JP4631416B2 - Agricultural work vehicle for field running work - Google Patents

Description

  The present invention relates to an agricultural field vehicle for field traveling work that automatically performs field traveling work such as rice transplanting work together with body traveling.

  In a farm vehicle for field running work that performs field running work such as rice transplanting work together with machine running by a farm working device that is a working unit provided in a machine capable of turning running, as shown in Patent Document 1, There is known one that controls the operation of the farm work apparatus in conjunction with each other. This farm work vehicle is configured to include a farm work device that performs paddy field vegetation work such as rice planting so as to be capable of moving up and down, a float that is integrated with the farm work device, and the like. This float is a flat floating body attached so that the inclination in the front-rear direction can be adjusted, leveling the vegetation board surface of the paddy field, and providing a sensor to detect the height position of the vegetation board surface.

  In reciprocating operation traveling in a field such as rice planting, the farm work device performs planting work while leveling the vegetation board surface with a float. At this time, the planting depth is adjusted by adjusting the height of the farm work apparatus based on the float sensor. During the turning process in which the U-turn turns at the turning point from going back to going backward, the planting operation of the farm work device is stopped and the farm work device and the float are held at the non-working height position above the vegetation board surface by the ascending operation. Then, the vehicle enters a turning run, and when the aircraft turns in the backward direction, the farm work device is lowered, and then the planting is resumed by operating the farm work device. By performing turn-linked control that automatically handles the handling of the farm work device in conjunction with the turning operation of the machine body by the control unit comprising the control device that controls the series of turning-related operations, the operation burden on the operator can be reduced. . For example, when the soil of the working field is hard, by setting the lowering timing of the farm work device at the time of turning the aircraft early, it is possible to plant the soil while turning the trace of turning while suppressing the rough soil and leveling a wide range.

However, the field situation is not always uniform, and the situation may vary depending on the location, especially in areas where the soil hardness is high. It was necessary to carry out together with the turning operation, which was a heavy work burden for the operator.
JP 2002-335720 A

The problem to be solved is that when it comes to the turn-back part of the reciprocating work traveling on the farm field, it does not require handling of the work part including adjustment of the lowering timing of the farm work device, and it is not operated according to the detection of the turning operation. It is possible for the operator to respond to the abnormal operation in the series of processing of the movement up to the position and the movement down to the work position, and the turning trace is roughened by equipment control according to the soil hardness. Another object is to provide a farm vehicle for field running work that can appropriately cope with the above.

The invention according to claim 1 is provided with a machine body that can turn in a field in response to a turning operation, a field work at a work position supported by the machine body so as to be movable up and down, and a float for leveling the ground. Field traveling provided with a working unit and a control unit that controls the operation of the working unit to be moved up to a non-working position and lowered to the working position at a predetermined timing in the turning traveling process in response to detection of a turning operation. In agricultural farm vehicles for work,
Even if it reaches the predetermined lowering position (N1) in the turning traveling process, if it does not lower, it is configured to output an alarm ,
The float sensor which detects the height position of the soil to be field work object to float above SL working unit sensitivity adjustably arranged, changing the timing of the lowering operation of the working unit in conjunction with the sensitivity of the float sensor It is characterized by.

  The float sensor provided in the float of the working unit detects the height position to the soil that is the field work target with the detection sensitivity by setting, and the timing of the lowering operation of the working unit is changed in conjunction with the setting sensitivity of this float sensor Therefore, when the operator sets the detection sensitivity corresponding to the soil hardness, the float of the working unit descends at the timing changed according to the soil hardness when the aircraft turns around the field. To level the ground.

The farm vehicle for field running work of the present invention has the following effects.
According to the first aspect of the present invention, the airframe turns in the field according to the turning operation of the operator, and the control unit raises the working portion to the non-working position and lowers to the working position according to the detection of the turning operation. Each operation is controlled at a predetermined timing in the airframe turning process. When the vehicle does not descend even though it has reached the predetermined lowering position (N1) in the turning traveling process, an alarm is output, so that each operation of raising to the non-working position and lowering to the working position is detected according to the detection of the turning operation. It is possible for the operator to deal with the abnormal operation in the series of processes. Furthermore, the float sensor provided in the float of the work unit detects the height position to the soil that is the field work target so that the sensitivity can be adjusted, and the timing of the lowering operation of the work unit is changed in conjunction with the sensitivity setting of this float sensor. At that timing, the float of the working unit descends to level the turning track.

  Therefore, the operator adjusts the sensitivity of the float sensor corresponding to the soil hardness of the field for leveling work by float in the reciprocating traveling of the field. Therefore, it is possible to level the necessary range according to the soil hardness with respect to the turning track without requiring an adjustment operation of the lowering operation timing of the working unit during the turning operation.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
A rice transplanter shown in the side view of FIG. The rice transplanter 1 supports the vehicle so that it can be driven by four wheels by the steered wheels 2 and 2 and the rear wheels 3 and 3. A control unit 21 to be described later is provided.

  The planting part 7 is a working part that is attached to the rear part of the machine body so as to be able to move up and down via a lifting part 11, and in addition to a multi-row planting operation according to the running of the machine body through a planting clutch (not shown), A seedling sending unit 13 that sequentially feeds seedlings in conjunction with each other, a fertilizer application unit 14 that discharges medicinal fertilizer, and a float 15 for leveling are provided. The float 15 is a flat floating body attached to the planting part 7 so as to be able to adjust the inclination, and includes a float sensor 15s for leveling the vegetation surface of the paddy field and detecting the height position of the vegetation surface, The detection sensitivity can be adjusted according to the change of the pressure receiving center position by adjusting the inclination of the float surface.

  As shown in the input / output signal system diagram of FIG. 2, the input / output configuration of the control unit 21 includes various switch and sensor signals in addition to the operation signal of the control selection switch 22 for selecting the control pattern when the aircraft is turning. In addition, it controls the actuators of various devices for airframe traveling and planting operation. The control selection switch 22 is a dial switch for restricting the right and left aircraft turning directions to “right turn only” and “left turn only” in addition to “continuous” which controls the operation of the planting unit 7 in conjunction with the aircraft turn. is there.

  In addition, on the input side, a finger lever switch 23a for planting operation command, a planting part ascending mode switch 24 for automatic ascending selection of the planting part 7, an HST lever position sensor 25 for detecting a shift operation, a steering operation detection Steering angle sensor 26 for time adjustment, time lag adjustment dial 27 for time adjustment, brake pedal sensor 28 for brake operation detection, N1 setting dial 29a for determining the descending timing of the planting part, and N2 for determining the clutch timing of the planting part operation The setting dial 29b, the sensitivity setting dial 30 for the float sensor 15s, and the like are connected to input respective signals.

  On the output side, an electromagnetic hydraulic valve 11b for raising and lowering the planting unit 7 via a hydraulic cylinder 11a of the elevator unit 11, a planting clutch operating solenoid 31 for planting operation of the planting unit 7, and a fertilizing clutch operation for operating a fertilizer machine A solenoid 32, an HST motor 33 for tilting the HST lever, etc. are connected to control each device.

  The N1 setting dial 29a is a dial that can be adjusted within a predetermined range from “early” to “slow” with “standard” as the center, and the lowering position N1 depending on the rotation amount of the drive shaft corresponding to the instruction is the planting portion. Is set as the descending timing. Similar to the N1 setting dial 29a, the N2 setting dial 29b is a dial that can be adjusted within a predetermined range from “early” to “slow” centering on “standard”, and the rotation amount of the drive shaft corresponding to the instruction Is set as the lowering timing of the planting part 7. The sensitivity setting dial 30 is for adjusting the inclination angle of the float 15, and the pressure receiving center position is moved to the float base side due to the upward inclination, the detection sensitivity of the float sensor 15s is lowered, and the leveling action The detection sensitivity can be increased by the reverse setting, and the leveling effect can be reduced.

  As shown in the flowchart of FIG. 3, the control process by the control unit 21 waits until the shift position reaches the planting speed (S2) after reading each sensor value (S1), and then according to the control selection switch 22. Thus, the turning interlocking process is limited to “left turning” and “right turning” or switched to “continuous” without limitation (S3).

  When the control selection switch 22 is “left turn”, after waiting for the steering wheel operation (S21a), if it is left turn, normal rotation by left turn control (S23) by the left and right subroutine processing common to the drive shaft rotation start (S22). The interlocking process is performed, and if it is a right turn, the irregular shape is dealt with by lift control (S24) by a subroutine process. When the control selection switch 22 is “right turn”, conversely to the above, if the steering operation (S21b) is right turn, normal interlock processing by the drive shaft rotation start (S22) and the left turn control (S23). If the vehicle is turning counterclockwise, the irregular shape is dealt with by lift control (S24). When the control selection switch 22 is “continuous”, after waiting for the steering wheel operation (S21), normal interlocking processing is performed by the turn control (S23) corresponding to the start of rotation of the drive shaft (S22).

  The details of the left or right turn control processing by the subroutine processing are as shown in the flowchart of FIG. 4 when the ascending mode switch 24 of the planting unit 7 is not turned on by the drive shaft rotation number check (S42). Wait until the aircraft turns to a predetermined lowering position N1 where 7 descends, and command the planting section “lower” on the condition that the handle angle is greater than or equal to a specified value a (for example, 90 °) in order to determine the turning operation. (S44) After that, the float sensor 15s waits for the grounding of the float 15 (S44a, S44b). On the other hand, in the case of the ascending mode, a planting part “raising” is commanded (S41a), and the process waits until the elevating link reaches the highest position (S41b, S41c). If the handle angle is not equal to or greater than the specified value a, if the ground contact of the float or the highest rise of the lift link is not detected even after a predetermined time has elapsed (S44b, S41c), the process is terminated with an alarm output (S43a).

  Next, it waits until the predetermined turning distance N2 ′ is reached by the drive shaft rotational speed check (S45), and it is determined that it is not more than a specified value b (for example, 180 °) by the steering wheel angle check (S46) for determining an abnormal operation. Command fertilization clutch "ON" as a condition (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, the drive shaft rotation number check (S49) waits until the aircraft turns to a predetermined clutch-on position N2 to command planting “ON” (S50), and the planting clutch sensor waits for the planting state (S50a). , S50b) The normal interlocking process is terminated by clearing the drive shaft rotation count (S51), and when the planting state is not detected even after the elapse of a predetermined time, the process is terminated with an alarm output (S50c).

  By this left or right turn control processing, the planting part 7 responds in conjunction with the turning motion of the aircraft to perform leveling of the turning process, and the planting is resumed by going straight after the turn is completed. If the predetermined condition is satisfied after the lowering operation of the portion 7 or the like, the alignment can be performed by the steering operation during the turning process such as the steering wheel return. In this series of processing, the operator can respond by outputting a warning for an operation abnormality in which the result of each command of “lowering”, “raising”, and “entering” of the planting part is not confirmed. It is possible to avoid a situation in which the work situation is deteriorated without noticing the device abnormality.

  For details of the lift control by the subroutine processing, as shown in the flowchart of FIG. 5, after instructing the planting part “raising” (S61), waiting until the steering angle becomes a predetermined range (S62). The part "down" is commanded (S63). By this process, it is possible to control the planting unit 7 in conjunction with the turning of the airframe only for the lifting operation. With this processing procedure, the interlocking contents are switched so that the planting unit 7 is controlled to move up and down in the turning direction that has not been selected. Therefore, the planting part 7 operates in conjunction with the selected turning direction by the rotation amount of the drive shaft and the handle operation, and the other turning directions are limited to the raising / lowering control of the planting part 7, and the operator By manually intervening the clutch command, it is possible to cope with the deformed field of the deformed field.

  For example, as in the example of planting work in the reciprocating work process of the modified field as shown in FIG. 6, by setting the control selection switch 22 to “left turn only”, in the left turn L, the planting unit 7 is raised and lowered and the clutch is disconnected. In the right turn R, only the lifting and lowering operation of the planting part 7 is controlled in conjunction with the turn of the aircraft and the clutch is disengaged to adjust the planting start position. A contact command is issued by operator intervention. Therefore, the control unit configured as described above can cope with irregularities while minimizing operator operations in the modified farm field. Further, automatic turning travel is possible based on the travel distance n3 detected under the setting of the straight travel distance N3.

Next, a description will be given of an example in which the planting unit 7 is interlocked and controlled in the back turning in which the turning operation is performed after the machine body is retracted to a predetermined position.
In this case, as shown in the flowchart of FIG. 7, after each sensor value reading (S1), after waiting until the shift position reaches the planting speed (S2), the HST lever is operated to the neutral position and the drive shaft It is checked (S71, S71a) that the rotational speed n3 is equal to or greater than a predetermined straight traveling distance N3, and if so, a planting part “raising” is commanded (S72) and counting of drive shaft rotation is started (S73). . Thus, by raising the planting part 7 at an early stage by a stop operation at a position that satisfies a predetermined distance condition, it is possible to improve work efficiency and prevent the planting part 7 from being damaged.

Next, when the drive shaft rotation is retracted to a point where the rotation is negative (S74a) above a predetermined value, the drive shaft rotation speed n1 is corrected and the lamp is turned on (S74b, S74c). After repeating these in the range of the reverse operation of the HST lever (S74e), the drive shaft rotation count is started (S74f), and then the corresponding left or right turn control (S75a, Subsequent to S75b), drive shaft rotation n3 count is started (S75c).
Further, if the neutral operation of the HST lever and the drive shaft rotational speed n3 are not in any of the predetermined straight traveling distance N3 (S71, S71a), the above-described lift control is performed in correspondence with the steering wheel turning operation (S76). (S77) is performed.

  As a result of the control processing of the above procedure, if the position where the vehicle has advanced to the coast and stopped is beyond a predetermined straight traveling distance N3, the planting part 7 is controlled to be interlocked and moved up to the non-working position, and the predetermined distance is retracted. The planting unit 7 is interlocked and controlled in response to the back turning, and in other cases, the command of the planting unit 7 can be manually operated to correspond to the modified farm field. In this case, the accumulated distance is corrected by the rotation count of the drive shaft, and the lamp is turned on when the aircraft is excessively retracted at the predetermined straight travel distance N3 during the forward / reverse operation in the process of retreating the aircraft, and is turned off by the forward movement. From this, the operator can know the corresponding point of the predetermined straight traveling distance N3.

  Therefore, the situation of defeating the planted seedling when turning too much back by turning the aircraft after grasping the corresponding point of the predetermined straight traveling distance N3 by reversing the reverse in the back turn, In addition, it is possible to prevent the planting start positions from becoming uneven without waiting for the next planting start.

  In addition to the above control, the planting unit 7 starts to descend at an early stage from the middle of turning according to the length of the distance the aircraft has been retracted, thereby preventing an aerial planting operation and improving leveling. be able to. Further, when the difference between the planting end position and the planting start position exceeds 50 cm, it is possible to avoid uneven planting operation by canceling the turning control. In this case, the canceling process can be notified to the operator by the buzzer sound issue control.

Next, an example will be described in which the leveling ground in the turning process is controlled in the turning interlocking control process of the planting unit described above.
FIG. 8 is a main part flow chart of leveling control. In this processing procedure, when turning the aircraft, for example, by detecting a turning operation, the N1 setting dial value and the elevation sensitivity setting dial value are read (S81), and the correction value of the descent timing N1 corresponding to the elevation sensitivity is calculated ( S82). This correction value is determined from the correction characteristic diagram of FIG. 9 that has been separately verified. This control characteristic represents a correction amount for changing the lowering timing N1 in correspondence with the setting sensitivity of the float sensor. That is, when the dial is adjusted to lower the detection sensitivity, the lowering timing N1 is corrected to decrease so that the lowering timing is increased according to the degree, and vice versa. Based on this correction value, a new lowering timing N1 is determined (S83), and the above-described turning interlock control is performed.

  The correction characteristics for the correction process can be determined based on experience values. Specifically, by adjusting the float sensor to a low sensitivity, the leveling action by the float 15 can be strengthened to cope with hard soil, and empirically, an appropriate value corresponding to the degree of soil hardness is obtained. On the other hand, since the detection sensitivity is determined, and the degree of roughness of the turning track corresponds to the degree of soil hardness, the planting part is appropriate for the leveling area required for the turning process. The lowering timing N1 is determined.

  Thus, by reflecting the relationship between the detection sensitivity determined corresponding to the hardness of the soil and the descent timing N1 as a correction characteristic in the control of the planting unit 7, the above-mentioned machine body can be applied to the field according to the turning operation of the operator. When the vehicle turns, the control unit 21 determines whether the planting unit stops, moves up to the non-working position, moves down to the working position, or operates according to the detection of the turning operation. The float sensor 15s provided to the float 15 of the planting unit 7 controls the operation at the timing and detects the height position up to the soil to be the field work target so that the sensitivity can be adjusted, and in conjunction with the set sensitivity of the float sensor 15s. The timing N1 of the descending operation of the planting part is changed, and the float 15 descends at the timing N1 to level the turning traveling trace.

  Accordingly, the operator adjusts the sensitivity of the float sensor 15s in accordance with the soil hardness of the field for leveling work by the float 15 in the reciprocating traveling of the field, so that the planting unit 7 descends when the body turns. Since the timing is changed in conjunction with each other, it is possible to level the necessary range according to the soil hardness with respect to the turning trace without requiring the adjustment operation of the descending operation timing N1 of the planting part 7 in the turning traveling process. it can.

Next, turning control for facilitating alignment by turning will be described.
When turning, the control unit performs a small turn based on the state of the steering operation, so that the alignment by turning can be facilitated. Specifically, as shown in the flowchart of FIG. 10, when the steering wheel is frequently operated left and right (S92) under the condition of turn control (S91), the difference in rotational speed between the left and right drive shafts is small (S93). If so, control is performed so that the side brake on the inner ring side is operated (S94).

  In the turning process, the appropriateness of the steering operation can be determined based on the detection result of the steering operation by a potentiometer or the like. For example, it can be determined as NG when the steering operation is operated in the left-right direction instead of one direction in order to correct the turning by the operator. Further, when the rotation difference between the inner and outer rings is small, it can be determined as a large turn. When the predetermined condition is satisfied, the vehicle can be turned in a small turn by applying the rear wheel brake in addition to disengaging the side clutch. If it is not successful, it can be easily adjusted so that it can turn smoothly.

  The turning correction process is configured so that it can be selected as necessary by a changeover switch or the like, and further, it is possible to adjust the load and time for applying the rear wheel brake so that stepwise adjustment can be performed. Smooth handling is possible.

  Next, turning control for alignment after turning will be described. As shown in the flowchart of FIG. 11, during the turn control (S101), the steering wheel operation speed (S102) or the steering wheel operation amount (S103) is an appropriate value. If it is smaller than the above, side brake operation is added (S104a), and if larger, control is performed to release the side clutch (S104b).

  By the above control process, when the operator's steering operation is too late, or when the amount of rotation is too small, fine adjustment by the electrically operated single-wheel brake to calculate and correct the shortage, It is possible to automatically adjust the spacing of the planting strips after turning. Further, even when the steering operation is too early or the amount of rotation is too large, automatic adjustment can be made by correcting the excess.

  Next, turning control at the start of planting after turning will be described. As shown in the flowchart of FIG. 12, when the side brake pedal is operated (S112) on the condition that the turn control is being performed (S111), the control parameter The turning is controlled after correcting N1 and N2 (S113).

  By the above control process, when the operator turns quickly by operating the left and right brake pedals, the descent timing N1 and the operation timing N2 are corrected so that the influence of the pedal operation is reflected in the operation control of the planting unit 7. Thus, it is possible to eliminate the deviation of the next planting start position.

  In addition, if the left and right turning pedals are used to disengage the rear wheel clutch and the switching lever can be used to apply the braking action, the turning lever must be turned to reflect the effect according to the operation of the switching lever. By correcting the control parameter, the same effect as described above can be obtained.

It is a side view of the agricultural field vehicle for field running work of the present invention by the example of a rice transplanter. It is an input-output system diagram of a control part. It is a flowchart of a control process. It is a detailed flowchart of turn control. It is a detailed flowchart of lift control. It is an example of the planting work in the reciprocating work process of a deformation | transformation field. It is a flowchart of back turning. It is a principal part flowchart of leveling level control. It is a correction characteristic diagram for leveling control. It is a flowchart of turning control suitable for alignment. It is a flowchart of turning control of automatic alignment. It is a flowchart of turning control about the beginning of planting.

Explanation of symbols

1 Rice transplanter (agricultural work vehicle for field running work)
2 Steering wheel 3 Rear wheel 4 Steering handle 7 Planting part (working part)
11 Lifting unit 15 Float 15s Float sensor 21 Control unit 30 Sensitivity setting dial N1 Lowering position (control parameter)
N2 Clutch on position (control parameter)

Claims (1)

About the machine that can turn in the field according to the turning operation, the working part that is supported so as to be able to move up and down with respect to this machine and that is operated at the work position and that has a float for leveling, and the working part In a farm vehicle for field traveling work comprising a control unit that controls the operation of rising to a non-working position and lowering to a work position according to detection of a turning operation at a predetermined timing in a turning traveling process,
Even if it reaches the predetermined lowering position (N1) in the turning traveling process, if it does not lower, it is configured to output an alarm ,
The float of the working unit is provided with a float sensor that detects the height position of the soil that is the field work target so that the sensitivity can be adjusted, and the timing of the lowering operation of the working unit is changed in conjunction with the sensitivity of the float sensor. Agricultural work vehicle for field running work .

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