JP7162565B2 - Slewing control system and work equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to a work machine that performs work by reciprocating on a travel route in a field with turning traveling interposed therebetween, and a turning control system for the work machine.

A work machine that performs work by reciprocating in a field with turning travel in between is performed in a turning run in which the machine body makes a turn at the edge of a ridge while the work device in the working state is in a non-working state. . When the turning traveling at the edge of the ridge is completed, the working equipment is put into the working state, and the working traveling is performed again. In addition, there is also a machine that automatically changes the state of the working device during such turning travel according to the traveling distance and the turning state of the machine body.

JP-A-2001-86816

There is a demand to change the state of the working device during turning travel at more appropriate timing.

A turning control system according to an embodiment of the present invention is a turning control system for a working machine that reciprocates for work in a field while sandwiching the turning movement, and performs work with a working device during the work traveling. A travel distance detection unit that detects the travel distance, an orientation detection unit that detects the orientation of the machine body, and corresponds to the start and end timing of the turning travel and the timing of the end and start of the operation of the work device. a storage section for storing the travel distance and the aircraft orientation; a teaching mode for storing the travel distance and the aircraft orientation in the storage section; and a teaching turn mode for performing the turning travel based on the travel distance and the aircraft orientation. and a control unit for controlling the turning travel based on the travel distance and the aircraft heading stored in the storage unit during the teaching turn mode, and notifying the driver of a warning. and the control unit controls the operation of the work device and the steering operation for turning during the teaching turn mode, based on the travel distance and the aircraft heading stored in the storage unit. The notification unit is caused to notify the warning indicating at least one of them .

During the preceding turning travel, in the teaching mode, the traveling distance and machine body direction at each timing are stored in association with the timing of starting and ending the turning travel and the timing of the end and start of operation of the work device, and thereafter. 1, the control section controls the turning at the stored timing. Since the timing of turning travel and the timing of operation of the working device are stored during actual turning travel in the field, appropriate timing suitable for the field can be taught. In addition, simply by shifting to the teaching mode, it is possible to automatically store the traveling distance and machine direction corresponding to the timing of traveling during turning and operation of the working device, so that teaching can be easily performed. can. Furthermore, in the subsequent turning travel, the turning travel can be controlled in the same field at the previously taught timing, so that the work can be performed at a fixed position before and after the turning.

With such a configuration, the driver is notified as a warning of the excess or deficiency of steering of the machine body, the timing of steering, or the timing of operating the work device. You can start working on the position.

Further, it is preferable that the control unit automatically controls at least one of the operation of the work device and the steering for turning travel based on the travel distance and the machine body orientation stored in the storage unit.

With such a configuration, the traveling during turning and the operation of the work equipment are automatically controlled according to the amount of steering of the machine body, the timing of steering, or the timing of operation of the work equipment, so that the work can be performed at an appropriate starting position. can be started.

Further, after the travel distance and the aircraft heading are stored, in the turning travel in the teaching turn mode, the timing of the end of the turning travel, the timing of the end of operation of the work device, or the timing of the start of operation of the work device. is inappropriate, it is preferable to switch to the teaching mode and store the travel distance and the aircraft heading again.

With such a configuration, even if there is an error in the traveling distance due to a change in the slip ratio in the field, the timing of turning travel and the timing of operation of the work device can be optimized by redoing the teaching. and work can be started at a suitable starting position.

In addition, the teaching mode is implemented in each of the turning travels on two sides of the farm field facing each other forming both ends of the work traveling, and the storage unit stores the traveling distance and the machine body direction corresponding to each of the turning travels. are individually stored, and the control unit preferably controls the turning travel based on the corresponding traveling distance and the aircraft heading in each of the turning travels.

Depending on the shape of the field, the outer perimeter of the field on which the vehicle turns may not be perpendicular to the route on which the vehicle travels for work. In addition, there are cases where the two opposite sides in the field corresponding to the start position and end position (both ends) of the work travel are not parallel. Therefore, there are cases where the conditions for turning travel required for each contour side of the field are different. In this case, before and after turning, it is necessary to correct the start position and end position of the operation of the working device. By performing teaching for each of the outer peripheries facing each other in the field, it is possible to start work at an appropriate starting position regardless of the shape of the field.

Further, the work machine is driven by a travel device and includes an axle for driving the travel device, and the travel distance detection unit measures the number of pulses detected a plurality of times during one rotation of the axle. The travel distance may be detected, and the controller may control the turning travel based on the number of pulses corresponding to the travel distance.

With such a configuration, the travel distance can be set in units of a distance shorter than the travel distance for one rotation of the axle, so that the turning travel can be controlled with stricter timing, and the work can be performed at a more appropriate starting position. can be started.

Further, the working device includes a fertilizing device and a seedling planting device, and the control unit controls the elevation of the seedling planting device, the start and end of the planting operation of the seedling planting device, and the fertilization. It may be possible to control the start and end of fertilization by the device.

With such a configuration, the operation of various devices associated with the planting work can be performed based on the traveling distance and the aircraft orientation, and the burden of traveling for work can be reduced.

Further, the working device has at least one of a fertilizing device and left and right markers, and a seedling planting device, and the control device controls elevation of the seedling planting device and planting operation of the seedling planting device. It may be controllable to start and end, to start and end fertilizing by said fertilizing device, and to move said left and right markers between working and retracted positions respectively.

Also with such a configuration, various devices associated with the planting work can be operated based on the traveling distance and the machine body direction, and the burden of traveling for work can be reduced.

Furthermore, a working machine according to an embodiment of the present invention includes the swing control system.

As a result, the work machine that performs work by reciprocating in the field with the turning traveling in between can restart the work associated with the turning traveling at an appropriate starting position.

1 is an overall side view of a riding-type rice transplanter; FIG. 3 is a plan view showing a steering operation system for right and left front wheels, a transmission system for right and left front wheels, and right and left rear wheels; FIG. It is a figure explaining the structural example of turning control. FIG. 10 is a plan view illustrating turning travel on the edge of a ridge; It is a figure explaining the structural example of a control apparatus. FIG. 5 is a diagram illustrating an example flow of a teaching mode in turning control; FIG. 10 is a diagram illustrating an example flow of a teaching turn mode in turning control; FIG. 10 is a plan view illustrating turning travel on the edge of a ridge;

[overall structure]
As shown in FIG. 1, a rice transplanter, which is an example of a work machine, has a rear portion of the machine body supported by right and left front wheels 1 (corresponding to traveling devices) and right and left rear wheels 2 (corresponding to traveling devices). A link mechanism 3 supported so as to be vertically movable, a single-acting hydraulic cylinder 4 for vertically driving the link mechanism 3, and a seedling planting device 5 (corresponding to a working device) supported at the rear of the link mechanism 3. Prepare. A paddy field (equivalent to a field) generally has a layer of mud and water formed on a hard plowing board G1 below, and the top surface of the layer of mud and water is the paddy surface G2. The rice transplanter runs with the right and left rear wheels 2 in contact with the plowing board G1.

As shown in FIG. 1, the seedling planting device 5 includes four planting transmission cases 6, a rotation case 7 supported to the left and right of the rear part of the planting transmission case 6 so as to be rotatable, and Equipped with a pair of planting arms 8, a plurality of grounding floats 9, a seedling platform 10, and the like, it is configured as an eight-row planting type. A hopper 14 for storing fertilizer and four feed-out units 15 in two-row units are provided behind the operator's seat 13 , and a blower 16 is provided below the operator's seat 13 . A grooving device 17 is provided on the ground float 9 , and a hose 18 is connected across the delivery portion 15 and the grooving device 17 .

As shown in FIGS. 1 and 3, right and left markers 19 (corresponding to working devices) are provided on the right and left sides of the seedling planting device 5, and are grounded on the paddy field G2 to indicate the planting process. (see FIG. 1) and a retracted posture (see FIG. 3) away from the field G2. The right and left markers 19 comprise an arm portion 19a supported by the seedling planting device 5 so as to be vertically swingable, and a rotating body 19b freely rotatably supported at the tip of the arm portion 19a. be. An electric motor 21 is provided for manipulating the right and left markers 19 into working and retracted positions, and is operated by a control device 23 .

[Transmission system]
Next, the transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be described with reference to FIGS. 1 to 3. FIG.

The power of the engine 31 is transmitted to the hydrostatic continuously variable transmission 33 and the mission case 34 via the transmission belt 32, and from the auxiliary transmission (not shown) inside the mission case 34, the front wheel differential mechanism (not shown) ) and the front axle case 35 to the right and left front wheels 1 . The power of the auxiliary transmission is transmitted through a transmission shaft 36, an input shaft 38 of a rear axle case 37, a bevel gear 38a fixed to the input shaft 38, a bevel gear 39a engaged with the bevel gear 38a, a transmission shaft 39 to which the bevel gear 39a is fixed, right and left. is transmitted to the right and left rear wheels 2 via the side clutches 40 of the two. The hydrostatic continuously variable transmission 33 is configured to be steplessly variable from the neutral position N to the forward side Fo and the reverse side Re. The continuously variable transmission 33 is operated.

A steering member 41 having a trapezoidal shape in plan view is swingably supported around a vertical axis P2 in the lower portion of the transmission case 34, and is configured to be swingably operated by the steering handle 20. , the steering member 41 and the right and left front wheels 1, a tie rod 42 is connected.
By operating the steering handle 20, the right and left front wheels 1 can be steered from the straight ahead position A1 over the right and left steering limits A3. A bracket 46 is fixed to the right lateral side of the transmission case 34 , a potentiometer 47 is fixed to the bracket 46 , and a connecting rod 48 extends across the steering member 41 and a detection arm (not shown) of the potentiometer 47 . It is connected through the lower side of the front axle case 35 . The steering angles of the right and left front wheels 1 (the range between the straight position A1 and the right and left steering limits A3) can be detected by the potentiometer 47 via the steering member 41. The detected value of the potentiometer 47 is It is output to the control device 23 .

The right and left side clutches 40 are of a multi-disc friction type and are biased into transmission by springs (not shown). The right and left operation shafts 43 for operating the right and left side clutches 40 to the disengaged state against the spring are supported downward by the rear axle case 37, and the steering member 41 and the right and left operation shafts 43 are supported downward. , right and left operating rods 44 are connected through the lower side of the front axle case 35 . The connecting portions of the right and left operating rods 44 with the right and left operating shafts 43 are provided with elongated holes 44a for flexibility.

When the right and left front wheels 1 are steered in the range of the straight ahead position A1 and the right and left set angle A2, the right and left side clutches are operated by accommodating the long holes 44a of the right and left operation rods 44. 40 is operated to the transmission state. As a result, the fuselage moves forward (backward) while the power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (in the transmission state of the right and left side clutches 40).

As shown in FIGS. 2 and 3, a ring member 49 having a large number of small irregularities formed on its outer periphery is fitted to the clutch cases (corresponding to axles) of the right and left side clutches 40 . Right and left rpm sensors 50 of the proximity sensor type are also secured to the top of the rear axle case 37 so as to face the ring member 49 . The right and left rotation speed sensors 50 transmit pulses corresponding to the unevenness of each ring member 49, and the pulses of the right and left rotation speed sensors 50 detect the rotation speeds of the right and left rear wheels 2. can be detected. In this case, the rotation speeds of the right and left rear wheels 2 are detected by the right and left rotation speed sensors 50 regardless of whether the right and left side clutches 40 are operated to the transmission state or to the disengagement state. can do. Detected values (pulses) of the right and left rotational speed sensors 50 are output to the control device 23 .

As shown in FIGS. 1 and 2, when the right and left front wheels 1 exceed the right set angle A2 and are steered toward the right steering limit A3, the long hole 44a of the right operating rod 44 is opened. The right operating rod 44 is pulled beyond the range, and the right side clutch 40 is operated by the right operating shaft 43 to disengage. As a result, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outer side) (the transmission state of the left side clutch 40), and the right rear wheel 2 (turning center side) (right side clutch 40) is free rolling, the aircraft turns to the right.

When the right and left front wheels 1 exceed the left set angle A2 and are steered to the left steering limit A3 side, the left operating rod 44 crosses the range of the long hole 44a of the left operating rod 44 and the left operating rod 44 A pulling operation is performed, and the left side clutch 40 is operated by the left operating shaft 43 to be in the disengaged state. As a result, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outer side) (the transmission state of the right side clutch 40), and the left rear wheel 2 (turning center side) (left side clutch 40) is free rolling, the aircraft turns to the left.

[Seedling planting device, etc.]
Next, a transmission system to the seedling planting device 5 and the feeding unit 15 will be described with reference to FIGS. 1 to 3. FIG.

In the transmission case 34, the power branched from just before the subtransmission is transmitted to the seedling planting device 5 via the planting clutch 26 and the PTO shaft 25, and the power branched from just before the subtransmission is transferred to the fertilizing clutch 27. (corresponding to a fertilizing device, corresponding to a working device) and an electric motor 28 that is transmitted to the feed-out portion 15 via a drive rod 30 and that operates the planting clutch 26 and the fertilizing clutch 27 to be in a transmission state or a disengagement state. .

When the planting clutch 26 is operated to the transmission state, the seedling tray 10 is driven to reciprocate and laterally feed, and the rotating case 7 is rotationally driven in the counterclockwise direction in FIG. A planting arm 8 alternately takes out seedlings from the lower part of 10 and plants them on the paddy field G2. When the planting clutch 26 is operated to the disengaged state, the reciprocating lateral feeding drive of the seedling placement table 10 and the rotational drive of the rotary case 7 are stopped.

When the fertilizing clutch 27 is operated to the transmission state, a predetermined amount of fertilizer is delivered from the hopper 14 by the delivery portion 15, and the fertilizer is supplied to the grooving machine 17 through the hose 18 by the blower 16 and the grooving machine 17. Fertilizer is supplied to the field G2 via 17. When the fertilizing clutch 27 is operated to be in the disengaged state, the feeding portion 15 is stopped and the supply of fertilizer to the paddy field G2 is stopped.

Next, the lifting operation of the seedling planting device 5 will be described with reference to FIG.
The rear part of the center ground float 9 is supported so as to be vertically swingable around the horizontal axis P1 of the seedling planting device 5 . The seedling planting device 5 is equipped with a potentiometer 22 for detecting the height of the center ground float 9 with respect to the seedling planting device 5 , and the detected value of the potentiometer 22 is input to the control device 23 . As the aircraft advances, the central ground-contact float 9 follows the ground on the paddy field G2. The height from the ground float 9) to the seedling planting device 5 can be detected.

The hydraulic cylinder 4 is provided with a control valve 24 for supplying and discharging hydraulic oil. When hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 is contracted and the seedling planting device 5 is raised. The cylinder 4 is extended and the seedling planting device 5 is lowered.

Based on the height of the center grounding float 9 with respect to the seedling planting device 5 (the height from the paddy field G2 (the center grounding float 9) to the seedling planting device 5), the seedling planting device 5 reaches a set height from the paddy field G2. manual operation of the lifting lever 11 or control of the control device 23 so that the detected value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the central ground float 9) is maintained at the set value) , the control valve 24 is operated, the hydraulic cylinder 4 is expanded and contracted, and the seedling planting device 5 is raised and lowered.

[lever]
Next, the lift lever 11 will be described with reference to FIGS. 1 and 3. FIG.
An elevating lever 11 is provided on the right side of the driver's seat 13, and the elevating lever 11 is configured to be able to operate the seedling planting device 5 in the automatic position, the raised position, the neutral position, the lowered position and the planting position. The operating position of the lever 11 is input to the control device 23 . A potentiometer 29 is provided to detect the vertical angle of the link mechanism 3 with respect to the fuselage, and the detected value of the potentiometer 29 is input to the controller 23 .

When the lifting lever 11 is operated to the raised position, the neutral position, the lowered position and the planting position (when the lifting lever 11 is not operated to the automatic position), the first raised position U1 and the second raised position of the operation lever 12 described later The functions of the position U2, the functions of the first lowered position D1 and the second lowered position D2 are not activated, and only the functions of the right marker position R and the left marker position L of the operating lever 12 are activated.

When the lifting lever 11 is operated to the raised position, the automatic lifting control is stopped, and the planting clutch 26 and the fertilizing clutch 27 are operated by the electric motor 28 to be disconnected. Further, when the lift lever 11 is operated to the raised position, the electric motor 21 operates the right and left markers 19 to the retracted posture. In addition, when the lift lever 11 is operated to the raised position, the control valve 24 is operated to the supply position by the control device 23, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position while the lift lever 11 is operated to the raised position, the control valve 24 is operated to the neutral position by the control device 23, and the hydraulic cylinder is operated. 4 automatically stops.

When the lifting lever 11 is operated to the lowered position, the automatic lifting control is stopped, and the planting clutch 26 and the fertilizing clutch 27 are operated by the electric motor 28 to be disconnected. Further, when the lift lever 11 is operated to the lowered position, the control valve 24 is operated to the discharge position by the control device 23 in a state in which the right and left markers 19 are operated to the retracted posture by the electric motor 21, and the hydraulic cylinder is moved. 4 is extended and the seedling planting device 5 is lowered. When the seedling planting device 5 descends and the grounding float 9 in the center touches the paddy field G2, the automatic lifting control is activated and the seedling planting device 5 touches the paddy field G2 and stops.

When the lifting lever 11 is operated to the neutral position, automatic lifting control is stopped, and the electric motor 28 operates the planting clutch 26 and the fertilizing clutch 27 to be disconnected. Further, when the lift lever 11 is operated to the neutral position, the control valve 24 is operated to the neutral position by the control device 23 while the right and left markers 19 are operated to the retracted posture by the electric motor 21, and the hydraulic pressure is increased. Cylinder 4 stops. Thus, the seedling planting device 5 can be raised and lowered to an arbitrary height and stopped by operating the lift lever 11 to the raised position, the neutral position and the lowered position.

When the lifting lever 11 is operated to the planting position, the electric motor 21 operates the right and left markers 19 to the retracted position, and the automatic lifting control is activated. Clutch 27 is operated to the transmission state. As a result, the seedling tray 10 is reciprocally laterally fed to the left and right, and the rotating case 7 is driven to rotate. Planted in G2. At this time, a predetermined amount of fertilizer is delivered from the hopper 14 by the delivery unit 15, and the fertilizer is supplied to the grooving device 17 through the hose 18 by the blowing of the blower 16, and is supplied to the paddy field G2 via the grooving device 17. be.

Next, the operating lever 12 will be described with reference to FIGS. 1 and 3. FIG.
An operating lever 12 is provided on the right lateral side below the steering handle 20, and the operating lever 12 extends laterally outward on the right side. The operating lever 12 can be moved upward from the neutral position N to a first raised position U1, a second raised position U2, a first lowered position D1, a second lowered position D2, a rear right marker position R, and a front left marker position L. It is configured to be operable in the cross direction and biased to the neutral position N, and the operating position of the operating lever 12 is input to the control device 23 .

With the lift lever 11 operated to the automatic position, the operation lever 12 functions as follows.

When the operating lever 12 is operated to the second raised position U2 (operated to the second raised position U2 and then to the neutral position N), the electric motor 28 operates the planting clutch 26 and the fertilizing clutch 27 to be disconnected, Automatic lift control stops. At this time, the electric motor 21 operates the right and left markers 19 to the retracted posture. Further, the control valve 24 is operated to the supply position by the control device 23, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is lifted. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control device 23 operates the control valve 24 to the neutral position, and the hydraulic cylinder 4 automatically stops.

When the operating lever 12 is operated to the second lowered position D2 (operated to the second lowered position D2 and then to the neutral position N), the control device 23 operates the control valve 24 to the discharge position, and the hydraulic cylinder 4 is The seedling planting device 5 descends by extension operation. When the seedling planting device 5 descends and the ground float 9 in the center touches the paddy field G2, the automatic elevation control is activated and the seedling planting device 5 touches the paddy field G2 and stops. After the operating lever 12 is operated to the second lowered position D2 (after being operated to the second lowered position D2 and then to the neutral position N), when the operating lever 12 is operated to the second lowered position D2 again, In a state in which the automatic lifting control is activated, the planting clutch 26 and the fertilizing clutch 27 are operated by the electric motor 28 so as to be in a transmission state.

For example, when the automatic lifting control is stopped, the planting clutch 26 and the fertilizing clutch 27 are operated by the electric motor 28 to be disconnected, and the right and left markers 19 are operated by the electric motor 21 to the retracted posture, the operation lever 12 is operated to the first raising position U1, the control valve 24 is operated to the supply position by the control device 23, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the operation lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position by the control device 23, and the raising of the seedling planting device 5 is stopped.

For example, when the automatic lifting control is stopped, the planting clutch 26 and the fertilizing clutch 27 are operated by the electric motor 28 to be disconnected, and the right and left markers 19 are operated by the electric motor 21 to the retracted posture, the operation lever 12 is operated to the first lowering position D1, the control valve 24 is operated to the discharging position by the control device 23, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position by the control device 23, and the descent of the seedling planting device 5 is stopped.

Thus, the seedling planting device 5 can be raised and lowered only while the operation lever 12 is being operated to the first raised position U1 and the first lowered position D1, and the seedling planting device 5 can be moved to an arbitrary height. can be raised and lowered to a stop.

When the operating lever 12 is operated to the right marker position R (operated to the right marker position R and then to the neutral position N), the electric motor 21 operates the right marker 19 to the active posture. When the operating lever 12 is operated to the left marker position L (operated to the left marker position L and then to the neutral position N), the electric motor 21 operates the left marker 19 to the active posture.

[Turning]
Next, operation timings of the working device during turning travel will be described with reference to FIGS. 3 and 4. FIG.

When the rice transplanter sequentially travels along a plurality of travel routes, the rice transplanter performs a turning travel that connects two travel routes at the edge of a ridge. Planting travel (work travel) is performed in the planting process L01 on one travel route. During planting travel, either one of the left and right markers 19 (here, the right marker 19) is in the working posture, the seedling planting device 5 is in the lowered state, and the planting clutch 26 and the fertilizing clutch 27 are It is in transmission state.

When the front end of the machine reaches the ridge B (the rear end of the machine reaches the position E1) during the planting run, the shift lever 45 is operated to the neutral position N and the machine stops. When the fuselage stops, the work device is displaced to a state in which it is not used (end of operation). Specifically, the planting clutch 26 and the fertilizing clutch 27 are disconnected by driving the electric motor 28, and the seedling planting device 5 is raised. At that time, the right marker 19 is also displaced to the retracted posture.

When the operation in the working state is completed, the machine body is moved backward by a predetermined distance (backward travel L1).
After the machine body is moved backward, the electric motor 21 is driven to displace the left marker 19 to the working posture (one of the start of operation of the working device). After that, the front end of the fuselage is advanced to position E2 (forward stroke L2). When the front end of the fuselage reaches position E2, the steering wheel 20 is operated to the right to start turning to the right. This turning travel is performed until the front end of the fuselage reaches position E3 (turning step L3), and then straight travel is performed until the front end of the fuselage reaches position E4 (straight travel L4). The length of the straight travel L4 is determined by the manner of turning travel and the positional relationship of the travel route across the travel, and a turn without the straight travel L4 may be performed. When the fuselage reaches position E4, it again turns to the right and travels (turning step L5).

When turning travel is performed until the front end of the machine body reaches position E5, the seedling planting device 5 is lowered (one of the start of operation of the working device). At this time, the disconnected states of the planting clutch 26 and the fertilizing clutch 27 are maintained. Then, straight travel is performed (straight travel L6).

When the rear end of the machine body reaches position E6 due to straight traveling, the planting clutch 26 and the fertilizing clutch 27 are shifted to the transmission state (one of the start of operation of the working device). E6 is the position where the distance from ridge B to E6 is the same as the distance from ridge B to E1. Planting process L02 is performed when a body runs a running path in this state. Turning travel is also performed at the end of the planting process L02, but this turning travel is a left turn, and the operation of the marker 19 is left-right reversed. In this manner, the planting travel (working travel) and turning travel are repeated to proceed with the planting work in the field. During turning, the turning control described below is performed.

[Swing control configuration]
Next, with reference to FIGS. 3 and 5, a description will be given of a structure relating to the control of turning traveling at the edge of a ridge.

As shown in FIGS. 3 and 5 , the control device 23 that performs turning control includes a travel distance detection section 51 , an orientation detection section 52 , a storage section 53 , a control section 54 and a turning angle detection section 55 . The control device 23 controls turning travel for turning at the edge of a ridge. Specifically, the control device 23 controls the operation timing of the work device, or the operation timing of the work device and the turning motion of the machine body in the turning travel between the travel routes when reciprocating on the travel route of the field. The timing is stored in a teaching mode, and when the teaching turn mode is set, control is performed so that subsequent turning traveling is performed at the stored timing. In the following explanation, the operation timing of the work device and the turning motion timing of the machine body are stored, and when the teaching turn mode is set at this timing, the operation of the work device and the turning motion of the machine body (at the time of turning) are performed at the stored timing. ) is automatically performed.

Setting to the teaching mode and setting to the teaching turn mode are performed using a switch 56 (corresponding to a switch). The selector switch 56 is provided at any position around the driver's seat 13 (see FIG. 1). The changeover switch 56 can use, for example, an adjustment volume (not shown) that finely adjusts the operation timing of the working device. In this case, setting to the teaching mode is performed by depressing the adjustment volume (not shown) while turning it all the way to the right. Also, setting to the teaching turn mode is performed by pressing down the adjustment volume (not shown) while turning it all the way to the left.

The traveling distance detection unit 51 receives pulses from the right and left rotational speed sensors 50 and integrates the number of pulses to calculate the traveling distance by integrating the number of rotations of the rear wheel 2 .
The traveling distance detection unit 51 starts calculating the traveling distance by shifting to the teaching mode. The calculated travel distance is output to the control unit 54 .

The orientation detection unit 52 calculates the orientation of the aircraft (aircraft orientation). The airframe is provided with a direction sensor 57 such as a gyro sensor or a geomagnetic sensor. The azimuth detection unit 52 acquires the detection result of the azimuth sensor 57 and calculates the aircraft azimuth. The calculated aircraft heading is output to the control unit 54 .

The storage unit 53 stores the traveling distance and machine body orientation corresponding to the operation timing of the work device and the turning movement timing of the machine body, which are acquired in the teaching mode.

In the turning travel in the teaching mode, the control unit 54 acquires the travel distance and the machine body direction corresponding to the operation timing of the work device and the timing of the machine body turning action (running, steering, etc.) and stores them in the storage unit 53, In the teaching turn mode, the operation of the working device and the traveling of the machine body during turning are controlled based on this timing.

The turning angle detection unit 55 is used when automatically controlling the turning of the aircraft in the teaching turn mode. The control unit 54 checks the detection value of the turning angle detection unit 55 to determine whether the steering angle of the aircraft body is appropriate. The turning angle detection unit 55 receives the detection value of the potentiometer 47 , calculates the steering angle of the front wheels 1 (see FIG. 1), and outputs the steering angle to the control unit 54 . The control unit 54 checks the detection value of the turning angle detection unit 55 to determine whether the steering angle of the aircraft body is appropriate. In the teaching turn mode, if the steering of the aircraft during turning is not controlled, the turning angle detection unit 55 is not required for turning control.

[Turn control process]
Next, the control flow of turning travel performed at the edge of a ridge will be described with reference to FIGS. 3 to 7. FIG.
In the following, a case is exemplified in which the teaching mode is performed when turning to the right, and the first turning in the teaching turn mode is performed by turning to the left. In the following description, when the teaching mode is performed during left turning, the turning direction and the left and right of the marker 19 are reversed. When the teaching turn mode is performed during right turning, the turning direction and the left and right of the marker 19 are reversed. Further, in the teaching turn mode, left and right turns are alternately performed with work travel on the travel path interposed therebetween.

First, work travel is performed on one travel route. At this time, the driver operates either one of the left and right markers 19 (here, the right marker 19) to the operating position, operates the seedling planting device 5 to the lowered state, and operates the planting clutch 26 and fertilization. The clutch 27 is operated to the transmission state (step #1 in FIG. 6).

In the work run, when the front end of the machine reaches the ridge B (step #2 in FIG. 6), the driver stops the machine. At this time, the driver operates the selector switch 56 to cause the controller 54 to start control in the teaching mode (step #3 in FIG. 6).

Next, the operator terminates the operation of the working device. Specifically, the driver performs an operation to disconnect the planting clutch 26 and the fertilizing clutch 27, operates the lifting lever 11 to raise the seedling planting device 5, and displaces the right marker 19 to the retracted posture. Operation is performed (step #4 in FIG. 6).

At this time, the control unit 54 acquires the aircraft azimuth, which is the orientation of the aircraft when it stops, and associates it with the position where the front end of the aircraft has reached the ridge B along with "0" as the traveling distance in the storage unit. 53 (step #5 in FIG. 6). The azimuth of the aircraft is calculated by the azimuth detector 52 . The azimuth detection unit 52 acquires the detection value of the potentiometer 47 and calculates the azimuth of the fuselage, which is the orientation of the fuselage.

Next, the driver reverses the aircraft by a predetermined distance as backward travel L1 (step #6 in FIG. 6). After the machine body is moved backward, the driver performs an operation to displace the left marker 19 to the working posture (one of the operation start of the working device). At this time, the control unit 54 acquires the traveling distance of the aircraft from the start of the backward travel L1 to the stop, and the aircraft orientation, which is the orientation of the aircraft when it stops, and obtains the stopping position of the backward travel L1, In addition, the distance traveled and the heading of the machine body are stored in the storage unit 53 in association with the position where the marker 19 is displaced to the active posture (step #7 in FIG. 6).

The traveled distance is calculated by the traveled distance detection unit 51 according to an instruction from the control unit 54, triggered by the transition to the teaching mode. The traveling distance detection unit 51 acquires the number of pulses detected from the rotation speed sensor 50, and calculates the traveling distance from the number of pulses. As described above, the number of revolutions of the rear wheels 2 is calculated from the number of pulses, and the traveled distance is calculated from the number of revolutions of the rear wheels 2 . Also, the number of pulses may be the average value of the detection values of the left and right rotational speed sensors 50 . As a result, the influence of the slip can be reduced to some extent, and the traveled distance can be calculated more accurately. Hereafter, in the teaching mode, the traveled distance is accumulated in consideration of the forward or reverse direction. For example, since the backward travel L1 is backward travel, the sign of the travel distance is negative, and the travel distance decreases in reverse travel. Therefore, the travel distance is an absolute travel distance from the position E1.

Next, the driver advances the aircraft by a predetermined distance (to position E2) as forward travel L2 (step #8 in FIG. 6). At this time, the control unit 54 obtains the traveling distance of the aircraft from the start of the backward travel L1 to the stop, and the orientation of the aircraft at the time of stopping, and determines that the vehicle is at the stop position of the forward travel L2. , and the travel distance and aircraft heading are stored in the storage unit 53 (step #9 in FIG. 6).

Next, the driver performs a turning operation. The turning travel includes, for example, turning travel (turning process L3), straight travel (straight travel L4), and turning travel (turning process L5). The turning steps L3 and L5 may always be full-open turning (step #10 in FIG. 6). When the turning process L5 is completed, the driver operates the lift lever 11 to lower the seedling planting device 5 as one of the start of operation of the working device (step #11 in FIG. 6).

At this time, the control unit 54 acquires the travel distance of the aircraft after the start of the backward stroke L1 and the aircraft heading, which is the direction of the aircraft, at the final position of each stroke, and obtains the final position of each stroke. In conjunction with this, the travel distance and aircraft heading are stored in the storage unit 53 . In particular, for the final position of the turning process L5, the control unit 54 associates the final position of the turning process L5 with the descending position of the seedling planting device 5, and determines the travel distance and machine direction. Store in the storage unit 53 (step #12 in FIG. 6).

Next, as the straight travel distance L6, the rear end of the fuselage reaches a position corresponding to the position of the rear end of the fuselage when the front end of the fuselage reaches ridge B (the rear end of the fuselage reaches position E6). advance the aircraft until it reaches At this time, the traveling distance in the straight traveling distance L6 can be the same distance as the distance from E1 to E2 in the forward traveling distance L2. After the end, the vehicle may automatically travel this distance (step #13 in FIG. 6). When the straight travel L6 ends, the driver performs an operation to put the planting clutch 26 and the fertilizing clutch 27 into the transmission state as one of the operation start of the working device.
At this time also, the planting clutch 26 and the fertilizing clutch 27 may be automatically set to the transmission state when the vehicle has traveled the same distance as the distance from E1 to E2 (step #14 in FIG. 6).

At this time, the control unit 54 acquires the travel distance of the aircraft from the start of the backward travel L1 to the end of the straight travel L6 and the orientation of the aircraft at the time of completion, and acquires the planting clutch 26 and The travel distance and machine direction are stored in the storage unit 53 in association with the fact that the fertilizing clutch 27 is in the transmission state (step #15 in FIG. 6). Then, the driver operates the selector switch 56 to end the teaching mode (step #16 in FIG. 6). Thereby, turning traveling is the end and work traveling in a new traveling route is performed as planting process L02. Turning travel is performed using the teaching turn mode at the edge of the travel route thereafter.

In turning traveling using the teaching turn mode, when the front end of the aircraft reaches the ridge B (step #17 in FIG. 7), the driver stops the aircraft. At this time, the driver operates the selector switch 56 to cause the controller 54 to start control in the teaching turn mode (step #18 in FIG. 7). Along with this, the control unit 54 confirms the information stored in the storage unit 53, and memorizes the traveling distance and the machine direction in association with the position where the front end of the machine reached the ridge B and stopped. Make sure it matches what is written. Then, the control unit 54 operates the electric motor 28 to disconnect the planting clutch 26 and the fertilizing clutch 27, operates the control valve 24 to raise the seedling planting device 5, The motor 21 is operated to displace the right marker 19 to the retracted posture (step #19 in FIG. 7).

Next, the control unit 54 causes the aircraft to move backward by a predetermined distance as backward travel L1 (step #20 in FIG. 7). The control unit 54 causes the machine body to move backward until the travel distance and the machine direction reach the values stored in association with the stop position of the backward travel L1 and the position at which the marker 19 is displaced to the active posture. , the electric motor 21 is operated to displace the left marker 19 to the working posture (one of the start of operation of the working device) (step #21 in FIG. 7).

Next, the control unit 54 advances the aircraft by a predetermined distance (up to position E2) as forward travel L2 (step #22 in FIG. 7). When the traveling distance and the aircraft heading reach the values stored in the storage unit 53, the control unit 54 automatically starts turning. When the traveling distance and the aircraft heading reach corresponding values, the left turning process L3, the straight movement process L4, and the left turning process L5 are performed (step #23 in FIG. 7). The control unit 54 controls the turning stroke L3, the straight stroke L4, and the turning stroke L5 according to the values stored in the storage unit 53, the hydrostatic continuously variable transmission 33 (see FIG. 2), the transmission case 34 (see FIG. 2), the steering member 41 (see FIG. 2), etc. are controlled. During turning, the steering angle may be the maximum steering angle, which is the same as when the steering handle 20 is fully opened.

After the turning travel is completed, the traveling distance and the machine body direction are the values stored in the storage unit 53 in association with the final position of the turning process L5 and the lowered position of the seedling planting device 5. Then, the control unit 54 operates the control valve 24 to lower the seedling planting device 5 as one of the operation start of the working device (step #24 in FIG. 7).

Next, the controller 54 determines that the rear end of the fuselage reaches a position corresponding to the position of the rear end of the fuselage when the front end of the fuselage reaches the ridge B (the rear end of the fuselage reaches the position E6). ), advance the aircraft forward. The position where the rear end of the machine body reaches position E6 is determined from the traveling distance and the machine direction stored in the storage unit 53 in association with the position where the planting clutch 26 and the fertilizing clutch 27 are in the transmission state. (Step #25 in FIG. 7). At this time, the control unit 54 controls the electric motor 28 to operate the planting clutch 26 and the fertilizing clutch 27 to the transmission state as one of the operation start of the working device (step #26 in FIG. 7). Then, the driver operates the selector switch 56 to end the teaching turn mode (step #27 in FIG. 7). As a result, the turning travel is completed, and work travel on a new travel route is performed as the planting process L02 (step #28 in FIG. 7). After that, similar travel is performed until work travel on all travel routes is completed.

As described above, during the preceding turning travel, in the teaching mode, the timing of starting and ending each motion of the travel during turning is associated with the timing of the end and start of the motion of the work device, and the respective timings are determined. Distance traveled and heading are stored. Then, in the subsequent turning travel, the control unit 54 controls the turning travel at the stored timing. Since the timing of turning and the timing of operation of the working device are stored when turning in an actual field, the control device 23 can teach appropriate timing suitable for the field. Further, only by shifting to the teaching mode, the traveling distance and machine body direction can be automatically stored in correspondence with the timing of the turning travel and the operation of the working device, so that teaching can be easily performed. Furthermore, in the subsequent turning travel, the turning travel can be controlled at the previously taught timing in the same field, so the work can be started from a fixed position before and after the turning.

In addition, since the control unit 54 automatically acquires the travel distance and automatically controls the operation of the working device or the like based on this travel distance, the performance of the rotation speed sensor 50 can be maximized to It is possible to perform turning control with higher accuracy.

[Another embodiment]
(1) In the turning travel, the planting process was performed up to the ridge B, and the turning process (turning process L3, etc.) was performed after the backward process L1. The turning process may be completed and performed without reversing.

For example, first, in the planting process, when the machine reaches a predetermined distance from the ridge B, the machine is stopped. Assume that the rear end of the aircraft has reached position E1 when the aircraft stops. At this time, the electric motor 28 is driven to disengage the planting clutch 26 and the fertilizing clutch 27, the seedling planting device 5 is raised, and the right marker 19 is also displaced to the retracted posture (end of operation of the working device). Further, at this position, along with the travel distance of "0" and the machine body direction, the position at which the operation of the work implement is to be terminated is associated and recorded.

Next, the electric motor 21 is driven to displace the left marker 19 to the working posture (one of the start of operation of the working device). After that, the turning process L3 is performed until the machine body reaches the next traveling route and the direction of the machine body becomes parallel to this traveling route. At this time, the position of the front end of the fuselage is defined as position E5. When the turning process L3 ends, the seedling planting device 5 is lowered (one of the start of operation of the working device). At this time, the disconnected states of the planting clutch 26 and the fertilizing clutch 27 are maintained. In addition, at this position, along with the traveling distance and the machine direction, the position at which the turning process L3 ends is recorded with a string associated therewith.

Next, straight travel is performed until the rear end of the fuselage reaches position E6 (straight travel L6). E6 is the position where the distance from ridge B to E6 is the same as the distance from ridge B to E1. When the rear end of the machine body reaches position E6 due to straight traveling, the planting clutch 26 and the fertilizing clutch 27 are shifted to the transmission state (one of the start of operation of the working device). At this position, along with the distance traveled and the heading of the aircraft, the position at which the straight travel L6 ends is recorded with a string associated therewith.
After that, the planting process is performed.

At the end of the planting process, the turning travel is also performed, but this turning travel is a left turn, and the movement of the marker 19 is left-right reversed. Subsequent turn travel is automatically performed by turn control based on the recorded travel distance and aircraft heading. In this manner, the planting travel (working travel) and turning travel are repeated to proceed with the planting work in the field. Finally, the surrounding area of the field where the turning travel has been performed is traveled for work by traveling around.

(2) The control device 23 is configured by hardware including a processor such as a CPU and an ECU, and may be configured by one functional unit, or may be configured by being distributed among a plurality of functional units as appropriate. Moreover, at least a part of the traveling distance detection unit 51, the direction detection unit 52, the control unit 54, and the turning angle detection unit 55 may be configured by software. At this time, the software (program) is stored in the storage unit 53 and executed by a processor such as an arbitrary CPU or ECU.

(3) Fields may have various shapes, and the perimeters of two facing fields that form a turning ridge B may not be parallel. In this case, if the turning travel taught on one outer periphery is performed on the other outer periphery, it may not be possible to perform appropriate turning travel on the other outer periphery.
In this case, turning travel may be taught on each of the two outer perimeters, and on each outer perimeter, the turning travel taught on the respective outer perimeter may take place. As a result, it is possible to perform turning travel appropriately in each outer periphery.

(4) The state of the field is not the same as the state of the field. Teaching is performed once in the teaching mode, and while turning in the teaching turn mode is repeated, the travel distance varies due to the difference in the slip ratio, etc., and the operation timing of the work device. etc. may be inappropriate. In such a case, re-teaching of turning travel may be performed again in the teaching mode. In this case, the travel distance and aircraft heading corresponding to each operating state stored in the storage unit 53 are rewritten. As a result, even when the state of the field changes, it is possible to appropriately perform the turning travel.

(5) In the teaching turn mode, turning control (steering operation) may be automatically performed, but only the motion control of the working device may be automatically controlled, and the traveling operation during turning may be performed manually. good. In this case, based on the turning timing, the control unit 54 may cause the notification unit 58 to notify the turning start timing, the turning end timing, and the excess or deficiency of the steering operation amount as a warning. Alternatively, the control unit 54 may cause the notification unit 58 to issue a warning instructing the timing of the operation without automatically controlling the operation of the working device.

(6) As the working device, the configuration for controlling the operation of the fertilizing device (the fertilizing clutch 27), the left and right markers 19, and the seedling planting device 5 has been described. In this case, the operation of the fertilizing device (fertilizing clutch 27) and seedling planting device 5 may be controlled.

(7) Although the configuration in which the azimuth sensor 57 is provided has been exemplified, the azimuth sensor 57 may not be provided and the azimuth detector 52 may use the potentiometer 47 as the azimuth detector and detect the aircraft azimuth from the detection value of the potentiometer 47. good.

(8) The control unit 54 acquires the position of each motion in the turning travel based on the travel distance and the machine direction stored in the storage unit 53, but the slip ratio of the field is determined in advance by the map data acquired in advance. If known, the control unit 54 may correct the travel distance and aircraft heading in regions with different slip ratios and the like based on this map data.

(9) Work for which turning control is performed is not limited to planting seedlings, and can be applied to various other works.
In addition, the work machine can perform work in various work areas, not limited to agricultural fields. In this case, the working machine performs the work by reciprocating in a predetermined range of the work site while turning.

INDUSTRIAL APPLICABILITY The present invention can be applied to various working machines that require turning work, such as rice transplanters, direct seeders, tractors, combines, tending machines (spreaders), lawn mowers, and construction machines.

1 front wheel (running device)
2 Rear wheel (running device)
5 Seedling planting device (working device)
19 Marker (working device)
27 fertilizing clutch (fertilizing device working device)
51 traveling distance detection unit 52 azimuth detection unit 53 storage unit 54 control unit 56 changeover switch (switch)
58 Notification Unit

Claims (6)

A turning control system for a work machine that travels back and forth across a turning travel in a field and performs work with the work device during the work travel,
a mileage detection unit that detects the mileage of the aircraft;
an orientation detection unit that detects the orientation of the aircraft, which is the orientation of the aircraft;
a storage unit that stores the travel distance and the machine body orientation corresponding to the start and end timings of the turning travel and the end and start timings of the operation of the work device;
a switch for switching between a teaching mode for storing the travel distance and the aircraft orientation in the storage unit and a teaching turn mode for performing the turning travel based on the travel distance and the aircraft orientation;
a control unit that controls the turning travel based on the travel distance and the aircraft heading stored in the storage unit during the teaching turn mode ;
Equipped with a notification unit that notifies the driver of a warning,
During the teaching turn mode, the control unit instructs at least one of the operation of the work device and the steering for turning travel based on the travel distance and the machine body orientation stored in the storage unit. A turning control system that causes the notification unit to notify the warning . 2. The control unit according to claim 1, wherein the control unit automatically controls at least one of the operation of the work device and the steering for turning travel based on the travel distance and the machine body orientation stored in the storage unit. swivel control system. After the travel distance and the machine body heading are stored, at least the timing of the end of the turning travel, the timing of the end of operation of the work device, or the timing of the start of operation of the work device in the turning travel in the teaching turn mode. 3. The turning control system according to claim 1, wherein if any one of them is inappropriate, the mode is switched to the teaching mode, and the travel distance and the aircraft heading are stored again. The teaching mode is implemented in each of the turning travels on two opposite sides of the farm field forming both ends of the work travel,
The storage unit individually stores the travel distance and the machine body direction corresponding to each of the turning travels,
The turning control system according to any one of claims 1 to 3 , wherein the control unit controls the turning travel based on the corresponding travel distance and the aircraft heading in each of the turning travels. The working machine travels by a travel device and includes an axle for driving the travel device,
The travel distance detection unit detects the travel distance by measuring the number of pulses detected multiple times during one rotation of the axle,
The turning control system according to any one of claims 1 to 4 , wherein the control unit controls the turning travel based on the number of pulses corresponding to the travel distance. A working machine comprising the swing control system according to any one of claims 1 to 5 .

Images