the lowering control valve V2 is switched to the stop position and the lowering control valve V2 is switched to the stop position and the lowering control valve V2 is switched to the discharging position, the lowering control valve V2 is switched to the discharging position. The drive state of V2 is repeated at short intervals between the discharge position and the stop position, that is, the so-called duty control is performed, and the duty ratio is changed and adjusted, so that the duty ratio is appropriately changed and adjusted at an intermediate rising speed. be able to. In addition, when the lowering control valve V2 is switched to the stop position and the lowering control valve V2 is switched to the stop position, the lowering control valve V2 is switched to the stop position. V2 can be appropriately changed and adjusted at an intermediate descending speed by executing the duty control and changing and adjusting the duty ratio. Accordingly, the operating speed of the hydraulic cylinder CY can be changed and adjusted in each of the raising operation and the lowering operation.
[0030]
The boarding operation unit 5 includes an automatic on / off switch SW3 that can be switched between an on state in which the raising and lowering control of the reaping unit is performed and an off state in which the control is not performed, as described later. A cutting height setting device 15 for setting the height, a lifting lever 16 for raising and lowering the mowing unit 2 based on a manual operation, and a lifting switch SW1 which is turned on when the lifting lever 16 is operated from a neutral position to a raised position. 2, a lowering switch SW2 which is turned on when the raising / lowering lever 16 is operated to the lowering position, and an automatic raising / lowering switch SW4 which is located above the grip portion 16a of the raising / lowering lever 16 and is pushed by the thumb, are provided as shown in FIG. The detection information of the switches SW1, SW2, SW3, and SW4 and the information of the cutting height setting device 15 are configured to be input to the control device 14. It has been. The detection result of the stock switch S0 is also input to the control device 14.
[0031]
A potentiometer type body height sensor S3 as body height detection means for detecting the height of the reaping processing section 2 with respect to the body is provided at a pivot portion of the reaping processing section 2 with respect to the body, and the body height sensor is provided. The detection information of S3 is also inputted to the control device 14. The traveling drive system for the crawler traveling devices 1L and 1R is provided with a revolution speed sensor S2 for detecting the revolution speed of the traveling output shaft, and the control device 14 determines the current traveling speed and traveling speed based on the revolution speed information. The distance is calculated by calculation. Therefore, the rotation speed sensor S2 constitutes a vehicle speed detecting means of the vehicle body.
[0032]
According to the ON operation of the automatic ON / OFF switch SW3, the controller 14 sets the ground height of the reaping processing unit 2 by the cutting height setting device 15 based on the detection information of the above-described ultrasonic sensor. It is configured to switch to an ON state in which elevating control for controlling the hydraulic cylinder CY can be executed so that the target ground height is attained.
At the start or end of the harvesting operation, if there is a command of the lifting lever 16 to raise and lower the reaping processing unit 2 preferentially based on the command of the lifting lever 16, manual lifting based on the command of the lifting lever 16 is performed. The operation is configured to be performed prior to the automatic lifting and lowering. Further, by pressing and operating the automatic lifting and lowering switch SW4, the reaper processing unit 2 is moved to a low position for the reaping operation and a high position close to the maximum ascending position. It can be moved up and down alternately over the position. In other words, when the automatic lifting switch SW4 is pressed (an upward command is issued) while the reaping processing unit 2 is detected to be at a low position for reaping work based on the detection value of the anti-machine height sensor S3, The reaper 2 is automatically raised to a height close to the maximum ascending position, and automatically when the reaper 2 is detected to be at a higher position by the detection value of the anti-aircraft height sensor S3. When the raising / lowering switch SW4 is pressed (a lowering command is issued), the reaper 2 is lowered to a lower position for reaping. Further, when the lowering command is issued in a state where the automatic on / off switch SW3 is set to ON, the control is shifted to the raising / lowering control based on the detection information of the ultrasonic sensor S1.
[0033]
Next, the elevation control of the reaper 2 will be described.
The control device 14 obtains an average value (first average value) of a plurality of detection values of ground heights output from the ultrasonic sensor S1 during the averaging processing timing, and is set as described later. A plurality of average values obtained during traveling in the signal processing section Li (an example of a set distance) are averaged, and a section average value as a second average value is obtained as a detected ground height. . As the averaging processing timing, for example, if the vehicle speed is 0.25 m / s or less, every time the number of data of the detection value of the ground height output by the ultrasonic sensor S1 at each set sampling cycle becomes ten, The averaging process is executed every time 200 ms elapses. If the vehicle speed exceeds 0.25 m / s, the averaging process is executed every time the traveling distance reaches 5 cm (set unit distance). An averaging process is performed.
[0034]
Then, when there is a deviation between the section average value and the target ground height set by the cutting height setting device 15, the traveling machine V is moved to set the detected ground height to the target ground height. Amount calculation processing for obtaining a target elevating position for raising and lowering the reaping processing unit 2 and operating the hydraulic cylinder CY to raise and lower the reaping processing unit 2 to the target elevating position based on the detection information of the anti-machine height sensor S3. And is repeatedly executed.
[0035]
Moreover, when the anti-aircraft elevating process is performed, the operation speed is increased as the current position of the mowing processing unit 2 is farther from the target elevating position, and when the mowing process is started, the mowing process is started. The hydraulic cylinder CY is controlled in a state where the operation speed is increased when the distance from the target elevating position is the same as during the harvesting operation in which the state has ended.
The above-mentioned cutting start state means a state before the reaping processing unit 2 starts the work in the work process, and a period from when the reaping process unit 2 starts the work in the work process until the set time elapses. To tell. More specifically, when the stock sensor S0 is in the OFF state (non-working state) when it is detected that the stock sensor is at a low position for the reaping work based on the detection information of the ground height, and This is a state in which a set time (several seconds) elapses from the time point when it is detected that the state has been switched to the ON state (work state). This state corresponds to the work start state. The state after a lapse of a set time (several seconds) from the time point when the stock sensor S0 is detected to be switched from the OFF state to the ON state corresponds to the case where the work start state is not determined. Accordingly, the work start state determination means 101 is configured by the determination processing procedure by the stock sensor S0 and the control device 14, and the like.
[0036]
Hereinafter, the elevation control operation of the control device 14 will be described in detail with reference to the control flowcharts shown in FIGS. 4, 5, and 6.
As described above, when a lowering command is issued by the automatic up / down switch SW4 while the automatic on / off switch SW3 is ON, this up / down control is executed. When the control is started, the detection operation by the ultrasonic sensor S1 is started. The ultrasonic sensor S1 emits an ultrasonic wave every 20 msec, receives a reflected wave reflected on the ground, converts the time from transmission to reception into ground height data, and converts the time from the transmission to the ground height data. Output to
[0037]
If the height detection signal has been output from the ultrasonic sensor S1, the control device 14 receives the signal from the ultrasonic sensor S1 (steps S0 and S1). If the detected ground height data is less than or equal to 200 mm, it is determined to be an abnormal value, and error processing is performed. If it exceeds 200 mm, the data is stored in a memory (steps 1 to 3). At this time, if abnormal, the count value α of the counter is counted up. If the count value α exceeds the set number α0 while the traveling body travels 1 m (distance for abnormality determination), the detection operation of the ultrasonic sensor S1 is performed. Is notified by the notification lamp 21 provided in the boarding operation section 5 that the vehicle is abnormal (steps 4 to 7). Even when there is no output of the height detection signal from the ultrasonic sensor S1, if the control information for raising and lowering the hydraulic cylinder CY as described later is being output, such a hydraulic cylinder Priority output of control information for lifting / lowering to CY is executed (step 9)
[0038]
As described above, if the detected ground height data is a value of 200 mm or less, the ultrasonic sensor S1 determines that the value is an abnormal value because the ultrasonic sensor S1 is connected to the cutting frame 12 in the cutting processing unit 2 as shown in FIG. It is configured to be mounted and supported on the mowing frame 12 in a state where it is located at a predetermined height H (a value slightly larger than 200 mm) above the lower end position of the provided weeding tool frame 17. Accordingly, when the cutting processing unit 2 is lowered to a state where the lower end position of the weeding tool frame 17 contacts the ground, the detection value of the ground height becomes a value slightly larger than 200 mm. Does not fall downward, so if the detected ground height is a value of 200 mm or less, it is determined to be an abnormal value.
[0039]
Thereafter, every time the above-described averaging process timing is reached, the averaging process of the detected value is executed. However, until the averaging process timing is reached, a control for raising and lowering the hydraulic cylinder CY as described later is performed. If the information is being output, priority is given to outputting the control information for raising and lowering the hydraulic cylinder CY (steps 8 and 9).
When the averaging process timing is reached, specifically, when the vehicle speed is 0.25 m / s or less, every time the number of data of the detection values detected by the ultrasonic sensor S1 becomes ten (that is, every time 200 ms elapses), If the vehicle speed exceeds 0.25 m / s, every time the traveling distance reaches 5 cm, an averaging process is performed on a plurality of detection values detected during the traveling distance. If it is determined that there is, among the plurality of detection values, an averaging process is performed using the other large number of detection values excluding some data whose ground height is the maximum, and When it is not determined that the state is the state, of the plurality of detection values, some data having the highest ground height and some data having the lowest ground height are excluded. Averaging using a small number of detected values It is adapted to sense.
[0040]
The cutting start state is, as described above, when the stock sensor S0 is in the OFF state (the non-working state) when it is detected that it is at a low position for the cutting operation based on the detection information of the ground height. ) And during a set time (several seconds) from when it is detected that the state has been switched from the OFF state to the ON state (working state). Also, the case where it is not determined that the cutting start state is set is a state after a lapse of a set time (several seconds) from the time point when the stock sensor S0 is detected to be switched from the OFF state to the ON state. Say.
[0041]
Explaining using specific numerical values, if the cutting is in the starting state, for example, if the vehicle speed is 0.25 m / s or less, the number of data items during a 5-cm run is up to 10, and the maximum An averaging process of nine (90%) except one ground height data is performed, and when the mowing is not started, for example, if the vehicle speed is 0.5 m / s, the number of data during 5 cm running is 5 Averaging of the remaining three data (60%) after excluding one of the maximum ground height data and one of the minimum ground height data. (Steps 10, 11, 12). The reason why the number of data n becomes 10 in the low-speed running state at the beginning of mowing is that the number of data is limited by the number of memory buffers n0 (10).
[0042]
In such a pruning state, the signal processing section Li for obtaining the section average value as described above is set to 20 cm (step 13). In the beginning of cutting, the field is often rough, and the height of the ground is sensitively detected at short intervals to control the ascending and descending so as to avoid disadvantages such as the cutting processing unit 2 plunging into the soil. ing. Further, when the state is not the cutting start state, the signal processing section Li for calculating the section average value is changed and set so as to be longer than that in the cutting start state (step 14). The section length changing process will be described later in detail.
[0043]
Next, a plurality of average values obtained while the traveling body travels in the signal processing section Li are averaged to obtain a section average as a detected ground height (steps 15 and 16). This averaging process is an average value during the past signal processing section Li running each time the above-described averaging process timing is reached, and moves every time the vehicle runs during the averaging process timing. This is executed as a process for obtaining an average. That is, when the vehicle speed is 0.25 m / s or less, the detected ground height is calculated every time the number of detected data becomes ten, and when the vehicle speed exceeds 0.25 m / s, each time the vehicle travels 5 cm. Will be done.
[0044]
Next, a deviation (height deviation Δh) between the detected ground height and the target ground height set by the cutting height setting device 15 is determined (step 17). Next, this height deviation Δh is converted into a position deviation Δr as information on the height of the body of the reaper 2 (step 18), and the travel is performed to make the detected ground height the target ground height. A target position for raising and lowering the mowing unit 2 with respect to the machine V is obtained (step 19).
[0045]
If there is a deviation based on the position deviation Δr (information of the target lifting position) determined in this way, the anti-aircraft lifting process for operating the hydraulic cylinder CY is executed. When the current position is farther from the target elevating position, the operation speed is increased, and the operation speed when the amount of departure from the target elevating position is the same is determined when the mowing start state is determined. Is configured to control the hydraulic cylinder CY in a larger state than when the cutting start state is not determined.
[0046]
That is, as shown in FIG. 7, the control output with respect to the magnitude of the position deviation Δr, specifically, as a change characteristic of the amount of pressurized oil supplied to the hydraulic cylinder, the control output is linear with respect to the magnitude of the position deviation Δr. When the cutting start state is determined, the operation speed is large when the distance from the target elevating position is the same. When a certain characteristic line Q1 is selected and the cutting start state is not determined, the characteristic line Q2 having the low operation speed is selected (steps 20, 21, 22).
[0047]
Then, while detecting the current position of the reaping processing unit 2 based on the detection value of the ground height sensor S3, the control output is determined based on the information of the position deviation Δr and the selected control characteristic (characteristic line). Until the second position reaches the target position, the raising and lowering operation of the cutting processing unit 2 by the hydraulic cylinder CY is performed (steps 23, 24, 25). At this time, as is clear from the characteristics of FIG. 7, the operation speed of the hydraulic cylinder CY changes so as to decrease linearly as the position of the mowing unit 2 approaches the target elevating position, Shock is reduced. Moreover, after the position of the mowing unit 2 reaches the target elevating position and the anti-aircraft elevating process is completed, the elevating amount calculating process is executed, and while the elevating operation is being executed, By executing the lifting amount calculation process, frequent lifting operations are prevented from being repeated. When the current position of the reaper 2 reaches the target position based on the detection value of the ground height sensor S3, the lifting operation is stopped (step 26).
[0048]
As a result of the above-described elevation control being performed as the reaping operation is continued, the ground height of the reaping processing unit 2 converges within a set allowable range (dead zone) for the target elevation position, and a stable state is obtained. However, after reaching such a convergence state, the control device 14 sets the signal processing section Li for obtaining the above-described section average value to a value within a range not exceeding a preset setting range. A control output that is configured to repeatedly execute a gradual increase process for making the set amount longer than the value, so that the ground height of the reaping processing unit 2 is out of the control dead zone for the target ground height, and the hydraulic cylinder CY performs the raising / lowering operation. In the state, the signal processing section Li is configured to be changed and set to the initial value (20 cm) as the lower limit of the setting range.
[0049]
This section change processing is executed in step S14. Specifically, control is executed as shown in FIG. In other words, when the next lifting / lowering amount calculation process is performed after the above-described anti-aircraft lifting / lowering process is completed, if the deviation is within the set allowable range (dead zone), it is determined that the deviation has converged to the target position, and the signal processing is performed. The section Li is made longer than the current value by the set amount (5 cm) (steps 140 and 141). However, if the signal processing section Li exceeds 60 cm, the signal processing section Li is set to 60 cm (steps 142 and 143). That is, the maximum value is 60 cm.
If the deviation does not deviate from the set allowable range (dead zone) and does not converge to the target position, the signal processing section Li is set to 20 cm (step 144).
Therefore, in the convergence state, the signal processing section Li is changed and adjusted so as to gradually increase by 5 cm in a range of 20 cm (minimum value) to 60 cm (maximum value) (set range). , Immediately change to the minimum value (20 cm).
[0050]
In the above configuration, the detection value of the ground height of the reaping unit is output every time the set time elapses or every time the vehicle travels the set distance by the detection processing configuration of the ground height by the ultrasonic sensor S1 and the control device 14. The above-mentioned ground height detecting means 100 is constituted. In addition, the control device 14 constitutes the control means 102 for controlling the hydraulic cylinder CY (elevation operation means) so that the ground height of the mowing unit 2 (working device) becomes the target ground height.
[0051]
[Another embodiment]
Next, another embodiment will be described.
[0052]
(1) In the above embodiment, as the configuration in which the operating speed is increased as the position of the working device (the mowing unit) is farther from the target elevating position, the elevating operation means for the magnitude of the positional deviation Δr Although the change characteristic of the control output with respect to the above is linearly illustrated, the present invention is not limited to such an example. For example, as shown in the characteristic lines Q1 ′ and Q2 ′ of FIG. On the other hand, as the control output changes in a curve and the magnitude of the position deviation Δr is larger, the change amount of the control output with respect to the unit change amount of the position deviation Δr, that is, the inclination angle of the change characteristic becomes larger. Such a change characteristic may be used.
[0053]
(2) In the above-described embodiment, even when the anti-aircraft elevating process is not completed, the elevating amount calculating process is executed each time the average processing timing is reached, and the anti-aircraft elevating process is performed based on the new information. Although the processing is performed, the invention is not limited to such a configuration, and the lifting / lowering amount calculation processing may be performed after the anti-aircraft lifting / lowering processing is completed.
That is, as shown in FIG. 9, after step 17 in the control flowchart of the above embodiment, a process (step 17a) for determining whether or not control information for raising and lowering the hydraulic cylinder CY has been output is added. If it is in the state, the process proceeds to step 23, and the output of the control information for lifting / lowering to the hydraulic cylinder CY (anti-body lifting / lowering process) is executed prior to the lifting / lowering amount calculation process. After the anti-aircraft elevating process is completed, the elevating amount calculating process may be executed.
[0054]
(3) In the above-described embodiment, as the ascent / descent amount calculation process, a target ascent / descent position at which the reaping unit is moved up and down with respect to the traveling aircraft in order to make the detected ground height the target ground height is determined. As the elevating process, the elevating operation means is operated to elevate and lower the mowing processing unit to the target elevating position. However, instead of such a configuration, travel is performed to set the detected ground height to the target ground height. As a configuration for obtaining the required amount of vertical movement of the reaping processing unit with respect to the machine body, the lifting operation unit may be operated to raise and lower the required amount of vertical movement of the reaping processing unit from the current height.
[0055]
(4) In the above-described embodiment, when the anti-aircraft elevating process is performed, the operation speed is increased as the position of the mowing unit is further away from the target elevating position, and the target elevating position is reduced. The operation speed when the amount of separation from the same is the same, when the work start state is determined is greater than when the work start state is not determined, Although the configuration configured to control the means has been illustrated, the following configuration may be used instead of the configuration.
The lifting amount calculation process is configured to calculate a required lifting amount for moving the reaping processing unit up and down with respect to the traveling aircraft in order to set the detected ground height to the target ground height, and the remaining amount of the required lifting amount is large. And the operation speed when the remaining amount of the required lifting amount is the same, when the work start state is determined, compared to when the work start state is not determined, It may be configured to control the elevating operation means in a state where the size is increased.
[0056]
Further, as the change characteristic of the operation speed with respect to the distance from the target elevating position and the remaining amount of the required elevating amount, the control is always performed with a constant characteristic regardless of whether or not the work is started. Alternatively, the operation speed of the elevating operation means may be controlled at a constant speed.
[0057]
(5) In the above-described embodiment, assuming that it is determined that the work is in the work start state, the reaping processing unit 2 is at a low position for reaping work, and the stock sensor S0 is in the OFF state (non-work state). And a state where a set time (several seconds) elapses from the time when the switching from the OFF state to the ON state (work state) is detected, and it is determined that the work is in the work start state. When there is no state, the state is a state after a lapse of a set time (several seconds) from the time when it is detected that the stock sensor S0 switches from the OFF state to the ON state. However, the present invention is not limited to such a configuration. May be set as follows.
[0058]
For example, when it is determined that the work is in the work start state, while the reaping processing unit 2 is at a low position for the reaping work and the stock sensor S0 is in the OFF state (non-work state), and The state where the vehicle has traveled the set distance from the time point when the switching from the OFF state to the ON state (working state) is detected, and the time when the work starting state is not determined when the stock sensor S0 is OFF. The state may be a state in which the vehicle has traveled the set distance from the point in time when it is detected that the state has been switched to the ON state.
[0059]
Also, assuming that the work start state is determined, while the reaping processing unit 2 is at a low position for the reaping work and the stock sensor S0 is in the OFF state (non-working state), and from the OFF state. A state from when the switch to the ON state (work state) is detected until the convergence state in which the above-described elevation control is executed and the ground height of the reaping processing unit converges to the target ground height, The case where it is not determined that the operation is in the work start state may be configured to be a state after the ground height of the reaping processing unit reaches a convergence state in which the ground height converges to the target ground height.
[0060]
Further, as means for detecting the start of work, in place of the stock sensor, the start of work may be detected by detecting the driving load of a raising device, a vertical transport device, or a threshing device. May be implemented.
[0061]
(6) In the above embodiment, the ultrasonic ground type height sensor detects the ground height of the working device every time the vehicle travels the set distance as the ground height detecting means. At the set sampling period (20 ms), the detection value of the height of the working device to the ground is output. Each time the averaging process is performed, (if the vehicle speed is 0.25 m / s or less, each time the number of detected data becomes ten, If the vehicle speed exceeds 0.25 m / s every time the vehicle travels 5 cm), an average value (first average value) of a plurality of detection values during the travel is determined, and further, a signal processing section (20 cm to 60 cm) Although the plurality of first average values are further averaged during traveling, a specific configuration of the averaging process may be appropriately changed or a configuration in which such averaging process is not performed may be employed. Specifically, it may be configured as follows.
{Circle around (1)} A configuration in which a plurality of first average values are averaged during a lapse of a signal processing set time instead of the signal processing section (20 cm to 60 cm).
{Circle around (2)} When the vehicle speed exceeds 0.25 m / s in the average processing timing, instead of traveling 5 cm, an average value of a plurality of detection values during a set time may be obtained.
{Circle around (3)} A configuration in which the first average value is directly obtained as the detected ground height without executing the averaging process in the signal processing section as described above.
{Circle around (4)} A configuration in which a detected value output every time a set unit time (20 ms) elapses from the ground height sensor is output as the detected ground height without averaging.
[0062]
(7) In the above-described embodiment, the ground height detecting means is provided with an ultrasonic ground height sensor that outputs a detected value of the ground height of the reaping unit every set sampling cycle (20 ms). However, the present invention is not limited to such a configuration, and detects the ground height of the reaping processing unit at each set sampling period, and every time a set time elapses or every time the vehicle travels a set distance, the above-described detection value is calculated. It may be configured with a ground height sensor that executes the averaging process and outputs the average value to the control device.
Also, instead of such an ultrasonic type sensor as the ground height detecting means, a contact piece that can move up and down with respect to the working device while following the ground, and an elevation amount that detects the amount of vertical movement of the contact piece Detecting means for detecting a ground height based on the vertical movement amount, and averaging detection values detected during each set time or every set distance. Processing may be performed to output a detected value of the ground height.
[0063]
(8) In the above embodiment, the combine vehicle is exemplified as the work vehicle. However, the present invention is not limited to the combine vehicle. For example, a work device such as a rush harvester, a seedling transplanter, and a tractor with a work machine other than the combine can be moved up and down. It can be applied to various types of work vehicles equipped with.
[Brief description of the drawings]
FIG. 1 is a side view of the front part of the combine.
FIG. 2 is a side view of an ultrasonic sensor mounting portion.
FIG. 3 is a control block diagram.
FIG. 4 is a control flowchart.
FIG. 5 is a control flowchart.
FIG. 6 is a control flowchart.
FIG. 7 is an output characteristic diagram.
FIG. 8 is an output characteristic diagram of another embodiment.
FIG. 9 is a control flowchart of another embodiment.
[Explanation of symbols]
2 reaping processing section
100 Ground height detection means
101 Work start state determination means
102 control means
CY lifting operation means
S1 Ground height sensor
S3 anti-aircraft height detection means

Claims (7)

Lifting and lowering operation means for raising and lowering a working device which can be raised and lowered with respect to the traveling machine body, and ground height detecting means for outputting a detection value of the ground height of the working device every time a set time elapses or every time the vehicle travels a set distance. Lifting and lowering control of a work vehicle, comprising: control means for controlling the lifting and lowering operation means based on the detection information of the ground height detecting means so that the ground height of the working device becomes a target ground height. A device,
Anti-aircraft height detection means for detecting the height of the working device with respect to the traveling airframe is provided,
The control means,
When there is a deviation between the detected ground height detected by the ground height detecting means and the target ground height, the traveling body is required to set the detected ground height to the target ground height. A lifting / lowering amount calculation process for obtaining a required lifting / lowering amount or a target lifting / lowering position for raising / lowering the working device, and for raising / lowering the working device from the current height to the required lifting / lowering amount, or moving the working device to the target lifting / lowering position. A lifting and lowering control device for a working vehicle configured to repeatedly execute a lifting and lowering process for operating the lifting and lowering operation means based on detection information of the anti-body height detecting means so as to lift and lower. The control means,
The lifting and lowering control device for a work vehicle according to claim 1, wherein the lifting and lowering amount calculation processing is performed after the anti-aircraft lifting and lowering processing is completed. The lifting operation means is configured to be able to change the operation speed when performing the lifting operation of the working device,
The control means,
When performing the anti-aircraft elevating process, as the remaining amount of the required elevating amount is larger, or as the distance from the target elevating position is increased, the operation speed is increased in a state where the operation speed is increased. The lifting and lowering control device for a working vehicle according to claim 1, wherein the lifting and lowering control device is configured to control the work vehicle. A work start state before the work device starts work in a work process, and during a time period from when the work device starts work in the work process to when a set time elapses or until the work device travels a set distance. Work start state determination means for determining whether or not
The control means,
When executing the anti-aircraft elevating process, when the work start state is determined by the work start state determination unit, the operation speed is increased as compared with when the work start state is not determined. The lift control device for a work vehicle according to claim 1 or 2, wherein the lift control device is configured to control the lift operation means in a state in which the lift operation is performed. A work start state before the work device starts work in a work process, and during a time period from when the work device starts work in the work process to when a set time elapses or until the work device travels a set distance. Work start state determination means for determining whether or not
The control means,
When performing the anti-aircraft elevating process,
As the remaining amount of the required elevating amount is larger, or as the distance from the target elevating position is increased, the operation speed is increased,
And, when the remaining amount of the required elevating amount is the same, or when the operation speed at the same distance from the target elevating position is the same, the operation start state determining means determines the operation start state. 3. The lifting and lowering control device for a work vehicle according to claim 1, wherein the lifting and lowering operation unit is configured to control the lifting and lowering operation means in a larger state than when the work start state is not determined. . The ground height detecting means is configured to include an ultrasonic ground height sensor that repeatedly outputs a detected ground height value of the working device at a set sampling cycle. 2. The lifting and lowering control device for a work vehicle according to claim 1. The ground height detecting means, while the set time has elapsed, or while traveling the set distance, averaging the plurality of ground heights detected by the ground height sensor, 7. The lift control device for a work vehicle according to claim 6, wherein the control device is configured to calculate the detected ground height.

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