JP5229038B2 - Agricultural vehicle attitude control device - Google Patents

Description

  The present invention relates to an attitude control device that controls a machine body and a work machine to a horizontal attitude or a constant inclination state with respect to the horizontal during work traveling in an agricultural work vehicle such as a tractor, a management machine, a transplanter, and a harvesting machine.

  Agricultural implements are provided with an inclination angle detecting means for detecting the inclination of the machine body in the traveling machine body or the working machine, and the inclination of the working machine with respect to the horizontal is maintained constant based on the machine inclination angle detected by the inclination angle detecting means. An attitude control device is provided for control.

  As a tilt angle detection means for detecting the tilt of the aircraft, a gravitation type tilt sensor for detecting the tilt relative to the horizontal direction, that is, an absolute tilt angle, and a tilt angle by detecting the tilting motion of the traveling body or work machine, that is, the relative tilt angle There is an angular velocity sensor that predicts.

  For example, in Japanese Patent Nos. 3568597 and 3763835, the relative inclination angle detected by the angular velocity sensor at the time of fluctuation is set with the absolute inclination angle of the inclination sensor when the relative inclination angle detected by the angular velocity sensor is zero as the reference inclination angle. Is added to the reference inclination angle, and an inclination angle detecting means for setting the inclination angle of the traveling machine body or the work machine is described.

Japanese Patent No. 3568597 Japanese Patent No. 3763835

  In the attitude control device using the conventional inclination angle detection means, the traveling machine body is always shaken at the time of agricultural work traveling on the uneven field, so that the relative inclination angle of the angular velocity sensor does not become zero. Attitude control is performed with the relative tilt angle that the angular velocity sensor constantly detects as the tilt angle of the airframe. For this reason, even if it runs in a field with few unevenness, it will be in the state where the posture change of a traveling machine body or a working machine is always performed by the relative inclination angle which changes sensitively with the inclination of the machine body.

  Therefore, in the present invention, the inclination of the traveling machine body or the work machine is slowly corrected when the field is shaken by the small unevenness, and the inclination of the traveling machine body or the working machine is quickly corrected for the inclination caused by the large unevenness. It is an object of the present invention to provide a stable farm vehicle attitude control device with little attitude fluctuation.

The problems of the present invention are solved by the following means.
In other words, the invention described in claim 1 is the tilt sensor (23) for detecting the absolute tilt angle (θs) of the traveling machine body (1) or the work machine (13) and the tilt angle (θk) from the speed of the tilt angle. An angular velocity sensor (24) for detection is provided, and when the inclination angle (θk) detected by the angular velocity sensor (24) is equal to or smaller than a predetermined value, the absolute inclination angle (θs) detected by the inclination sensor (23) is set as the inclination target angle. When the inclination angle (θk) detected by the angular velocity sensor (24) exceeds a predetermined value, the angular velocity sensor (1) or the absolute inclination angle (θs) of the work machine (13) at this time is 24) Agricultural work vehicle configured to correct and control the attitude of the traveling machine body (1) or the work machine (13) as a new inclination target angle (θt) by adding the inclination angle (θk) detected in 24) This is a posture control device.

  With this configuration, when the traveling machine body (1) or the work machine (13) is shaken by fine unevenness on the ground, the absolute inclination angle (θs) detected by the inclination sensor (23) having a low detection speed is set as the inclination target angle (θt). Therefore, the attitude change of the traveling machine body (1) is performed slowly. When the traveling machine body (1) or the work machine (13) is greatly inclined, the absolute inclination angle of the current traveling machine body (1) or the work machine (13) is added to the inclination angle (θk) detected by the angular velocity sensor (24). The posture correction control is quickly performed as a new tilt target angle (θt) by adding θs).

  According to the first aspect of the invention, since the attitude control of the traveling machine body (1) or the work machine (13) by the fine unevenness of the field is performed slowly with the absolute inclination angle (θs) as the inclination target angle (θt), Aircraft hunting can be prevented without frequent attitude control. In addition, the correction control of the inclination of the traveling machine body (1) or the work machine (13) due to the large unevenness of the farm field is performed by the current absolute inclination angle (θs) of the traveling machine body (1) or the work machine (13) and the inclination by the angular velocity sensor. Since the posture correction control is quickly performed with the new inclination target angle (θt) obtained by adding the angle (θk), the swinging of the traveling machine (1) or the work machine (13) due to excessive attitude control is reduced, and the large machine The tilt is corrected quickly.

It is the whole tractor side view shown as an example of an agricultural work vehicle. It is a partial enlarged side view. It is a partially expanded side view of another Example. It is a partial enlarged side sectional view. It is a control block diagram. It is a control flowchart figure. It is a control flowchart figure. It is a control flowchart figure. It is a control flowchart figure.

Embodiments of the present invention will be described below based on the embodiments shown in the drawings.
The farm work machine shown in the present embodiment is a tractor, and an engine 2 is mounted on the front part of the traveling machine body 1. The rotational power of the engine 2 is transmitted to the transmission in the transmission case 3, and the rotation reduced by the transmission is performed. Power is transmitted to the PTO shaft 4, the front wheel 5, and the rear wheel 6. On the mission case 3 of the traveling machine body 1, a bonnet 7 that houses the front engine 2, a seat 8 on which an operator sits, and a steering handle 9 are provided. In the vicinity of the steering handle 9, there is provided a one-touch lift lever 37 that lifts and lowers the work implement 13 by tilting up and down.

  A hydraulic cylinder case 11 is mounted on the upper part of the transmission case 3, and lift arms 12, 12 are pivotally attached to both the left and right sides of the hydraulic cylinder case 11. When hydraulic oil is supplied into the hydraulic cylinder 40 in the hydraulic cylinder case 11, the lift arms 12, 12 are raised and rotated. Conversely, when the hydraulic oil is discharged, the lift arms 12, 12 are lowered. ing.

  The working machine 13 is a rotary cultivator that rotationally drives the tilling claws 14 to cultivate the soil surface, and is attached to the traveling machine body 1 by the top link 16 and the lower link 17. The left and right lift arms 12 and 12 and the left and right lower links 17 and 17 are connected to each other by a lift rod 18 and a hydraulic horizontal cylinder 19, of which one (right) hydraulic horizontal cylinder 19 is a double-acting hydraulic cylinder. The horizontal inclination of the working machine 13 is changed by extending and contracting the hydraulic horizontal cylinder 19. A stroke sensor 15 (FIG. 5) for detecting the expansion / contraction length of the cylinder rod is attached to the side of the hydraulic cylinder 19.

  The rotary cultivator 13 includes a cultivating claw 14, a rotary cover 20 that covers the top of the cultivating claw 14, a rear cover 21 that is pivotally attached to the rear portion of the rotary cover 20, and the like. In response, the tillage shaft 22 is rotated, and the soil is cultivated by the plurality of tillage claws 14 attached to the tillage shaft 22.

  The hydraulic cylinder case 11 is provided with an inclination sensor 23 (FIG. 2) that detects the inclination angle of the traveling machine body 1 in the left-right direction, and the angular velocity sensor 24 (FIG. 5) that detects the inclination speed of the traveling machine body 1 in the left-right direction is provided on the floor. It is attached to the panel 27. As will be described later, the left / right inclination control amount of the work implement 13 is calculated from the inclination detection values of the inclination sensor 23 and the angular velocity sensor 24, the extension detection value of the stroke sensor 15 and the setting value of the inclination adjustment dial 25 (FIG. 5). Then, rolling control is performed so that the hydraulic cylinder 19 is actuated by an instruction from the controller 30 to maintain the work machine 13 at the set left-right inclination angle.

In this embodiment, a rotary cultivator is used as an example of the working machine 13, but other than the rotary cultivator, for example, an agricultural working machine such as a cocoon coater or a chemical spreader may be used.
The angular velocity sensor 24 attached to the traveling machine body 1 is attached at a position where it is difficult to pick up vibration of the engine 2. For example, in the embodiment shown in FIG. 2, the first sensor bracket 28 is attached to the rising bent portion 29 of the floor panel 27 at the side portion of the seat 8. In the embodiment shown in FIG. 3, a closed space surrounded by the second sensor bracket 38 is formed in the rising and bending portion 29 of the floor panel 27, and the angular velocity sensor 24 is attached therein. In the embodiment shown in FIG. 4, the angular velocity sensor 24 is attached by the third sensor bracket 44 to the support leg 43 on the mount rubber 39 that supports the four corners of the floor panel 27 to the transmission case 3.

Next, the control block diagram shown in FIG. 5 will be described.
On the input side of the controller 30 that controls the raising and lowering control and the rolling control of the work machine 13, the gravity sensor and the inclination sensor 23 for detecting the inclination angle from the horizontal direction, that is, the absolute inclination angle, and the acceleration and time at which the traveling machine body 1 is inclined are predicted. The right / left relative inclination angle of the traveling machine body 1 is input from the angular velocity sensor 24 that calculates and detects the inclination angle, that is, the relative inclination angle, the extension position signal of the hydraulic cylinder 19 is input from the stroke sensor 15, and the traveling machine body is input from the inclination adjustment dial 25. 1 is input, and the horizontal / parallel switching switch 26 receives a horizontal control or parallel control switching signal.

  When the horizontal / parallel switch 26 is set to the “horizontal” position, horizontal control is performed to keep the work machine 13 horizontal in accordance with the detection values of the tilt sensor 23 and the angular velocity sensor 24, and the horizontal / parallel switch 26 is set to the “parallel” position. When set to, the lengths of the left and right lift rods 18 and the hydraulic horizontal cylinder 19 coincide so that the left and right postures of the work machine 13 with respect to the traveling machine body 1 are in a parallel state.

  The “parallel” position can be further set to two positions. When the “fixed position” is set, the work machine 13 is always parallel to the traveling machine body 1, and when the “swing” position is set, the traveling machine body 1 is inclined. Regardless, control for rolling the work implement 13 is added according to the detection values of the inclination sensor 23 and the angular velocity sensor 24 so that the work implement 13 is maintained in a parallel state.

  Further, the traveling speed of the traveling machine body 1 is input to the controller 30 from the vehicle speed sensor 41, the steering angle of the steering handle 9 from the turning angle sensor 42, and the lift position signal of the work machine 13 from the lift arm sensor 36, respectively.

  From the output side of the controller 30, a horizontal extension output 31 that extends the hydraulic horizontal cylinder 19 and a horizontal contraction output 32 that contracts are output. The horizontal extension output 31 and the horizontal contraction output 32 are output as an on / off signal to an electromagnetic switching valve that controls the hydraulic horizontal cylinder 19. However, when the engine 2 has a low rotational speed, the oil acting on the hydraulic horizontal cylinder 19 is output. Therefore, the ON ratio to the electromagnetic switching valve, that is, the duty ratio is increased and output.

  In this way, when the engine speed is high, the duty ratio is lowered, and when the engine speed is low, the duty ratio is increased, so that the operating speed of the hydraulic horizontal cylinder 19 becomes a constant speed regardless of the rotational change of the engine 2. I am doing so.

  FIG. 6 shows setting control of the work implement inclination target angle of the work implement 13 by the inclination sensor 23 and the angular velocity sensor 24 in the horizontal control for keeping the work implement 13 horizontal. For example, when the traveling machine body 1 tilts to the left by θ ° due to the unevenness of the field, the working machine 13 is tilted to the right by θ ° so that the working machine 13 becomes horizontal even if the traveling machine body 1 tilts.

  In step S1, the absolute inclination angle θs of the inclination sensor 23 and the inclination angle θk by the angular velocity sensor 24 are read into the controller 30, and in step S2, it is determined whether the inclination angle θk is smaller than the predetermined inclination angle θa.

  If the determination in step S2 is NO, the inclination angle θk of the angular velocity sensor 24 is added to the current absolute inclination angle θs in step S4, and the process returns as a new work implement inclination target angle θt, and the determination in step S2 is YES. Then, in step S3, the absolute inclination angle θs of the inclination sensor 23 is returned as the work implement inclination target angle θt.

If the work implement inclination target angle θt is zero in step S4, the inclination angle θk becomes the new work implement inclination target angle θt.
FIG. 7 shows the control when the inclination angle θk of the angular velocity sensor 24 changes. In step S20, it is determined whether the inclination angle θk of the angular velocity sensor 24 has been output, and if it is output, the work implement inclination target angle θt is determined in step S21. If the inclination angle θk of the angular velocity sensor 24 is added and is not output, the work machine inclination target angle θt is set to zero in step S22 and the process returns. The fact that the inclination angle θk is not output means that the traveling machine body 1 is stopped or traveling on a flat farm field, and the absolute inclination angle θs at this time becomes the new work implement inclination target angle θt.

FIG. 8 shows the control when the next corrected tilt angle is input from the angular velocity sensor 24 until the work implement 13 reaches the posture of the work implement tilt target angle θt.
In step S30, the absolute inclination angle θs of the inclination sensor 23 and the inclination angle θk of the angular velocity sensor 24 are read into the controller 30, and in step S31, it is determined whether there is an output from the angular velocity sensor 24. If there is an output, it is determined in step S32 whether or not the tilt control for tilting to the work implement tilt target angle θt has been performed for a specified time, and if the specified time has elapsed, it is determined in step S33 whether the work implement tilt target angle θt has been reached. If the work implement target inclination angle θt has not been reached, the unreached inclination angle θm is calculated in step S34, and the unreachable inclination angle θm is subtracted from the current work implement inclination target angle θt in step S35 to obtain a new work implement inclination. Return as the target angle θt.

  If there is no output from the angular velocity sensor 24 in step S31, the process immediately returns. If the determination in step S32 is NO or the determination in step S33 is YES, the work implement inclination target angle θt is determined as the angular velocity sensor in step S36. It changes to the inclination angle θk of 24 and returns.

  If the work implement 13 has reached the work implement tilt target angle θt, the tilt angle θk is set to a new work implement tilt target angle θt in order to prevent swing back due to hunting of the absolute tilt angle θs.

FIG. 9 shows horizontal control when the state in which the inclination angle θk of the angular velocity sensor 24 is smaller than the predetermined inclination angle θa continues for a long time.
In step S40, the absolute inclination angle θs of the inclination sensor 23 and the relative inclination angle θk of the angular velocity sensor 24 are read into the controller 30, and in step S41, it is determined whether there is an output from the angular velocity sensor 24.

  If there is an output, it is determined in step S42 whether or not it is after the shift to the tilt control tilting to the work machine tilt target angle θt. If NO, the angular velocity sensor count is counted up in step S43, and the angular velocity in step S44. For example, it is determined whether the sensor count has reached 5. If YES, the control shifts to tilt control based on the absolute tilt angle θs of the tilt sensor 23 in step S45. If the determination in step S44 is NO, the process proceeds to tilt control based on the relative tilt angle θk of the angular velocity sensor 24 in step S47.

  If there is no output from the angular velocity sensor 24 in step S41, the process returns immediately. If not after the transition to the tilt control in the determination in step S42, the angular velocity sensor count is reset in step S46, and the relative speed of the angular velocity sensor 24 in step S47 is reset. The process shifts to tilt control by the tilt angle θk.

  This control is performed by resetting, for example, in the sixth control, that the working machine inclination target angle θt is deviated from the actual inclination angle of the working machine 13 by frequently adding the relative inclination angle θk to the absolute inclination angle θs. It will be corrected.

  The relative inclination angle θk of the angular velocity sensor 24 is calculated by integrating the inclination acceleration. However, since a mechanical error occurs with respect to the operation of the hydraulic horizontal cylinder 19, the relative inclination angle is appropriately determined by a correction coefficient for each product. θk is corrected. This correction coefficient is stored in an EEPROM that retains its memory even when the power is turned off, and switches to the microcomputer checker or the operation panel are operated to shift to the adjustment mode to make correction possible.

DESCRIPTION OF SYMBOLS 1 Traveling machine body 13 Working machine 23 Inclination sensor 24 Angular velocity sensor θk Inclination angle θs Absolute inclination angle θt Inclination target angle

Claims (1)

  An inclination sensor (23) for detecting the absolute inclination angle (θs) of the traveling machine body (1) or the work machine (13) and an angular velocity sensor (24) for detecting the inclination angle (θk) from the speed of the inclination angle are provided, When the inclination angle (θk) detected by the angular velocity sensor (24) is equal to or smaller than a predetermined value, the absolute inclination angle (θs) detected by the inclination sensor (23) is set as the inclination target angle (θt), and the angular velocity sensor (24) When the detected tilt angle (θk) exceeds a predetermined value, the tilt angle (θk) detected by the angular velocity sensor (24) is added to the absolute tilt angle (θs) of the traveling machine body (1) or the work machine (13) at this time. A farm vehicle attitude control device configured to correct and control the attitude of the traveling machine body (1) or the work machine (13) as a new inclination target angle (θt) by addition.

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