JPH01120219A - Controller for starting work of working car - Google Patents

Abstract

PURPOSE:To smoothly carry out start of running, by performing connecting operation of a running clutch by a running start command and then work clutch when the work device reaches a work starting position and gradually increasing the number of revolutions of an engine to the set value. CONSTITUTION:When a running start switch 16 is operated to attain an ON state, a main running clutch 7 is subjected to connecting operation through a main running clutch actuator 13 by a running clutch operation means 100. When a planting work device 3 reaches a work starting position, a planting work clutch 9 is subjected to connecting operation through a planting work clutch actuator 14 by a planting work clutch operation means 101. The number of revolutions of an engine (E) is then gradually increased to the set value through an actuator 11 for operating a throttle by a controlling means 102 for number of revolutions of the engine.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to an engine that drives both a traveling device and a working device, a running latch that connects and disconnects the transmission of driving force to the traveling device, and a driving device that drives both a traveling device and a working device. The present invention relates to a work start control device for a work vehicle, which includes a work clutch that connects and disconnects drive force transmission to a work vehicle.

[Conventional technology]

For example, if you need to perform planting work at regular intervals, such as with a rice-planting work vehicle, engage and operate the work clutch after the work vehicle reaches the specified speed. There is a need.

Therefore, a run-up section is provided before the work start position where the work clutch is engaged and operated, and while traveling in this run-up section, the speed of the work vehicle is increased to a predetermined speed. Conventionally, the latch engagement operation for running, the speed increasing operation, and the subsequent engagement operation of the work clutch were all performed manually.

[Problem that the invention seeks to solve]

In the above conventional configuration, not only is it necessary to manually engage the latch for running, increase the speed, and subsequently engage the work clutch, but also it is necessary to manually engage the latch for running, and the subsequent engagement of the work clutch. The operations were troublesome because they had to be performed in succession.

By the way, please turn on the running latch with the engine speed sufficiently increased so that the running speed will quickly reach the specified speed after starting running, and then engage and operate the work clutch immediately after starting running. Although it is possible to do so,
In that case, there is a disadvantage that the shock at the start of running becomes large.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a latch engagement operation for running, a speed increasing operation, and
To enable a series of subsequent operations of engaging a work clutch to be performed continuously and automatically, and to smoothly start running.

[Means for solving problems]

The characteristic configuration of the work start control device for a work vehicle according to the present invention is as follows:
a running latch operating means that operates the running latch to engage the running latch when a running start command is given, and as the position of the work device reaches the work start position after the running latch is engaged; , a working clutch 1 control means for engaging the working clutch, and an engine rotational speed control means for gradually increasing the rotational speed of the engine until it reaches a set rotational speed after the driving latch is engaged. Its functions and effects are as follows.

[For production]

That is, when a command to start running is given, the running latch operation means is activated to automatically engage the running latch, and the engine rotational speed control means controls the engine rotational speed after the running latch is engaged. By gradually increasing the rotation speed until it reaches the set rotation speed, the traveling speed of the work vehicle is automatically increased until it reaches the work start position, and when the work vehicle reaches the work start position, the engine output is sufficiently increased. , the working clutch operating means is actuated to automatically engage and operate the working clutch.

〔Effect of the invention〕

Therefore, the latch operation for running at the start of running,
A series of operations such as speed increase operation and subsequent work clutch engagement operation can be performed continuously and automatically, and the speed is increased by increasing the engine speed in stages, so the start of driving is smooth. Now you can do it.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 5 and 6, a device (1) for planting seedlings as a working device is installed at the rear of a vehicle body equipped with a pair of left and right front wheels (1) as a traveling device and a pair of left and right rear wheels (2). 3) is attached so that it can be raised and lowered and can be stopped and driven.
A work vehicle (V) for rice planting is configured.

As shown in Fig. 5 and Fig. 7, the guiding beam light (L)
A laser emitter (4) that projects a laser beam from one end of the working path on which the working vehicle (V) travels toward the other end is installed so as to be movable in the direction in which the working path is lined up.

However, the laser beam (L) has a width in the vertical direction by vertically scanning the laser beam projected from the laser emitter (4) over a predetermined angle range. That's how it is.

As shown in FIGS. 5 and 6, a light receiver (5) as a steering control sensor that receives the beam light (L) projected from the front side of the vehicle body is attached to the sideways portion of the vehicle body. There is.

In FIG. 5, (S+) and (St) are a pair of optical sensors that receive the beam light (L), and are separated by a set interval (2) in the longitudinal direction of the vehicle body, and are spaced apart in the vertical direction. The light receivers (5) are provided in the light receiver (5) so as to be spaced apart from each other. Further, (6) refers to the pair of optical sensors (Sl) and (S
It is a support frame for 2).

As shown in FIG. 7, the working vehicle (V) uses the beam light (L) projected from the front side of the vehicle body as a traveling guide, and moves along the beam light (L) at one end of the working process. The steering is controlled based on the detection information of the light receiver (5) so that the vehicle automatically travels from one end to the other end.

However, when planting as a work start position, a run-up section of a predetermined distance is provided on the near side of the start position, and while the work vehicle (V) travels in this run-up section, the planting speed is automatically set to the set speed. As the planting speed is increased, and as the planting reaches the starting position, the driving of the planting device (3) is automatically started so that the planting operation can be started.

Next, a control configuration for automatically driving the work vehicle (V) will be explained.

As shown in FIG. 1, the output of the engine (E) is transmitted to the transmission (8) via the main clutch (7), which serves as a running latch that intermittents the driving force to the traveling device. The output of (8) is transmitted to both the front wheel (1) and the rear wheel (2), and the planting as a working clutch that cuts off the transmission of driving force to the working device is via the clutch (9). Said planting is being communicated to the device (3).

A steering actuator (10) that steers the front wheels (1), a throttle operation actuator (11) that operates the throttle of the engine (E) to adjust the engine speed, and a drive circuit (12) thereof. , a main clutch actuator (13) that operates the main clutch (7) on and off, and a planting clutch actuator (14) that operates the planting clutch (9) on and off.
) are provided.

However, the main clutch (7) and the planting are done in the clutch (9).
Various types of clutches, such as friction type clutches and meshing type clutches, can be used. Further, the steering actuator (8) and the throttle operation actuator (9) are implemented using electric motors, hydraulic cylinders, etc., and the main clutch actuator (1)
3) and planting, the clutch actuator (14) is a solenoid or an electromagnetic hydraulic cylinder.

In the figure, (Rυ is a steering angle detection sensor using a potentiometer that detects the steering angle (θ) of the front wheel (1), (
R2) is a throttle position detection sensor (S) using a potentiometer that detects the throttle position of the engine;
3) is a rotation speed sensor that detects the rotation speed of the engine (E), and (S4) is a distance sensor that detects the traveling distance based on the output rotation speed of the transmission (8).

Further, (15) automatically operates each of the actuators based on the detection information of each of the sensors to control the work vehicle (V).
) automatically starts traveling, the planting starts work as the planting reaches the starting position, and
This is a control device using a microcomputer that performs steering control so that the work vehicle (V) automatically travels along the beam light (L).

In other words, by using this control bag ff (15), when the travel start switch (16) is turned ON and a travel start command is given, the vehicle automatically starts traveling and automatically increases speed. a latch operating means (100) for engaging and operating the main clutch (7) for controlling the planting to automatically start the planting operation as the planting reaches the starting position; After the main clutch (7) is engaged, as the position of the planting device (3) reaches the planting start position, the planting clutch (9) is engaged. Means (10
1) and an engine rotation speed control means (102) that gradually increases the rotation speed of the engine (E) until it reaches a set rotation speed after the main clutch (7) is engaged. .

The drive circuit (12) for the throttle operation actuator (11) will be explained as shown in FIG.
A D/A converter (17) that converts the rotation speed command value outputted from the control device (15) into an analog voltage;
a differential amplifier (A) that calculates the deviation between the output of the A converter (17) and the output of the throttle position detection sensor (R2);
1), and a pair of comparators (A2) that output a signal for driving the throttle operation actuator (11) based on the output of the differential amplifier (A, ).
A3).

That is, the throttle operation actuator (11) is driven so that the rotational speed command value outputted from the control device (15) matches the detection value of the throttle position detection sensor (R2), and the engine It automatically adjusts the rotation speed.

Next, based on the flowchart shown in FIG. 3, the speed of the work vehicle (V) is automatically increased while the work vehicle (V) travels through the run-up section, and the planting is performed automatically as the work vehicle (V) reaches the starting position. For planting, we will explain the work start control that controls the operation of each part to start the work.

That is, when the running start switch (16) is turned on and a running start command is given, the rotational speed command value for the drive circuit (12) of the throttle operation actuator (11) is changed to a value corresponding to the idling state. After setting the main clutch (7) to ON, the output of the engine (E) is set to the front and rear wheels (1),
(2) Waits until the set time corresponding to the time from when the vehicle starts traveling has elapsed.

In other words, the process of turning on the main clutch (7) when the running start switch (16) is turned on is the process of turning on the running latch when a running start command is given. This corresponds to the latch operation means (100).

After the main clutch (7) is turned on and a set time elapses, the rotation speed of the engine (E) is adjusted to a preset target while steering control is performed based on the light reception information of the light receiver (5). The rotational speed command value is increased stepwise until the rotational speed is reached, and the speed is gradually increased.

That is, after the ON operation of the main clutch (7), the rotation speed command value is increased stepwise until the rotation speed of the engine (E) reaches the target rotation speed. This corresponds to engine rotation speed control means (102) that gradually increases the rotation speed of the engine (E) until it reaches a set rotation speed.

Then, as the traveling distance detected by the distance sensor (S4) after the start of traveling reaches a distance corresponding to the starting position, the planting device turns the clutch (9) into the
Operate N to start planting.

In other words, as the distance traveled after the start of running reaches the distance corresponding to the starting position of the planting machine, the process of turning on the clutch (9) for the planting operation becomes a workpiece after the latch is engaged for running. As the position of the device reaches the work start position, it corresponds to the work clutch operating means (101) that engages and operates the work clutch.

In addition, even after the planting starts, the steering control is performed so that the plant automatically travels along the light beam (L) based on the light reception information of the light receiver (5).

The beam light (
To explain the configuration for determining the deviation with respect to L), as shown in FIG. 8, each of the pair of optical sensors (St) and (Sz) provided in the light receiver (5)
The front and rear pair of light sensors (St), (S) includes a plurality of light receiving elements (D) arranged in the width direction of the vehicle
t) The beam light (L) is determined based on the positions (XI) and (XZ) of the light receiving element (D) that received the beam light (L) relative to the light receiving element (Do) located at the center of each sensor.
It is configured to be able to detect both the position deviation (χ) and the inclination (ψ) in the vehicle width direction with respect to the projection direction.

That is, based on the light receiving positions (XI) and (XZ) of the pair of optical sensors (St) and (St), and the set interval in the longitudinal direction of the vehicle body <1), based on the following formula (i), The above-mentioned slope (ψ) is calculated.

However, the positional deviation amount (χ) is
St), (SZ), the light sensor (
The value of the light receiving position (X, ) of S, ) is used as is.

Next, a steering control process for automatically driving the work vehicle (V) along the beam light (L) will be described based on the flowchart shown in FIG. 4.

That is, based on the light reception information of the light receiver (5), the position deviation amount (χ), the tilt (ψ), and the steering angle (θ) are determined.
After measuring each of the above, it is determined whether the absolute value of the positional deviation amount (χ) is less than or equal to a set value (3 cm) set as a state in which the deviation in the width direction with respect to the light beam (L) is small. Discern.

The absolute value of the position deviation amount (χ) is the set value (3 cm)
If the amount of positional deviation (χ) and the slope (ψ
), and based on the steering angle (θ), calculate the target steering angle (c) of the front wheels (1) from the following formula (ii) to drive the steering actuator (11). It will be output to .

θ=α1・χ1α2・ψ+α3・θ・・・・・・(ii
) However, α, α2. α3 is a preset coefficient.

On the other hand, the positional deviation amount (χ) is set to the set value (3 cm
), the value of the target steering angle (θ) is set to twice the value when the position deviation amount (χ) is less than or equal to the set value (3 cm). It is.

In other words, when the position deviation (χ) is large, the wheels tend to slip, so the target steering angle (δ) is adjusted so that the deviation in the width direction with respect to the beam light (L) can be quickly corrected. , is set to a larger value than when the deviation is small.

[Another example]

In the above embodiment, the work vehicle is configured as a work vehicle for rice planting,
Although the case where the structure is configured to automatically travel using the guiding light beam (L) is illustrated, the present invention can be applied to various types of work vehicles, and the specific configuration of the latch for driving, the work clutch, etc. The specific configuration of each part can be changed in various ways. Further, even when a person is on board and manually operates the vehicle, it can be used as a means for automatically operating the running latch and the work clutch in conjunction with each other at the start of the work.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the work start control device for a working vehicle according to the present invention, and FIG. 1 is a block diagram of the control configuration, FIG. 2 is a circuit diagram of a drive circuit for a throttle operation actuator, and FIG.
Figure 4 is a flowchart of work start control, Figure 4 is a flowchart of steering control, Figure 5 is a schematic side view of the work vehicle, and Figure 6 is a flowchart of work start control.
7 is an explanatory diagram of the start of work, and FIG. 8 is an explanatory diagram of positional deviation amount and inclination detection. (1) , (2)... Traveling device, (3)...
... Working device, (7) ... Latch for running,
(9)...Working clutch, (E)...
- Engine, (100)...Latch operation means for running, (101)...Working clutch operation means, (102)...Engine speed control means.

Claims (1)

[Claims] An engine (E) that drives both the traveling devices (1), (2) and the working device (3), and the traveling devices (1), (2).
A work start control device for a work vehicle, comprising a running latch (7) for intermittent transmission of driving force to the working device (3), and a work clutch (9) for intermittent transmission of driving force to the working device (3),
A running latch operating means (100) that operates the running latch (7) to open the running latch (7) when a running start command is given.
After the running latch (7) is engaged, the working clutch operating means (101) engages the working clutch (9) as the position of the working device (3) reaches the work start position. ) and the running latch (7).
A work start control device for a work vehicle, comprising: engine rotation speed control means (102) for gradually increasing the rotation speed of the engine (E) until it reaches a set rotation speed after a start operation.