JP4415672B2 - Rice transplanter control device - Google Patents

Description

The present invention relates to a control device for a rice transplanter that is mounted on a rice transplanter that performs ground work together with traveling by a working unit provided in the aircraft, and controls the traveling operation of the aircraft and the operation of the working unit.

  In a ground work machine such as a rice transplanter that performs ground work together with the machine running by the work part provided in the airframe, as shown in Patent Document 1, the operation of the work part is controlled in conjunction with the turning motion of the airframe. A work machine control device is known. This ground work machine control device has a planting process of reciprocating and a turning process of making a U-turn at the end in a reciprocating planting operation in the central part at least until the revolving planting operation of the shore part. And control. In the planting process, a plurality of seedlings are planted according to the forward traveling of the aircraft by lowering the planting part and turning on the transmission clutch. In the turning stroke, the planting operation is stopped by clutch-off of the planting unit, and the planting unit is lifted and then moved to an adjacent position by a U-turn. In this adjacent position, planting is resumed from the previous planting end position by the lowering of the planting part and the clutch-on control. In this way, by introducing the turning supplementary control that automatically controls the planting unit in conjunction with the turning operation, the burden on the operator can be reduced.

However, in the above swivel control, the reciprocating planting range is determined based on the swivel motion of the aircraft. Since this method cannot be applied when expanding the range, a complicated operation is required for turning the machine and handling the work part due to the interrelationship between the specifications of the work equipment such as the number of planting strips and various field conditions. There was a case where it was forced.
In order to alleviate such a burden, so-called backlift control is sometimes used to raise the working unit in conjunction with the reverse operation of the aircraft, but the working unit cannot be fully raised during the backward movement of the aircraft. In some cases, the working part was damaged, depending on the conditions.
JP 2002-335720 A

The problem to be solved is that the rice transplanter that can reduce the operation burden of the operator when reciprocating and planting the aircraft to the required turning operation area of the ridge and ensuring the reliability of the operation . The control device is provided.

The invention of claim 1 controls the turning operation of the aircraft that travels while performing ground work with the planting part (7) being movable up and down, and operating the planting part (7) in conjunction with the turning operation. In the rice transplanter control apparatus including a control unit that controls elevation, the control unit raises the planting unit (7) to a predetermined height on the basis of detection of stoppage due to the end of the aircraft forward movement operation, and then from the stop position A time lag adjustment dial (27) is provided for adjusting the time until the aircraft starts to move forward after being controlled by the control until the planting end position is reached. A time lag adjustment dial (27) for adjusting the time until the aircraft starts to move forward is provided. Further, the control unit measures the number of rotations of the drive shaft, determines that the travel distance count has reached the first set distance , and is planted when the handle angle is equal to or greater than the first specified value. Measure the rotational speed of the drive shaft to determine that the travel distance count has reached the second set distance , and operate the planting part when the handle angle is less than the second specified value. And turn control is performed by starting the distance counting by the forward movement of the airframe after the vehicle is moved backward by the backward drive control.
In the invention of claim 2, the turn control of the invention of claim 1 is
The travel distance count reaches the first set distance, and the planting part is lowered on condition that the handle angle is equal to or greater than the first specified value, and the distance count reaches the second set distance, And it is control which operates a planting part on condition that a steering wheel angle is less than the 2nd regulation value,
And automatic turn starts the rotation speed of the measurement of the drive shaft in the handle operation for swivel takes a turn control, the start of the rotational speed of the measurement of the drive shaft without steering headland performing turn controls There is provided a turn switching means (21) for selecting an adjustment turn and a back turn for performing turn control by starting the measurement of the rotational speed of the drive shaft as the aircraft moves forward after the backward control. And

The ground work machine control device of the present invention has the following effects.
The control device for the ground work machine having the above configuration controls the forward movement of the machine body to the shore while operating the work part during turning by the signal processing of the control part, and raises the work part to a predetermined height based on the stop of the machine body. Ascending control is performed until the aircraft is moved backward. In this way, since the aircraft is controlled to turn after operating the working part to the heel, when reciprocating into the required turning operation area of the wing part of the working part when the machine moves backward, the machine turns. The operation burden on the operator can be reduced. Further, since the working unit is raised in response to the stop of the aircraft, it is possible to reverse and turn the aircraft without incurring unexpected situations such as contact of the working unit with the ground.
Moreover, it is possible to prevent the planted field scene from being disturbed by the wheel traces caused by the backward movement, and thereafter, the troublesome work of erasing the wheel traces without defeating the seedlings can be saved.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
The example which applied the control apparatus for ground working machines of this invention to the rice transplanter shown in the side view of FIG. 1 is demonstrated. The rice transplanter 1 supports the vehicle body so that it can be driven by four wheels by the turning wheels 2 and 2 and the rear wheels 3 and 3, and controls the steering handle 4, the operator seat 5, the engine 6, the planting part 7, and various devices. A ground work machine control device described later is provided.

  The planting part 7 is attached to the rear part of the machine body so as to be movable up and down via an elevator part 11 and performs a multi-row planting operation according to the running of the machine body through a planting clutch (not shown). A feeding unit 13 for sequentially feeding, a fertilizing unit 14 for discharging medicinal fertilizer, a leveling float unit 15...

  The ground work machine control device performs a turning process of a pattern according to the selection from among “back turn”, “automatic turn”, and “headland adjustment turn” by switching operation of the turn selector switch (switching means) 21 in FIG. Configure to do. As shown in FIG. 3A, the “automatic turn” is a turning pattern in which planting is stopped in response to a steering operation for turning, and planting is resumed in a predetermined procedure accompanying the turning of the aircraft. As shown in Fig. 3 (b), the "back turn" is the one that proceeds to the position close to the eaves, stops and stops planting, and then resumes planting along with the subsequent aircraft turn. As shown in FIG. 3 (c), the “headland adjustment turn” is to stop planting from a position before the aircraft turns and further advance, and to resume planting incidental to the subsequent aircraft turn. .

  As shown in the system diagram of FIG. 4, the input / output configuration of the control unit 22 that performs signal processing in the ground work machine control device includes various switches in addition to the input signal of the changeover switch 21 for selecting a turning pattern. The sensor signals are received and the actuators of various devices for running and working operations are controlled. Specifically, on the input side, a finger lever switch 23a for planting operation command, an automatic planting start changeover switch 23 for automatic planting operation selection, a planting unit ascent mode switch 24 for automatic ascending selection of the planting unit 7, HST lever position sensor 25 for detecting a shift operation, steering angle sensor 26 for detecting a steering operation, a time lag adjusting dial 27 for adjusting a time, a brake pedal sensor 28 for detecting a brake operation, and a hydraulic cylinder on the output side An electromagnetic hydraulic valve 11b for raising and lowering the planting part 7 through 11a, a planting clutch operating solenoid 31 for operating the planting part, a fertilizing clutch operating solenoid 32 for operating a fertilizer machine, an HST motor 33 for tilting the HST lever, etc. are connected. To do.

  As shown in the flowchart of FIG. 5, the control process by the control unit 22 waits until the shifting position reaches the planting speed (S2) after each sensor value is read (S1), and the switch 21 for selecting the turn. Is checked (S3), and a turning process of a pattern according to the selection from “back turn”, “automatic turn”, and “headland adjustment turn” is performed. Each turning process performs an individual process according to the difference in the planting stop position.

  The turning pattern will be described in detail. The “back turn” is based on the condition that the HST lever is neutral (S11) and the main clutch is not “disengaged” (S12) according to the signal from the HST lever position sensor 25. It waits until the clutch becomes “ON” and commands the planting part “rising” and the planting clutch “OFF” (S13).

  In this case, the detection accuracy of the turning control can be improved by detecting the neutrality of the HST lever. In addition, a wrinkle detection sensor such as a contact sensor (not shown) is provided at the front end of the body, and the HST lever is returned to neutral via the lever tilting device 33 according to a detection signal when approaching the side surface of the wrinkle to automatically stop. By configuring, it is possible to prevent the collision with the rod and improve the positioning accuracy, and to secure the subsequent control accuracy.

  In the case of the main clutch “disengaged”, it is possible to cope with an abnormal stop or the like during planting by stopping the turning process, including the case where continuation of the stop for a predetermined time or more is detected. At this time, it is configured to return to the “back turn” process when the operator performs a reverse operation. In addition, since the planting part “rise” is performed before the backward movement of the aircraft, the planting part 7 cannot be fully raised during the backward movement of the aircraft due to the normal backlift operation that raises the working unit with the backward movement of the aircraft. Since the situation of biting into the topsoil is avoided, breakage of the float portion 15 can be prevented.

  Next, the vehicle travels a predetermined distance backward (S14) with a lapse of a predetermined time in order to alleviate the impact. During this reverse travel, the time margin allows the operator to receive less shock due to switching of the traveling direction and prevent biting into the topsoil when the ascending operation of the planting part 7 is slow. Moreover, since the planted field scene is disturbed by the wheel traces caused by the backward movement, and it is troublesome to erase the wheel traces without defeating the seedlings, the backward movement is restricted to the range up to the planting end position.

  After a predetermined time elapses, a forward operation (S15) is waited, and a distance count by drive shaft rotation is started (S16). The operability can be improved by configuring the aircraft to move forward by a tilt command of the HST lever instead of the forward operation. Further, by providing a time lag until the aircraft starts moving forward, the shock received by the operator can be suppressed, and by providing the time lag adjustment dial 27, it is possible to set the preferred time for backward and forward movement, so that operability Can be improved.

  The planting is resumed from a predetermined position accompanying the turning operation of the airframe by predetermined left or right turn control (S18, S18) to be described later in response to a steering operation (S17) for turning following the start of forward movement. The predetermined turn control (S18) is based on the left and right common subroutine processing, and is configured to be incorporated into other turning patterns.

  In the case of using a rice transplanter with a small number of planting lines, the control of the “back turn” process is carried out by planting the work section by planting up to a position close to the culm in the reciprocating planting operation in the center of the field. In order to adapt to the width, it is possible to reduce the circumferential planting work width of the ridge part. In the case where the control of the turning process is stopped by the signal of the brake pedal sensor 28, safety can be ensured in case of abnormality.

  In the “automatic turn”, distance counting is started (S22, S22) in the same manner as described above in response to a steering operation for turning (S21), and planting is resumed from a predetermined position by corresponding turn control (S18, S18). . In addition, the “headland adjustment turn” starts distance counting (S32) in the same manner as described above under the condition of the planting “cutting” operation (S31), and continues the forward movement and then responds to the steering operation (S33) for turning. Then, planting is resumed from a predetermined position by performing turn control (S18, S18).

  For details of the left or right turn control processing by the subroutine processing, as shown in the flowchart of FIG. 6, the ascending mode switch 24 of the planting unit 7 is checked (S41). Wait until the predetermined turning distance n1 is reached in S42), and instruct the turning operation “decrease” on the condition that the handle angle is equal to or greater than a specified value a (for example, 90 °) in order to determine the turning operation (S44). . On the contrary, in the case of the ascending mode, the planting part “raising” is commanded (S41a). If the handle angle is not equal to or greater than the specified value a, the process is terminated after an alarm output (S43a).

  Next, the drive shaft rotation number check (S45) waits until a predetermined turning distance n2 ′ is reached, and the fertilizer clutch “ "On" is commanded (S47). If the handle angle is equal to or greater than the specified value b, the process is terminated after an alarm output (S43a) as described above.

  Subsequently, on condition that the planting start automatic changeover switch 23 is “ON”, the drive shaft rotation number check (S49) waits until a predetermined turning distance n2 is reached, and planting “ON” is commanded (S50). At the same time, the process is terminated by clearing the drive shaft rotation count (S51). If the planting start automatic change-over switch 23 is not “ON”, the process is terminated. In this case, the degree of freedom can be ensured by configuring so that it can be manually operated as described later.

  Thus, by the left or right turn control process, planting is resumed from a predetermined position by operating the planting unit 7 in conjunction with the turning operation of the aircraft, and by the operation of the fertilizer before planting, The timing of fertilization can be adjusted by adjusting the discharge delay due to the long discharge path.

In addition, since various turning patterns can be easily configured according to the combination of subroutine processing, the turning processing according to conditions can be applied by the changeover switch and the simple control processing configuration.

  Next, a method for selecting a turning pattern by teaching will be described. FIG. 7 is a flowchart for selecting a turning pattern by teaching. In the first stroke, the operator performs “ON” and “OFF” of the planting part, stores the turning state when it comes to the headland, and automatically selects a suitable turn form by this first teaching.

  Specifically, after waiting until the teaching mode (S61), the control waits until the planting clutch “ON” is checked (S62), and if there is a steering operation (S63), the automatic turn mode is set (S63a). If it corresponds to the “machine forward” (S64) of the HST motor without operating the steering wheel, the headland adjustment turn mode is set (S64a). If neither is applicable, the timer is set (S65) and waits, and if the HST motor is “airframe forward” (S66) within that range, the back turn mode is set (S66a).

  By configuring the control unit in this manner, when the operator performs the first stroke in the teaching mode, the turning pattern is automatically selected without operating the turn selection switch 21, so that the operation becomes simple. Operability can be improved.

  Next, another handling of the planting clutch after the turn will be described. FIG. 8 is a flowchart of another control process for the planting clutch after the turn. After turning 180 °, after reading the rotation sensor (S71), the automatic clutch selection switch “ON” is checked (S72), and if applicable, the rotation count value is greater than or equal to the specified value (S73). After waiting until it becomes, the planting clutch “ON” is commanded (S75). If the selection switch “ON” is not applicable, the planting clutch “ON” is commanded (S75) after waiting until the finger lever is lowered (S72a).

  By configuring the control unit in this way, automatic processing and manual processing of the planting operation can be selected by the automatic start switch 23. In the case of manual processing, the operator can adjust the planting start in accordance with the operation of the finger lever switch 23a. Therefore, by using both automatic processing and manual processing according to the situation at the work site, workability during turning can be improved. Can be improved.

  In addition, the planting clutch is turned off in conjunction with the turning of the aircraft, while the elevation mode of the planting unit 7 is configured to be automatic or manual by the elevation mode selection switch, so that It is possible to make a turn while stopping the interlocking rise and maintaining the height position as it is during work. By turning the aircraft in this way, the surface of the field can be leveled by the float 15 provided in the planting part 7, so in the case of the hardness that the marks of the traveling wheels remain in the field, You can erase the wheel marks and clean the field. On the other hand, the planting part 7 can be raised and swiveled so that it does not hit with a high altitude. Thus, in addition to the clutch-and-lift swivel interlocking process for the planting part 7, the user's selection range can be expanded and adaptability can be improved by a two-mode switch in which only lifting and lowering is manual.

It is a side view of the rice transplanter to which the control device for ground working machines of the present invention is applied. It is a turn selection switch. It is each turning block diagram of "automatic turn" (a), "back turn" (b), and "headland adjustment turn" (c). It is an input-output system diagram of the control device for ground working machines. It is a flowchart of a control process. It is a detailed flowchart of turn control. It is a flowchart which selects a turning pattern by teaching. It is a flowchart of another control process of the planting clutch after a turn.

Explanation of symbols

1 Rice transplanter (ground work machine)
2 Turning wheel 3 Rear wheel 4 Steering handle 7 Planting part (working part)
7a Hydraulic cylinder 7b Electromagnetic hydraulic valve 11 Elevating part 14 Fertilizer 15 Float 21 Turn switch (switching means)
22 Control unit (control device for ground working machine)
23a Finger lever switch 23 Automatic changeover switch 24 Lift mode switch 24 Planting section lift mode switch 25 Lever position sensor 26 Steering angle sensor 27 Time lag adjustment dial 28 Brake pedal sensor 31 Planting clutch actuation solenoid 32 Fertilizer clutch actuation solenoid 33 Lever tilt motor

Claims (2)

A planting part (7) is provided so that it can be moved up and down, and controls the turning operation of the aircraft that travels while working on the ground, and a control unit that controls the operation and raising and lowering of the planting part (7) in conjunction with the turning operation. In the rice transplanter control device provided,
The control unit controls to raise the planting unit (7) to a predetermined height based on the stop detection due to the end of the aircraft forward movement operation, and then to reverse the aircraft in the range from the stop position to the planting end position,
A time lag adjustment dial (27) is provided for adjusting the time from when the vehicle moves backward by the control until the aircraft starts moving forward,
Further, the control unit measures the number of rotations of the drive shaft, determines that the travel distance count has reached the first set distance , and is planted when the handle angle is equal to or greater than the first specified value. Measure the rotational speed of the drive shaft to determine that the travel distance count has reached the second set distance , and operate the planting part when the handle angle is less than the second specified value. With turn control to
A control apparatus for a rice transplanter, wherein the distance control is started by the forward movement of the aircraft and the turn control is performed after the vehicle is moved backward by the reverse control. The turn control is
The travel distance count reaches the first set distance, and the planting part is lowered on condition that the handle angle is equal to or greater than the first specified value, and the distance count reaches the second set distance, And it is control which operates a planting part on condition that a steering wheel angle is less than the 2nd regulation value,
And automatic turn starts the rotation speed of the measurement of the drive shaft in the handle operation for swivel takes a turn control, the start of the rotational speed of the measurement of the drive shaft without steering headland performing turn controls There is provided a turn switching means (21) for selecting an adjustment turn and a back turn for performing turn control by starting the measurement of the rotational speed of the drive shaft as the aircraft moves forward after the backward control. The control apparatus of the rice transplanter of Claim 1.

Images