JP4231945B2 - Agricultural machinery steering device - Google Patents

Agricultural machinery steering device Download PDF

Info

Publication number
JP4231945B2
JP4231945B2 JP2000128330A JP2000128330A JP4231945B2 JP 4231945 B2 JP4231945 B2 JP 4231945B2 JP 2000128330 A JP2000128330 A JP 2000128330A JP 2000128330 A JP2000128330 A JP 2000128330A JP 4231945 B2 JP4231945 B2 JP 4231945B2
Authority
JP
Japan
Prior art keywords
steering
automatic
manual
traveling
automatic steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2000128330A
Other languages
Japanese (ja)
Other versions
JP2001310748A (en
Inventor
修 行本
陽介 松尾
則昭 一杉
満男 田中
清明 水津
文雄 重松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iseki and Co Ltd
Yanma Agricultural Equipment Co Ltd
Japan Aviation Electronics Industry Ltd
National Agriculture and Food Research Organization
Original Assignee
Iseki and Co Ltd
Yanma Agricultural Equipment Co Ltd
Japan Aviation Electronics Industry Ltd
National Agriculture and Food Research Organization
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iseki and Co Ltd, Yanma Agricultural Equipment Co Ltd, Japan Aviation Electronics Industry Ltd, National Agriculture and Food Research Organization filed Critical Iseki and Co Ltd
Priority to JP2000128330A priority Critical patent/JP4231945B2/en
Publication of JP2001310748A publication Critical patent/JP2001310748A/en
Application granted granted Critical
Publication of JP4231945B2 publication Critical patent/JP4231945B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Landscapes

  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
  • Guiding Agricultural Machines (AREA)
  • Transplanting Machines (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は、土壌面を走行しながら所定の作業を行う農作業機の操向装置に関する。
【０００２】
【従来の技術】
乗用田植機等の農作業機において、方位センサ等を利用し圃場内の所定の走行経路に沿って走行部を自動的に走行させる自動操向手段を備えたものがある。この種の農作業機は、自動操向手段による操向時に、オペレータによって操向ハンドル操作や左右片ブレーキ操作等の手動操向手段による操向出力がなされると、前記自動操向手段による操向を中止して前記手動操向手段による操向に自動的に切り替わり、障害物を回避する等の緊急措置をとれるようになっていた。
【０００３】
【発明が解決しようとする課題】
しかしながら、手動操向手段による操向出力がなされる度に自動操向手段による操向を中止していると、操向の形態が頻繁に切り替わることによって操向が不安定になり、作業の精度や能率に悪影響が出るおそれがある。そこで、本発明は、危険が予測されるときを除き、なるべく操向の形態が切り替わらないようにして、作業の精度や能率に悪影響が出るのを防止することを課題としている。
【０００４】
【課題を解決するための手段】
上記課題を解決するために、本発明は次のように構成した。すなわち、第一の発明にかかる農作業機の操向装置は、土壌面を走行しながら所定の作業を行う農作業機の操向装置であって、前記農作業機の走行部を自動的に操向する自動操向手段と、前記走行部をオペレータの操作により操向する手動操向手段とを設け、前記自動操向手段による走行中に、前記手動操向手段によって前記自動操向手段における操向方向と反対側に操向出力がなされたときは、前記自動操向手段による操向を中止して手動操向手段による操向に切り替え、それ以外は前記自動操向手段による操向を継続させるように制御することを特徴としている。
【０００５】
また、第二の発明にかかる農作業機の操向装置は、土壌面を走行しながら所定の作業を行う農作業機の操向装置であって、前記農作業機の走行部を自動的に操向する自動操向手段と、前記走行部をオペレータの操作により操向する手動操向手段とを設け、前記自動操向手段による走行中に、前記手動操向手段によって前記自動操向手段における操向方向と反対側に操向出力がなされたとき、及び前記手動操作手段によって前記自動操向手段における操向方向と同じ側で前記自動操向手段における操向出力よりも大きい操向出力がなされたときは、前記自動操向手段による操向を中止して手動操向手段による操向に切り替え、それ以外は前記自動操向手段による操向を継続させるように制御することを特徴としている。
【０００６】
自動操向手段による走行中に、手動操向手段によって自動操向手段における操向方向と反対側に操向出力がなされるときや、手動操作手段によって自動操向手段における操向方向と同じ側で自動操向手段における操向出力よりも大きい操向出力がなされるときは、障害物を回避する等のためにオペレータが意図的に手動操作手段を操作した場合であると考えられる。したがって、このような状況のときには、自動操向手段による操向を中止して手動操向手段による操向に切り替えることにより、作業の安全を確保するのである。上記状況以外のときは自動操向手段による操向を継続させることにより、操向の形態が切り替わることをなるべく少なくし、操向が不安定になることを防止する。
【０００７】
【発明の実施の形態】
以下、図１及び図２に示す農作業機の操向装置について説明する。図示の農作業機１は乗用施肥田植機であって、走行部である走行車体２の後側に昇降リンク装置３を介して苗植付部４が昇降可能に装着され、また走行車体２の後部上側に施肥装置５の肥料タンク５０等が設けられている。
【０００８】
走行車体２は、駆動輪である各左右一対の前輪１０，１０及び後輪１１，１１を備えた四輪駆動車両で、機体の前部にミッションケース１２、その後方にエンジン１３が設けられている。エンジン１３の回転動力は、油圧式無段変速装置１４を介してミッションケース１２へ伝達される。そして、ミッションケース１２内のトランスミッションで変速された後、前輪１０，１０及び後輪１１，１１と、苗植付部４及び施肥装置５の各駆動部とに伝達される。また、エンジン１３の回転動力の一部は、発電機１５に伝動される。発電機１５で発電された電気はバッテリ１６に蓄電される。
【０００９】
エンジン１３の上側にはオペレータが座る座席２０が設置され、その前方に操向車輪である前輪１０，１０を操向操作する操向ハンドル２１が設けられている。操向ハンドル２１に加えられた操作力は、パワーステアリング装置を介して前輪１０，１０に伝えられる。また、座席２０の右足下部には、左右の後輪１１，１１を個別に制動することのできる後輪ブレーキペダル２２Ｌ，２２Ｒが設けられている。これら操向ハンドル２１及び後輪ブレーキペダル２２Ｌ，２２Ｒは、走行車体２をオペレータの操作により操向させる手動操向手段である。
【００１０】
昇降リンク装置３は、前端側で回動自在に支持された互いに平行な１本の上リンク３０と左右一対の下リンク３１，３１の後端部に連結枠３２が連結されており、該連結枠に苗植付部４がローリング自在に装着されている。昇降シリンダ３３を伸縮作動させることにより、各リンクが上下に回動し、苗植付部４がほぼ一定姿勢のまま昇降する。
【００１１】
苗植付部４は６条植の構成で、フレームを兼ねる伝動ケース４０、苗を載せて左右往復動し苗を一株づつ各条の苗取出口４１ａ，…に供給する苗載台４１、苗取出口４１ａ，…に供給された苗を圃場に植付ける苗植付装置４２，…等を備えている。苗植付部４の下部には中央にセンターフロート４５、その左右両側にサイドフロート４６，４６がそれぞれ設けられており、植付作業時には、各フロートが泥面を整地しつつ滑走し、その整地跡に苗植付装置４２，…により苗が植付けられる。
【００１２】
施肥装置５は、肥料ホッパ５０に貯えられている粒状の肥料を肥料繰出部５１，…によって一定量づつ繰り出し、それをブロア５２から吹き出されるエアによって施肥ホース５３，…を通って施肥ガイド５４，…まで移送し、施肥ガイド５４，…の前側に設けた作溝体５５，…によって苗植付条の側部近傍に形成される施肥溝内に落とし込むようになっている。ブロア５２を駆動するモータ５６は、前記バッテリ１６に蓄電されている電力で作動する。
【００１３】
図３はこの農作業機の油圧装置の油圧回路図である。油圧ポンプ６０にて昇降シリンダ３３を作動させる昇降油圧回路部Ａに圧油が供給され、油圧ポンプ６１にてパワーステアリング装置のパワステシリンダ６２を作動させる操向油圧回路部Ｂに圧油が供給される。操向油圧回路部Ｂには、油圧操向機構６３、自動操向制御弁６４、手動自動切替弁６５、その他の弁等が設けられている。また、パワステシリンダ６２の左右両シリンダポートにはそれぞれ圧力センサ６６Ｌ，６６Ｒが設けられている。
【００１４】
油圧操向機構６３は、操向ハンドル２１の操作に連動するポンプと方向制御弁とを組み合わせて構成したもので、操向ハンドル２１が中立位置にあるときは、手動自動切替弁６５を介して供給される油を油圧式無段変速装置１４を経由して油タンク６７に戻し、操向ハンドル２１を中立位置よりも右に回すと、操向ハンドル２１の回動量に相当する流量の油をパワステシリンダ６２の右操向側のシリンダ室に供給し、操向ハンドル２１を中立位置よりも左に回すと、操向ハンドル２１の回動量に相当する流量の油をパワステシリンダ６２の左操向側のシリンダ室に供給するようになっている。
【００１５】
自動操向制御弁６４は、手動自動切替弁６５を介して供給される油をパワステシリンダ６２の右操向側のシリンダ室に供給する状態と、左操向側のシリンダ室に供給する状態と、いずれにも供給しない状態とに切り替える方向制御弁で、後述する操向制御装置７０により制御される。
【００１６】
手動自動切替弁６５は、図示しない自動スイッチの操作により、油圧ポンプ６１からの圧油を油圧操向機構６３側に供給する状態と、自動操向制御弁６４側に供給する状態とに切り替わる。前者は手動操向状態、後者は自動操向状態である。
【００１７】
操向制御装置７０は図４に示す構成となっている。すなわち、前記自動スイッチや自動操向時における走行方位を設定する方位設定器等が設けられた操作パネル７１、前記圧力センサ６６Ｌ，６６Ｒ、走行車体２の走行方位を検出する磁気方位センサ７２、走行車体２の進行速度を検出する車速センサ７３、操向ハンドル２１の角度を検出する操向角センサ７４、前記発電機１５から前記バッテリ１６に流れる電流量を検出するバッテリ電流センサ７５、前記ブロアモータ５６のＯＮ・ＯＦＦを切り替えるブロアスイッチ７６、及び後輪ブレーキペダル２２Ｌ，２２Ｒが踏圧されているか否かによってＯＮ・ＯＦＦ切り替わる左右のブレーキスイッチ７７Ｌ，７７Ｒからの入力信号が入力インターフェース７８を介してＣＰＵ７９に送信され、これらの情報に基づき、ＣＰＵ７９から出力インターフェース８０を介して左右の自動操向制御弁用ソレノイド８１Ｌ，８１Ｒ、手動自動切替弁用ソレノイド８２、及び自動スイッチの状態等を表示する表示装置８３に出力信号が送信される。
【００１８】
上記操向制御装置７０による制御全般の流れを図５のフローチャートに示す。自動スイッチがＯＦＦである場合は、手動自動切替弁用ソレノイド８２への出力が停止状態で、油圧ポンプ６１からの油が油圧操向機構６３へ供給される。このときは、操向ハンドル２１の操作に基づく手動操向となる。自動スイッチがＯＮである場合は、手動自動切替弁用ソレノイド８２へ出力がなされ、油圧ポンプ６１からの油が自動操向制御弁６４に供給される。このときは自動操向となり、下記の制御を行う。
【００１９】
自動操向時においては、磁気方位センサ７２で検出される実際の走行方位と前記方位設定器で設定された目標方位との偏差を計算し、その偏差に応じて自動操向制御弁６４の切替を制御する。このとき、圧力センサ６６Ｌ，６６Ｒの値より地面から受けるステアリングの外力の大きさを感知し、その外力の大きさと前記偏差の大きさに応じて、自動操向制御弁６４を流れる油の流量を調節する。具体的には、外力が大きいほど流量を多く、かつ偏差が大きいほど流量を多くする。これにより、走行方位を迅速に修正することができ、直進性が向上する。なお、油流量の調節は、自動操向制御弁用ソレノイド８１Ｌ，８Ｒへの出力信号のパルスＯＮタイムを変更することで行う。
【００２０】
上記自動操向中に手動操向操作（操向ハンドル２１の操作もしくは片方の後輪ブレーキペダル２２Ｌ，２２Ｒの操作）があったなら、その手動操向操作の方向及び操作量によって操向の形態を決定する。すなわち、手動操向による操向方向が自動操向による操向方向と同じで、かつ手動操向による操向量が自動操向による操向量よりも小さい場合は、自動操向を継続する。手動操向による操向方向が自動操向による操向方向と同じであっても、手動操向による操向量が自動操向による操向量よりも大きい場合は、自動操向を停止し、手動操向に切り替える。このため、緊急時に手動操向で危険回避することが可能である。また、手動操向による操向方向が自動操向による操向方向と逆である場合は、手動操向による操向量の大きさにかかわらず、自動操向を停止し、手動操向に切り替える。このように、手動操向操作の操向方向と操向量を判断材料とすることにより、不必要な操向形態の切り替わりをなくすことができる。
【００２１】
また、手動操向による操向出力の方向や大きさにかかわらず、手動操向による操向出力が一定時間内に急激になされた場合は、危険回避のための操作であるとみなし、自動操向を停止し、手動操向に切り替えるようになっている。
【００２２】
本実施の形態では、走行車体２の走行方位を検出するために磁気方位センサ７２が用いられている。そして、この磁気方位センサ７２の設置箇所は、諸々の制約や都合によりバッテリ１６と比較的近い位置となっている。そこで、磁気方位センサ７２の近傍を流れるバッテリ１６への充電電流やバッテリ１６からの出力電流の影響を受けて磁気方位センサ７２の検出結果に誤差が生じるのを防ぐため、次のような補正のための制御を行う。
【００２３】
図６のフローチャートに示す補正制御は、バッテリ１６の充電電流の大きさに応じて補正値が定められた補正テーブルを予め作成しておき、バッテリ電流センサ値をこの補正テーブルに対照させて補正値を決定し、これにより磁気方位センサ値を補正する。
【００２４】
また、図７のフローチャートに示す補正制御は、ブロアスイッチ７６がＯＮの場合は磁気方位センサ７２値を予め定められた補正値で補正し、ブロアスイッチ７６がＯＦＦの場合は、ブロアモータ５６への出力電流の影響が無いので磁気方位センサ値をそのまま採用する。
【００２５】
走行車体２の走行方位を検出する方法としては、磁気方位センサ７２を使用する以外に、ＧＰＳ受信機を搭載し、それから検出される現在位置の変化から走行車体２の走行方位を推定するようにしてもよい。
【００２６】
【発明の効果】
以上に説明したように、本発明にかかる農作業機の操向装置は、自動操向中における手動操向による操向出力の方向や大きさに基づき操向の形態を切り替えることにより、操向の形態が頻繁に切り替わって操向が不安定になることなく、危険回避のために手動操向が可能で、作業を安全を行える。
【図面の簡単な説明】
【図１】乗用施肥田植機の平面図である。
【図２】乗用施肥田植機の側面図である。
【図３】油圧装置の油圧回路図である。
【図４】操向制御装置のブロック図である。
【図５】操向制御のフローチャートその１である。
【図６】操向制御のフローチャートその２である。
【図７】操向制御のフローチャートその３である。
【符号の説明】
１ 乗用施肥田植機（農作業機）
２ 走行車体（走行部）
３ 昇降リンク装置
４ 苗植付部
５ 施肥装置
１５ 発電機
１６ バッテリ
２１ 操向ハンドル（手動操向手段）
２２Ｌ，２２Ｒ 後輪ブレーキペダル（手動操向手段）
６２ パワステシリンダ
６３ 油圧操向機構
６４ 自動操向制御弁
６５ 手動自動切替弁
７０ 操向制御装置（自動操向手段）
７２ 磁気方位センサ[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a steering device for an agricultural machine that performs a predetermined operation while traveling on a soil surface.
[0002]
[Prior art]
2. Description of the Related Art Some farming machines such as a riding rice transplanter include an automatic steering means that automatically travels a traveling unit along a predetermined traveling route in an agricultural field using an orientation sensor or the like. This type of agricultural machine is operated by the automatic steering means when the steering output by the manual steering means such as the steering handle operation and the left / right single brake operation is performed by the operator during the steering by the automatic steering means. Is automatically switched to steering by the manual steering means, and emergency measures such as avoiding obstacles can be taken.
[0003]
[Problems to be solved by the invention]
However, if the steering by the automatic steering means is stopped every time steering output by the manual steering means is made, the steering becomes unstable due to frequent switching of the steering mode, and the accuracy of the work And the efficiency may be adversely affected. Therefore, the present invention has an object to prevent adverse effects on work accuracy and efficiency by preventing the switching of steering modes as much as possible except when danger is predicted.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, the present invention is configured as follows. That is, the steering device for a farm machine according to the first invention is a steering device for a farm machine that performs a predetermined work while traveling on a soil surface, and automatically steers the traveling unit of the farm machine. An automatic steering means and a manual steering means for steering the traveling unit by an operator's operation are provided, and the steering direction in the automatic steering means by the manual steering means during traveling by the automatic steering means. When the steering output is made on the opposite side, the steering by the automatic steering means is stopped and switched to the steering by the manual steering means, otherwise the steering by the automatic steering means is continued. It is characterized by controlling to.
[0005]
The steering device for a farm machine according to the second invention is a steering device for a farm machine that performs a predetermined work while traveling on a soil surface, and automatically steers the traveling unit of the farm machine. An automatic steering means and a manual steering means for steering the traveling unit by an operator's operation are provided, and the steering direction in the automatic steering means by the manual steering means during traveling by the automatic steering means. When the steering output is made on the opposite side of the automatic steering means, and when the steering output is larger than the steering output in the automatic steering means on the same side as the steering direction in the automatic steering means. Is characterized by stopping the steering by the automatic steering means and switching to the steering by the manual steering means, and otherwise controlling the steering by the automatic steering means.
[0006]
While traveling by the automatic steering means, when the steering output is made to the opposite side of the steering direction of the automatic steering means by the manual steering means, or the same side as the steering direction of the automatic steering means by the manual operating means When the steering output is larger than the steering output of the automatic steering means, it is considered that the operator has intentionally operated the manual operating means in order to avoid an obstacle. Therefore, in such a situation, the safety of the work is ensured by stopping the steering by the automatic steering means and switching to the steering by the manual steering means. In situations other than the above, the steering by the automatic steering means is continued to minimize the switching of the steering mode and to prevent the steering from becoming unstable.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the steering apparatus of the agricultural machine shown in FIGS. 1 and 2 will be described. The illustrated farm work machine 1 is a riding fertilizer planter, and a seedling planting unit 4 is mounted on a rear side of a traveling vehicle body 2 as a traveling unit through a lifting link device 3 so as to be movable up and down. On the upper side, a fertilizer tank 50 of the fertilizer application 5 is provided.
[0008]
The traveling vehicle body 2 is a four-wheel drive vehicle provided with a pair of left and right front wheels 10 and 10 and rear wheels 11 and 11 as drive wheels. A transmission case 12 is provided at the front of the vehicle body, and an engine 13 is provided behind the transmission case 12. Yes. The rotational power of the engine 13 is transmitted to the mission case 12 via the hydraulic continuously variable transmission 14. Then, after being shifted by the transmission in the transmission case 12, it is transmitted to the front wheels 10, 10 and the rear wheels 11, 11, and the seedling planting unit 4 and each drive unit of the fertilizer application device 5. A part of the rotational power of the engine 13 is transmitted to the generator 15. The electricity generated by the generator 15 is stored in the battery 16.
[0009]
A seat 20 on which an operator sits is installed on the upper side of the engine 13, and a steering handle 21 for steering the front wheels 10 and 10 as steering wheels is provided in front of the seat 20. The operating force applied to the steering handle 21 is transmitted to the front wheels 10 and 10 via the power steering device. Further, rear wheel brake pedals 22L and 22R capable of individually braking the left and right rear wheels 11 and 11 are provided at the lower right foot portion of the seat 20. The steering handle 21 and the rear wheel brake pedals 22L and 22R are manual steering means for steering the traveling vehicle body 2 by an operator's operation.
[0010]
The elevating link device 3 has a connecting frame 32 connected to a rear end portion of one parallel upper link 30 and a pair of left and right lower links 31, 31 supported rotatably at the front end side. A seedling planting portion 4 is mounted on the frame so as to be freely rollable. By operating the elevating cylinder 33 to expand and contract, the links rotate up and down, and the seedling planting unit 4 moves up and down with a substantially constant posture.
[0011]
The seedling planting unit 4 has a six-row planting structure, a transmission case 40 that also serves as a frame, a seedling mounting base 41 that feeds seedlings to the seedling extraction outlets 41a,... A seedling planting device 42 for planting seedlings supplied to the seedling outlets 41a,. In the lower part of the seedling planting part 4, a center float 45 is provided in the center, and side floats 46, 46 are provided on both the left and right sides. During the planting operation, each float slides while leveling the mud surface, A seedling is planted on the mark by the seedling planting device 42.
[0012]
The fertilizer application device 5 feeds the granular fertilizer stored in the fertilizer hopper 50 by a certain amount by the fertilizer feed portions 51,..., And passes the fertilizer hose 53,. Are transferred to the fertilization grooves formed in the vicinity of the side portions of the seedling-growing strips by groove-growing bodies 55 provided on the front side of the fertilization guides 54,. A motor 56 that drives the blower 52 is operated by electric power stored in the battery 16.
[0013]
FIG. 3 is a hydraulic circuit diagram of the hydraulic device of the agricultural machine. Pressure oil is supplied to the lifting hydraulic circuit A that operates the lifting cylinder 33 by the hydraulic pump 60, and pressure oil is supplied to the steering hydraulic circuit B that operates the power steering cylinder 62 of the power steering device by the hydraulic pump 61. The The steering hydraulic circuit section B is provided with a hydraulic steering mechanism 63, an automatic steering control valve 64, a manual automatic switching valve 65, and other valves. Pressure sensors 66L and 66R are provided at the left and right cylinder ports of the power steering cylinder 62, respectively.
[0014]
The hydraulic steering mechanism 63 is configured by combining a pump linked to the operation of the steering handle 21 and a direction control valve. When the steering handle 21 is in the neutral position, the hydraulic steering mechanism 63 is connected via the manual automatic switching valve 65. When the supplied oil is returned to the oil tank 67 via the hydraulic continuously variable transmission 14 and the steering handle 21 is turned to the right from the neutral position, the oil having a flow rate corresponding to the rotation amount of the steering handle 21 is supplied. When the steering handle 21 is supplied to the cylinder chamber on the right steering side of the power steering cylinder 62 and the steering handle 21 is turned to the left from the neutral position, oil with a flow rate corresponding to the amount of rotation of the steering handle 21 is left steering. It supplies to the cylinder chamber of the side.
[0015]
The automatic steering control valve 64 supplies oil supplied via the manual automatic switching valve 65 to the cylinder chamber on the right steering side of the power steering cylinder 62 and supplies it to the cylinder chamber on the left steering side. These are directional control valves that switch to a state in which neither is supplied, and are controlled by the steering control device 70 described later.
[0016]
The manual automatic switching valve 65 is switched between a state in which pressure oil from the hydraulic pump 61 is supplied to the hydraulic steering mechanism 63 side and a state in which it is supplied to the automatic steering control valve 64 side by operating an automatic switch (not shown). The former is a manual steering state, and the latter is an automatic steering state.
[0017]
The steering control device 70 has a configuration shown in FIG. That is, the operation panel 71 provided with the automatic switch, a direction setting device for setting the traveling direction at the time of automatic steering, the pressure sensors 66L and 66R, the magnetic direction sensor 72 for detecting the traveling direction of the traveling vehicle body 2, the traveling A vehicle speed sensor 73 that detects the traveling speed of the vehicle body 2, a steering angle sensor 74 that detects the angle of the steering handle 21, a battery current sensor 75 that detects the amount of current flowing from the generator 15 to the battery 16, and the blower motor 56. Input signals from the left and right brake switches 77L and 77R that are switched on and off depending on whether the rear wheel brake pedals 22L and 22R are depressed or not are input to the CPU 79 via the input interface 78. Based on this information, the CPU 79 outputs Automatic steering control valve solenoid 81L of the right and left through the over face 80, 81R, the output signal to a display device 83 for displaying a manual automatic changeover valve solenoid 82, and an automatic switch state and the like are transmitted.
[0018]
The overall control flow by the steering control device 70 is shown in the flowchart of FIG. When the automatic switch is OFF, the output to the manual automatic switching valve solenoid 82 is stopped, and the oil from the hydraulic pump 61 is supplied to the hydraulic steering mechanism 63. At this time, manual steering based on the operation of the steering handle 21 is performed. When the automatic switch is ON, an output is made to the manual automatic switching valve solenoid 82, and the oil from the hydraulic pump 61 is supplied to the automatic steering control valve 64. At this time, automatic steering is performed and the following control is performed.
[0019]
At the time of automatic steering, the deviation between the actual traveling direction detected by the magnetic direction sensor 72 and the target direction set by the direction setting device is calculated, and the automatic steering control valve 64 is switched according to the deviation. To control. At this time, the magnitude of the external force of the steering received from the ground is detected from the values of the pressure sensors 66L and 66R, and the flow rate of the oil flowing through the automatic steering control valve 64 is determined according to the magnitude of the external force and the magnitude of the deviation. Adjust. Specifically, the greater the external force, the greater the flow rate, and the greater the deviation, the greater the flow rate. As a result, the traveling direction can be quickly corrected, and straight travel performance is improved. The oil flow rate is adjusted by changing the pulse ON time of the output signal to the automatic steering control valve solenoids 81L, 8R.
[0020]
If there is a manual steering operation (the operation of the steering handle 21 or the operation of one of the rear wheel brake pedals 22L, 22R) during the automatic steering, the mode of steering is determined according to the direction and the amount of the manual steering operation. To decide. That is, when the steering direction by manual steering is the same as the steering direction by automatic steering, and the steering amount by manual steering is smaller than the steering amount by automatic steering, automatic steering is continued. Even if the steering direction by manual steering is the same as the steering direction by automatic steering, if the steering amount by manual steering is larger than the steering amount by automatic steering, automatic steering is stopped and manual steering is stopped. Switch to the direction. For this reason, it is possible to avoid danger by manual steering in an emergency. Further, when the steering direction by the manual steering is opposite to the steering direction by the automatic steering, the automatic steering is stopped and switched to the manual steering regardless of the magnitude of the steering amount by the manual steering. As described above, by using the steering direction and the steering amount of the manual steering operation as the determination material, unnecessary switching of the steering mode can be eliminated.
[0021]
Regardless of the direction and magnitude of the steering output by manual steering, if the steering output by manual steering is suddenly applied within a certain period of time, it is regarded as an operation for avoiding danger and automatic operation is performed. The direction is stopped and switched to manual steering.
[0022]
In the present embodiment, a magnetic direction sensor 72 is used to detect the traveling direction of the traveling vehicle body 2. The installation location of the magnetic orientation sensor 72 is relatively close to the battery 16 due to various restrictions and convenience. Therefore, in order to prevent an error in the detection result of the magnetic direction sensor 72 due to the influence of the charging current to the battery 16 flowing in the vicinity of the magnetic direction sensor 72 and the output current from the battery 16, the following correction is performed. Control for.
[0023]
In the correction control shown in the flowchart of FIG. 6, a correction table in which a correction value is determined according to the magnitude of the charging current of the battery 16 is created in advance, and the correction value is set by comparing the battery current sensor value with this correction table. Thus, the magnetic orientation sensor value is corrected.
[0024]
Further, in the correction control shown in the flowchart of FIG. 7, when the blower switch 76 is ON, the value of the magnetic orientation sensor 72 is corrected with a predetermined correction value, and when the blower switch 76 is OFF, the output to the blower motor 56 is performed. Since there is no influence of current, the magnetic orientation sensor value is adopted as it is.
[0025]
As a method for detecting the traveling direction of the traveling vehicle body 2, in addition to using the magnetic orientation sensor 72, a GPS receiver is mounted, and the traveling direction of the traveling vehicle body 2 is estimated from the change in the current position detected therefrom. May be.
[0026]
【The invention's effect】
As described above, the steering device of the agricultural machine according to the present invention switches the steering mode based on the direction and magnitude of the steering output by the manual steering during the automatic steering. Manual operation is possible for avoiding danger without changing the form frequently and the operation becomes unstable, and the work can be performed safely.
[Brief description of the drawings]
FIG. 1 is a plan view of a riding fertilizer transplanter.
FIG. 2 is a side view of a riding fertilizer transplanter.
FIG. 3 is a hydraulic circuit diagram of the hydraulic device.
FIG. 4 is a block diagram of a steering control device.
FIG. 5 is a first flowchart of steering control.
FIG. 6 is a second flowchart of steering control.
FIG. 7 is a third flowchart of steering control.
[Explanation of symbols]
1 Passenger fertilizer planting machine (agricultural work machine)
2 Traveling body (traveling part)
3 Lifting link device 4 Seedling planting part 5 Fertilizer 15 Generator 16 Battery 21 Steering handle (manual steering means)
22L, 22R Rear wheel brake pedal (manual steering means)
62 Power steering cylinder 63 Hydraulic steering mechanism 64 Automatic steering control valve 65 Manual automatic switching valve 70 Steering control device (automatic steering means)
72 Magnetic Direction Sensor

Claims (2)

土壌面を走行しながら所定の作業を行う農作業機の操向装置であって、前記農作業機の走行部を自動的に操向する自動操向手段と、前記走行部をオペレータの操作により操向する手動操向手段とを設け、前記自動操向手段による走行中に、前記手動操向手段によって前記自動操向手段における操向方向と反対側に操向出力がなされたときは、前記自動操向手段による操向を中止して手動操向手段による操向に切り替え、それ以外は前記自動操向手段による操向を継続させるように制御することを特徴とする農作業機の操向装置。A steering device for an agricultural machine that performs a predetermined operation while traveling on the soil surface, and an automatic steering means that automatically operates the traveling unit of the agricultural machine, and the steering unit is operated by an operator. Manual steering means, and when the steering output is made on the side opposite to the steering direction of the automatic steering means during traveling by the automatic steering means, the automatic steering means A steering device for an agricultural machine characterized in that the steering by the steering unit is stopped and switched to the steering by the manual steering unit, and otherwise the steering by the automatic steering unit is controlled. 土壌面を走行しながら所定の作業を行う農作業機の操向装置であって、前記農作業機の走行部を自動的に操向する自動操向手段と、前記走行部をオペレータの操作により操向する手動操向手段とを設け、前記自動操向手段による走行中に、前記手動操向手段によって前記自動操向手段における操向方向と反対側に操向出力がなされたとき、及び前記手動操作手段によって前記自動操向手段における操向方向と同じ側で前記自動操向手段における操向出力よりも大きい操向出力がなされたときは、前記自動操向手段による操向を中止して手動操向手段による操向に切り替え、それ以外は前記自動操向手段による操向を継続させるように制御することを特徴とする農作業機の操向装置。A steering device for an agricultural machine that performs a predetermined operation while traveling on the soil surface, and an automatic steering means that automatically operates the traveling unit of the agricultural machine, and the steering unit is operated by an operator. Manual steering means for performing a steering output on the opposite side of the steering direction of the automatic steering means by the manual steering means during traveling by the automatic steering means, and the manual operation When a steering output greater than the steering output in the automatic steering means is made on the same side as the steering direction in the automatic steering means, the steering by the automatic steering means is stopped and the manual steering is performed. A steering device for a farm work machine, wherein the steering device is controlled to switch to steering by a steering device, and otherwise the steering by the automatic steering device is controlled.
JP2000128330A 2000-04-27 2000-04-27 Agricultural machinery steering device Expired - Fee Related JP4231945B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2000128330A JP4231945B2 (en) 2000-04-27 2000-04-27 Agricultural machinery steering device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2000128330A JP4231945B2 (en) 2000-04-27 2000-04-27 Agricultural machinery steering device

Publications (2)

Publication Number Publication Date
JP2001310748A JP2001310748A (en) 2001-11-06
JP4231945B2 true JP4231945B2 (en) 2009-03-04

Family

ID=18637786

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2000128330A Expired - Fee Related JP4231945B2 (en) 2000-04-27 2000-04-27 Agricultural machinery steering device

Country Status (1)

Country Link
JP (1) JP4231945B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021036920A (en) * 2020-12-08 2021-03-11 株式会社クボタ Paddy field working machine

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4159432B2 (en) * 2003-09-08 2008-10-01 株式会社クボタ Work vehicle
JP2006325499A (en) * 2005-05-27 2006-12-07 Matsuyama Plow Mfg Co Ltd Farm implement
JP4727466B2 (en) * 2006-03-16 2011-07-20 三菱農機株式会社 Transplanter
JP2010172337A (en) * 2010-03-16 2010-08-12 Matsuyama Plow Mfg Co Ltd Agricultural implement
JP2010162039A (en) * 2010-03-17 2010-07-29 Matsuyama Plow Mfg Co Ltd Agricultural work vehicle
JP5560844B2 (en) * 2010-03-30 2014-07-30 井関農機株式会社 Driving device for automatic steering of traveling vehicle
JP2020528846A (en) * 2017-10-26 2020-10-01 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Agricultural machinery control methods, equipment and systems
JP7178316B2 (en) * 2019-04-03 2022-11-25 日本車輌製造株式会社 Pile driver controller
WO2021015529A1 (en) * 2019-07-22 2021-01-28 엘에스엠트론 주식회사 Hydraulic steering device of agricultural work vehicle
JP2022178186A (en) * 2021-05-19 2022-12-02 株式会社小松製作所 Loading machine control system and control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021036920A (en) * 2020-12-08 2021-03-11 株式会社クボタ Paddy field working machine

Also Published As

Publication number Publication date
JP2001310748A (en) 2001-11-06

Similar Documents

Publication Publication Date Title
JP4193304B2 (en) Steering control device for work vehicle
JP4231945B2 (en) Agricultural machinery steering device
CA2627053C (en) Tractor with automatic steering arrangement
JP4553097B2 (en) Paddy field machine
KR101146066B1 (en) Control apparatus of work vehicle
JP2020075697A (en) Machine steering angle control system
JP5080854B2 (en) Work vehicle
JP4355848B2 (en) Agricultural machine
JP4089332B2 (en) Agricultural machine
JP4798916B2 (en) Agricultural machinery steering device
JPH05284804A (en) Mechanism for steering agricultural working machine
JP2018171073A (en) Field work machine
JP5656344B2 (en) Traveling vehicle
JP2001161112A (en) Steering controller for farm working machine
JP2004254543A (en) Paddy field working machine
US20230192182A1 (en) Multi-selectable application mode steering system and method thereof
JP7476851B2 (en) Work vehicles
JP2019165703A (en) Automatic travel agricultural vehicle
JP2017029071A (en) Work vehicle
JP3838879B2 (en) Power steering device for paddy field machine
JP3867337B2 (en) Steering control device for work vehicle
JP3612741B2 (en) Ride type rice transplanter
JP4089115B2 (en) Steering control device for work vehicle
JP3516723B2 (en) Paddy working machine
JP4517467B2 (en) Seedling planting machine

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20060807

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20081015

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20081111

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20081119

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20111219

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

Ref document number: 4231945

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20111219

Year of fee payment: 3

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313115

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20111219

Year of fee payment: 3

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20121219

Year of fee payment: 4

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20121219

Year of fee payment: 4

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313117

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20121219

Year of fee payment: 4

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20121219

Year of fee payment: 4

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20121219

Year of fee payment: 4

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20131219

Year of fee payment: 5

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

LAPS Cancellation because of no payment of annual fees