JP3583038B2 - Work vehicle lift control device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides a lifting operation means for lifting and lowering a working device, and repeatedly detects a ground height of the working device with a ground height sensor, and detects the height every time the vehicle travels a set distance or every time a set time elapses. Ground height detecting means for averaging a plurality of detected ground heights and repeatedly executing a height calculation process for calculating a calculated ground height of the working device; and the calculated ground height becomes a target ground height. And a control means for executing the lifting control for controlling the lifting operation means as described above.
[0002]
[Prior art]
In the lift control device for a work vehicle having the above-described configuration, there has been a configuration disclosed in, for example, Japanese Patent Application Laid-Open No. 8-37865.
In other words, the mowing unit as a working device that can move up and down with respect to the traveling body of the combine, which is an example of a work vehicle, is configured to be able to move up and down with a hydraulic cylinder as lifting and lowering means, and is equipped with an ultrasonic sensor. The operation of the hydraulic cylinder is controlled such that the ground height of the reaping unit detected by the ground height detecting means is equal to the target ground height. Then, as a detection process by the ground height detecting means after a lapse of a set time (4 seconds) from the start of the work in the work process, the detected value of the ground height of the work device by the ultrasonic sensor is set every 20 ms. Each time the traveling distance of the traveling body reaches 5 cm, an average value of a plurality of detection values detected during the traveling is obtained, and further, a plurality of average values for each 5 cm during the past 30 cm traveling from that time are calculated. Are averaged, and the average value is obtained as the ground height. Such ground height detection processing is the same until the work state detecting means detects that the work is completed. It was configured to execute repeatedly with the processing contents of That is, every time the vehicle travels a set distance (30 cm), a plurality of detected ground heights repeatedly detected by the ground height sensor during the travel are averaged, and the calculated ground height of the reaping unit (working device) is calculated. It was a required configuration.
[0003]
As described above, the ground height is calculated based on the average processing of a plurality of detection values in a field where work by this type of work vehicle is performed. Since there is a possibility that fine irregularities or straw waste or weeds may be present, it is necessary to prevent the variation in the detected value from becoming large due to such fine irregularities or straw waste or weeds. It was made.
[0004]
[Problems to be solved by the invention]
By the way, in a field or the like that performs the above-described work, for example, a field scene that is a detection target surface of the ground height is, for example, near a work start position in a work process such as a ridge or a headland. The field is often rough due to the execution of the turning movement of the aircraft, etc., but after performing the work traveling to some extent beyond such a work start position, the field scene is relatively horizontal and It is considered that the flat state continues. If such a relatively horizontal and flat state continues, the height of the working device detected by the ground height detecting means and the target It is likely that the target convergence state in which the ground height falls within the set allowable range continues. In the field scene, there may be small irregularities and irregularities such as, for example, human footprints. However, it is not necessary to control the vertical movement by following the working device to such fine irregularities. It is.
[0005]
Therefore, when detecting the ground height, by making the processing interval (distance or time) when performing the averaging processing as long as possible, it is possible to minimize the variation in the detection value due to the unevenness as described above. . However, when the processing interval (distance or time) when the averaging processing is performed is lengthened in this way, it is possible to avoid the possibility that a detection error is generated in the ground height due to the above-described unevenness. In the case where there is a large undulation that requires the operation device to be raised and lowered in the middle of a field scene, when the operation device is to be raised and lowered along such undulation, the above-described averaging is performed. According to the detection of the ground height by the processing, there is a disadvantage that a time delay occurs until the detected value of the ground height with respect to the undulation is reflected on the calculated ground height.
[0006]
However, in the above-described conventional configuration, after performing the work traveling to some extent beyond the work start position, when the field scene remains relatively horizontal and flat, and when the work device is raised and lowered. In any case where there is a large undulation that is necessary, a plurality of detected ground heights are averaged every time the vehicle travels a fixed set distance (30 cm), and the ground height is calculated. Since the configuration is obtained, if the field scene is relatively horizontal and flat state continues, there is a possibility that variation in the calculation ground height due to unevenness of the field scene may occur, In addition, when there is a large undulation that requires the working device to be raised and lowered, a response delay may occur until the detected value of the height with respect to the hill is reflected in the calculated ground height. A.
[0007]
The present invention has been made by paying attention to such a point, and the purpose thereof is that when the target convergence state is continued, the variation in the calculation ground height due to the unevenness of the field scene increases. In the case where it is necessary to raise and lower the working device in a non-converged state while avoiding disadvantages such as the above, a working vehicle that can detect the ground height with as little time delay as possible Is to provide a lifting control device.
[0008]
[Means for Solving the Problems]
According to the characteristic configuration of claim 1, the lifting operation means for lifting and lowering the working device, and repeatedly detecting the ground height of the working device with the ground height sensor, and setting the travel distance while traveling the set distance or Ground height detecting means for averaging a plurality of detected ground heights detected during the passage of time, and repeatedly executing a height calculation process for calculating a calculated ground height of the working device; and And a control means for performing elevation control for controlling the elevation operation means so that the height is equal to a target height above the ground. And the target distance in the target convergence state in which the deviation between the target ground height is within the set allowable range, than in the non-convergence state in which the deviation is large outside the set allowable range. Longer And it is configured to execute the height calculation process to lengthen the setting time.
[0009]
The ground height sensor repeatedly detects the ground height of the working device, and averages a plurality of detected ground heights repeatedly detected by the ground height sensor while traveling a set distance or while the set time has elapsed. In this case, the height calculation processing is executed with the set distance longer or the set time longer in the target convergence state than in the non-convergence state. You do it. That is, in the target convergence state, since a plurality of ground height detection values detected during a longer traveling distance or a longer time than in the non-convergence state are averaged, for example, in the body traveling direction. Even if there are relatively large irregularities along the width, the averaging process for a long distance or a long time can suppress a sudden change in the ground height due to such irregularities. . As a result, in the target convergence state, disadvantages such as a sudden change in the detected value of the ground height due to partial unevenness can be avoided.
[0010]
Further, in the non-convergence state in which the deviation is out of the set allowable range and becomes large, the averaging process is performed as short as possible at every shorter set distance or at each shorter set time than in the target convergence state. In the case where there is a large undulation that requires the operation device to be raised and lowered in the middle of a field scene, for example, detection of the ground height with respect to the undulation is performed. The time delay until the value is reflected on the calculated ground height can be reduced.
[0011]
As a result, when the target convergence state is continued, while avoiding disadvantages such as a sudden change in the calculation ground height due to unevenness of the field scene, the working device is not converged. In the case where it is necessary to perform an ascending / descending operation, it is possible to provide an ascending / descending control device for a work vehicle, which can detect the ground height with as little time delay as possible.
[0012]
According to the characteristic configuration of the second aspect, in the first aspect, the ground height detecting means can change and set the set distance within a set distance range, or set the set time within a set time range. The set distance is configured to be changeable, and in the target convergence state, the set distance or the set time becomes longer as the state continues, so that the set distance isSet distance rangeGradually increase to the upper limit, or the set timeSet time rangeIt gradually increases to the upper limit value, executes a gradual increase process, and sets the set distance to a lower limit value of the set distance range, or sets the set time to a lower limit value of the set time range in accordance with the non-convergence state. It is configured to execute a rapid decrease process that is set to a value.
[0013]
Therefore, as the above-mentioned target convergence state continues for a long time, the set distance or the set time gradually increases. Therefore, in a stable control state in which the target convergence state continues for a long time, relatively large irregularities appear in the field scene. , The rapid change of the ground height due to such unevenness can be effectively suppressed by the averaging process for a long distance or a long time. Further, in the non-convergence state, the set distance or the set time is sharply reduced to the lower limit value, so that disadvantages such as the ground height greatly deviating from the target ground height can be avoided as much as possible.
[0014]
According to the feature configuration described in claim 3, in claim 1 or 2,The ground height detection means is provided before the work device starts work in a work process, and until the set time elapses or the set distance travels after the work device starts work in the work process. In between, the set distance is set to a lower limit value of the set distance range, or the set time is set to a lower limit value of the set time range.It is configured.
[0015]
In a headland or the like in a field, the field scene is often rough due to turning the machine and the like, but when starting work in the next work process after turning in such a headland, Before starting work in the work process, and before the work device starts work in the work process until the set time elapses or travels the set distance, the field scene is rough and irregularities are formed. There may be many. Therefore, in such a work start state, by setting the set distance or the set time to the lower limit regardless of whether the target is in the target convergence state, detection of the ground height with respect to the unevenness of the field as described above is performed. The time delay until the value is reflected on the calculated ground height can be reduced.
[0017]
According to the feature configuration of claim 4, the claimAny one of 1-3AtThe ground height detecting means sets the set distance as a distance for a plurality of set unit distances, or sets the set time as a time for a plurality of set unit times, and travels the set unit distance. Every time the set unit time elapses, the average value of a plurality of detected ground heights detected by the ground height sensor while traveling the set unit distance or while the set unit time elapses While performing the tentative averaging process to obtain the above, as the height calculation process, every time the set unit distance travels or every time the set unit time elapses, while running the set distance past that time Or, during the elapse of the set time in the past from that point, is configured to average the plurality of average values obtained in the tentative averaging process to obtain the arithmetic ground height I have.
Therefore, every time the vehicle travels the set unit distance or every time the set unit time elapses, the provisional averaging process is executed and the height calculation process is executed. In other words, a tentative averaging process is performed to calculate an average value of a plurality of detected ground heights detected while traveling the set unit distance or while the set unit time elapses, and in the past, While traveling the set distance, or while the set time in the past elapses therefrom, averages a plurality of average values obtained in the tentative averaging process and performs the arithmetic operation on the ground height. Ask for.
[0018]
In short, as the detection value averaging process, a plurality of detection ground heights detected while traveling a plurality of the set unit distances or while a plurality of the set unit times have elapsed are averaged. However, the averaging process is executed every time the vehicle travels a set unit distance or every time the set unit time elapses, so that the detection information of the calculated ground height is relatively long. Can be obtained at short intervals while using the average value of the above, and it becomes possible to execute appropriate lifting control with little time delay.
[0019]
According to the characteristic configuration described in claim 5, in any one of claims 1 to 4, the lifting operation means is configured to perform an operation of lifting and lowering the working device with respect to a traveling machine body. A body height detecting means for detecting a height with respect to the traveling body is provided, and the control means has a deviation between the calculated ground height detected by the ground height detecting means and the target ground height. In this case, the operation device is provided with an elevation amount calculation process of obtaining a required elevation amount or a target elevation position for elevating and lowering the operation device with respect to the traveling machine body in order to set the calculated elevation to the target elevation. An airframe for operating the elevating operation means based on the detection information of the airframe height detection means so as to elevate the required elevating amount from the current height or to elevate the working device to the target elevating position Rise And it is configured to repeatedly execute the processing.
[0020]
Therefore, if there is a deviation between the ground height of the working device detected by the ground height detecting means and the target ground height, the control means travels to set the detected ground height to the target ground height. A required amount of vertical movement of the working device with respect to the machine body, or a target vertical position of the working device with respect to the traveling machine body for making the detected ground height the target ground height is determined.
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.
[0021]
As a result, every time the set time elapses or every time the vehicle travels the set distance, the ground height detecting means that detects the ground height, the fine unevenness of the running surface that is the target of ground height detection, such as straw chips and weeds, etc. While properly detecting the actual ground height of the working device while minimizing the occurrence of variations in ground height due to the above, time delays and the like are less likely to occur as compared to such ground height information. By using the information of the height of the aircraft that is easy to detect in the state as feedback information and executing the control of the elevating operation means, the time delay until it is detected like the conventional height detection means It is possible to perform the lifting and lowering control in a stable state where there is little possibility that the lifting and lowering operation means overshoots due to such a time delay and the lifting and lowering operation of the working device is frequently repeated. It became.
[0022]
According to the characteristic configuration described in claim 6, the ultrasonic sensor according to any one of claims 1 to 5, wherein the ground height sensor repeatedly outputs the detected value of the ground height at a set sampling cycle. It consists of a sensor.
[0023]
As the above-mentioned ground height sensor, for example, it may be considered to be configured to include a grounding sensor configured to include a contact piece that moves up and down while following the ground and that the amount of vertical movement of the contact piece is detected by a potentiometer. However, there is a possibility that straw debris and weeds and the like 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, Although there are disadvantages such as being unable to be used in a short period of time, the use of the ultrasonic ground height sensor makes it possible to perform good ground height detection for a long time without incurring such disadvantages. it can.
[0024]
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.
[0025]
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.
[0026]
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 a transmitter 10 for transmitting ultrasonic waves and a receiver 11 for receiving ultrasonic waves reflected on the ground, and detects the height from the ground by measuring the time from transmission to reception. As in the non-contact type.
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 reflection object of the ultrasonic wave is very far or extremely close. The ultrasonic sensor is configured to repeatedly output the detected value of the ground height of the reaper 2 every 20 ms as a set sampling period.
[0027]
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.
[0028]
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.
[0029]
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.
[0030]
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.
[0031]
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.
[0032]
Next, the elevation control of the reaper 2 will be described.
Each time the traveling distance of the airframe becomes 5 cm (set unit distance), the control device 14 averages a plurality of detection values of the ground heights output from the ultrasonic sensor S1 while traveling the 5 cm (the unit distance). (1 average value), and averages a plurality of average values obtained during traveling in a signal processing section Li (an example of a set distance) set as described later. It is configured to repeatedly execute a height calculation process for obtaining a section average value (calculation ground height) as a second average value.
When there is a deviation between the average value of the section and the target ground height set by the cutting height setting device 15, the traveling machine V is set to the calculated ground height to the target ground height. Amount calculation processing for obtaining a target elevating position for raising and lowering the mowing processing unit 2 and operating the hydraulic cylinder CY to elevate the mowing processing unit to the target elevating position based on the detection information of the anti-machine height sensor S3. It is configured to repeatedly execute the anti-aircraft elevating process.
[0033]
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 mowing start state means that before the mowing processing unit 2 starts the work in one work process, and when the set time has elapsed since the mowing process unit 2 started the work in the work process, or when the set distance traveled. It is a state until it does. 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). 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.
[0034]
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
[0035]
The control device 14 receives a signal from the ultrasonic sensor S1, determines that the detected ground height data is an abnormal value if the value is 200 mm or less, executes an error process, and executes an error process if the detected height data exceeds 200 mm. Then, the data is stored in the 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).
[0036]
If the detected ground height data is 200 mm or less, the ultrasonic sensor S1 is determined to be 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 attached to and supported by the cutting frame 12 in a state in which it is located a predetermined height H (a value slightly larger than 200 mm) above the lower end position of the weeding tool frame 17 to be cut. 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.
[0037]
Thereafter, every time the traveling distance reaches 5 cm, the averaging process of the detected values is performed. However, until the traveling distance reaches 5 cm, the hydraulic cylinder CY for lifting and lowering as described later is used. If the control information has been output, the output of the control information for raising / lowering to the hydraulic cylinder CY is preferentially executed without executing such averaging processing (steps 8 and 9).
When the traveling distance reaches 5 cm, averaging processing is performed on a plurality of detection values detected during the traveling distance. Among the plurality of detected values obtained, the averaging process is performed using the detected values of the other large numbers excluding some data having the maximum ground height, and it is determined that the state is the cutting start state. When there are no detected values, a small number of detected values excluding a part of data having a maximum ground height and a part of data having a minimum ground height are used. Averaging process.
[0038]
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).
[0039]
In such a pruning initial state, the signal processing section Li for obtaining the section average value as described above is initialized to a minimum value (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.
In addition, when the state is not the cutting start state, the signal processing section Li for obtaining the section average value is changed and set according to the target convergence state and the non-convergence state as described later (step 14). The section length changing process will be described later in detail.
[0040]
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 calculated ground height (steps 15 and 16). This averaging process is an average value during the signal processing section Li running past the time point every time the vehicle travels for 5 cm, and is executed as a process for obtaining a moving average every time the vehicle travels for 5 cm. That is, the calculated ground height is obtained every time the vehicle travels 5 cm. This processing corresponds to the height calculation processing.
[0041]
Next, a deviation (height deviation Δh) between the calculated ground height and the target ground height set by the cutting height setter 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).
[0042]
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.
[0043]
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 pressure oil supply amount to the hydraulic cylinder, the control output with respect to the magnitude of the position deviation Δr When the cutting start state is determined, the operation speed at the same distance from the target ascending / descending position is large. 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).
[0044]
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 processing 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).
[0045]
As a result of the ascent / descent control being performed as the harvesting operation is continued, the target convergence state in which the deviation between the detected ground height and the target ground height of the reaping processing unit 2 falls within a set allowable range (dead zone). However, the control device 14 makes the signal processing section Li longer in the target convergence state and in the non-convergence state in which the deviation is larger than the set permissible range by increasing the signal processing section Li. It is configured to execute a calculation process.
Specifically, the signal processing section Li is configured to be changeable within the set distance range, and in the target convergence state, the signal processing section Li is set so that the signal processing section Li becomes longer as the state continues. It is configured to execute a gradual increase process for gradually increasing the distance to an upper limit value within the distance range, and execute a rapid decrease process for setting the signal processing section Li to the lower limit value of the set distance range as the non-convergence state is established. I have.
[0046]
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). If the deviation is within the set allowable range (dead zone) a plurality of times in a row when the above-mentioned elevation amount calculation process is executed, that is, if the target convergence state is continued, the process is extended by the set amount (5 cm). Are repeatedly executed, and the signal processing section Li gradually increases. Therefore, such processing corresponds to the gradual increase processing. 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 it is determined that the deviation is out of the set allowable range (dead zone) and does not converge to the target position, the signal processing section Li is immediately set to 20 cm (step 144). This processing corresponds to the sudden decrease processing.
Therefore, if the target convergence state continues, the signal processing section Li is changed and adjusted so as to gradually increase in increments of 5 cm between 20 cm (minimum value) and 60 cm (maximum value) (set distance range). When a deviation occurs, the deviation is immediately changed to the minimum value (20 cm).
[0047]
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.
[0048]
[Another embodiment]
Next, another embodiment will be described.
[0049]
(1) In the above embodiment, every time the vehicle travels the set unit distance (5 cm), the tentative averaging is performed to obtain an average value of a plurality of detected ground heights detected by the ground height sensor while traveling the set unit distance. Each time the vehicle travels the set unit distance, a plurality of average values obtained by the tentative averaging process during the travel of the signal processing section Li (the set distance) before that point are averaged. Although the calculation is performed to obtain the height to the ground, the above configuration may be replaced with the following embodiments (1) to (5).
{Circle around (1)} The provisional averaging process is performed in the same manner, but every time the vehicle travels in the signal processing section Li (set distance), a plurality of average values obtained by the provisional averaging process up to that time are calculated. A configuration may be used in which the averaging process is performed to obtain the calculated ground height.
{Circle around (2)} In place of the set unit distance (5 cm), a tentative averaging process is performed to obtain an average value of a plurality of detected ground heights detected by the ground height sensor each time the set unit time elapses. You may do so.
{Circle around (3)} Instead of the set distance (signal processing section Li), a plurality of detected ground heights detected during the elapse of the set time may be averaged.
{Circle around (4)} Without performing the tentative averaging process, simply average the plurality of detected ground heights detected while traveling the set distance or while the set time has elapsed, and calculate the calculated ground height. May be obtained.
(5) Two or more of the above (1) to (4) may be combined.
[0050]
(2) In the above-described embodiment, in the target convergence state, the gradual increase processing is performed in which the set distance (the signal processing section Li) is gradually increased to the upper limit so that the set distance (the signal processing section Li) increases as the state continues. The set distance may be set as a constant value longer than that in the non-convergence state. Further, as in (3) of the embodiment (1), the set time may be set as a constant value longer than that in the non-convergence state.
[0051]
(3) In the above embodiment, the set distance (before the working device starts work in the work process and before the set time elapses after the work device starts work in the work process). Although the signal processing section Li) is configured to be set to the lower limit value of the set distance range, instead of such a configuration, before the work device starts work in the work process, and when the work device performs work in the work process. Between the start of the setting and the travel of the set distance, the set distance (signal processing section Li) may be set to the lower limit value of the set distance range.
Also, regardless of whether the work is in the work start state or not, the height calculation processing is always executed by setting the set distance longer in the target convergence state than in the non-convergence state. May be.
[0052]
(4) In the above embodiment, as the configuration in which the operating speed is increased as the position of the working device (the reaping processing 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 linear change is exemplified, the present invention is not limited to this. For example, as shown by the characteristic lines Q1 'and Q2' in FIG. On the other hand, as the control output changes in a curve and the magnitude of the position deviation Δr is larger, the amount of change 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]
(5) In the above 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-described 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 raising / lowering to the hydraulic cylinder CY (the process of raising / lowering the body) is executed in preference to the above-described lifting / lowering amount calculation process. After the anti-aircraft elevating process is completed, the elevating amount calculating process may be executed.
[0054]
(6) In the above-described embodiment, as the elevating amount calculating process, a target elevating position at which a mowing processing unit is moved up and down with respect to a traveling aircraft to obtain the detected ground height at the target ground height is obtained. 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]
(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 mowing processing unit at each set sampling period, and every time a set time elapses or every time the vehicle travels a set distance, the detected value 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 a lifting and lowering amount that detects the amount of vertical movement of the contact piece Detecting means for detecting the ground height based on the vertical movement amount, and averaging the detection values detected during each time a set time elapses or every time the vehicle travels a set distance. Processing may be performed to output a detected value of the ground height.
[0056]
(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 Working device
100 Ground height detection means
102 control means
CY lifting operation means
S1 Ground height sensor
S3 anti-aircraft height detection means
V traveling body

Claims (6)

Lifting operation means for lifting and lowering the working device;
While repeatedly detecting the ground height of the working device with a ground height sensor, averaging a plurality of detected ground heights detected during traveling a set distance or while a set time has elapsed, and Ground height detecting means for repeatedly executing a height calculation process for calculating the calculated ground height of the device,
A control means for performing a lifting control that controls the lifting operation means so that the calculated ground height becomes the target ground height, a work vehicle lifting control device,
The ground height detecting means,
In the target convergence state in which the deviation between the calculated ground height and the target ground height falls within the set allowable range, than in the non-convergent state in which the deviation is outside the set allowable range and large. A lifting and lowering control device for a work vehicle configured to execute the height calculation processing by increasing the set distance or increasing the set time. The ground height detecting means,
The set distance can be changed and set within a set distance range, or the set time can be changed and set within a set time range,
In the target convergence state, the set distance is gradually increased to an upper limit of the set distance range so that the set distance or the set time becomes longer as the state continues, or the set time is set. Perform a gradual increase process that gradually increases to the upper limit of the time range ,
Along with the non-convergence state, the set distance is set to a lower limit value of the set distance range, or a sudden decrease process of setting the set time to a lower limit value of the set time range is performed. The lifting and lowering control device for a working vehicle according to claim 1. The ground height detecting means ,
Before the working device starts work in the work process, and during the set time after the work device starts work in the work process or until the work device travels the set distance,
The lifting and lowering control device for a work vehicle according to claim 1 or 2 , wherein the set distance is set to a lower limit value of the set distance range, or the set time is set to a lower limit value of the set time range. . The ground height detecting means ,
The set distance is set as a plurality of set unit times, or the set time is set as a plurality of set unit times.
Each time the set unit distance is traveled or every time the set unit time elapses, a plurality of detections detected by the ground height sensor while traveling the set unit distance or while the set unit time elapses While performing the tentative averaging process to find the average value of the ground height,
As the height calculation process,
Every time the set unit distance is traveled or every time the set unit time elapses,
Averaging the plurality of average values obtained in the tentative averaging process while traveling the set distance before the time, or while the set time before the time elapses. The lifting and lowering control device for a work vehicle according to any one of claims 1 to 3, wherein the arithmetic operation is performed to obtain the calculated ground height . The lifting operation means is configured to perform the lifting operation of the working device with respect to a traveling machine body,
Anti-aircraft height detection means for detecting the height of the working device with respect to the traveling airframe is provided,
The control means,
If there is a deviation between the calculated ground height determined by the ground height detection means and the target ground height, the traveling body is required to set the calculated 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 raising / lowering the working device from the current height by the required lifting / lowering amount, or moving the working device to the target lifting / lowering position. 5. The anti-aircraft elevating process of operating the elevating operation means on the basis of the detection information of the anti-aircraft height detecting means so as to elevate the airplane vertically. 3. The lifting and lowering control device for a working vehicle according to claim 1. The work according to any one of claims 1 to 5, wherein the ground height sensor is configured by an ultrasonic ground height sensor that repeatedly outputs a detected value of the ground height at a set sampling cycle. Car lift control device.

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