JPH01252207A - Steer control device for mobile farm machine - Google Patents

Abstract

PURPOSE:To correct the moving direction of a farm machine before the direction is largely deviated, by using a steering operation angle setting device and setting the upper limit of the steering operation angle according to the magnitude of the deviation angle between the predetermined moving direction and the real moving direction detected by a direction sensor. CONSTITUTION:The intended moving direction (a) of a tractor body 1 is predetermined. A steering operation angle setting device 4 sets the upper limit of the steering operation angle when the body 1 is deviated from the intended direction (a) by an angle A before the motion of the body. The upper limit has a form truncated at the peak part or thereabout and corresponds to the steering operation angle B opposite to the deviation of the body. The body is steered by a steering control device 3 according to the predetermined angle. When the machine body 1 is deviated by an angle A, the direction sensor 2 detects the deviation angle A and the signal is inputted to a control device 3. The front wheels 8, 8, etc., are steered with the control device 3 by the maximum steering angle B set by the setting device 4 to correct the moving direction.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a steering control device for mobile agricultural machinery, and can be used for automatic steering of mobile agricultural machinery such as tractors and riding seedling planting machines.

2. Description of the Related Art Conventionally, it is common for a vehicle to travel straight in a predetermined direction using automatic steering control.

It is also common to perform power steering by detecting the operating force of the steering wheel.

Problems to be Solved by the Invention When a mobile agricultural machine such as a tractor is automatically controlled to move straight in a predetermined direction in a work area such as a field, a force from the ground is applied to the steering mechanism under the conditions of the field, etc.
The actual traveling direction (front and back direction) of the vehicle body swings left and right from the planned direction. It is necessary to control the steering operation device to correct the direction. At this time, if the steering operation angle is set too large, the direction swings too far in the opposite direction, and if the correction is repeated to return it again, the zigzag-like meandering becomes larger and more frequent. There was a problem that the work site was not in an orderly manner and the work required a lot of time.

Additionally, when driving using automatic straight-ahead control with a driver on board, a device was needed that could immediately switch to manual steering if, for some reason, the driver wanted to avoid danger by immediately manual steering. .

Means for Solving the Problems Regarding Claim 1 The invention of claim 1 includes a direction sensor (2) that detects the traveling direction of the vehicle body (1), and a direction sensor (2) that detects the direction of the vehicle body (1). In a mobile agricultural machine having a steering control device (3) that corrects the traveling direction by steering operation, the deflection angle of the actual traveling direction (b) detected by the direction sensor (2) with respect to the planned traveling direction (a). The steering control device for a mobile agricultural machine is characterized in that it is provided with a steering operation angle setting device (4) for setting a two-limit angle for "steering operation according to the size."

Effect of the Invention During the work progress of the tractor body (1), the planned direction of travel (A) is determined, and the vehicle body (1) is moved in the planned direction (A) before proceeding.
For example, when the steering angle A swings in the opposite direction to the swing, set the steering angle B in the opposite direction to the steering angle setting device (4) as the maximum value that is set near the upper limit. , the steering control device (3) is commanded to perform the steering operation in accordance with this. When the vehicle body fil is positioned with its traveling direction (b) facing the planned traveling direction (a) and starts traveling, the direction sensor (2) continues to input the detected direction value to the control device (3). When a working device is attached to the rear of the vehicle Ell, if the rear wheels slip and swing by angle A due to the difference in ground resistance between the left and right sides, the direction sensor (
When 2) detects and inputs the deflection angle A in that direction, the control device (3) sets the maximum operating angle B set by the setting device (4).
The system immediately responds by, for example, steering the front axle to correct the direction value.

Effects of the Invention Accordingly, the direction of travel can be quickly corrected before the direction changes significantly, and it is possible to perform straight-line control in a practically sufficient and smooth manner in the planned direction (A).

Means for Solving the Problems Regarding Claim 2 The invention of claim 2 has a power steering device (6) that performs power steering by detecting the operating force of the steering wheel (5), A steering control device (3) that automatically steers the vehicle body (1) to correct the traveling direction based on direction detection by a direction sensor (2) that detects the traveling direction.
In a mobile agricultural machine having a steering wheel, it is possible to preferentially switch to manual power steering by manually steering the steering wheel (5) beyond a predetermined operating force while the steering control device (3) is in progress. A steering control device for a mobile agricultural machine has a control configuration.

Effect of the Invention In 1-Rough mode, which performs power steering using hydraulic pressure by a sensor that detects the operating force of the steering wheel (5), a predetermined upper limit value of the operating force is set and the control device (6)
By entering commands into the system, if a dangerous situation suddenly occurs while the pilot is on board and the automatic steering control is in progress,
Regardless of automatic steering control, just by immediately steering the steering wheel (5) with a force greater than a predetermined operating force, the control device (3) detects this operating force and switches to manual power steering preferentially. can.

Effects of the Invention Due to the above-mentioned effects, danger can be avoided by immediate steering operation. Also, it is convenient to make sharp turns at the end of the work progress direction.

Embodiment The vehicle body (1) on the same side is an example of the vehicle body (1) of a tractor, and the tractor shown in FIG. 1 forms a control cabin (7) having a control device such as a control wheel (5). , a pair of left and right front axles (8
) and a driving rear axle (9), and a direction sensor (2) consisting of a magnetic orientation sensor is provided at the center of the width of the vehicle body (1) immediately in front of the rear axle (9).

In addition, as shown in FIGS. 3 and 4, the steering wheel (5) operating force sensor (
10), and a steering angle sensor (1z
are configured with potentiometers, and the left and right front wheels (8
) (8) Arm (141) provided on the king pin (13)
A double-acting hydraulic cylinder (1η) is installed between the steering arm (16) which connects the rod (151+151 to interlock the steering operation) and the vehicle body (11), and the oil tank (1η) shown in FIG. The hydraulic circuit has an old hydraulic pump (19) and a three-boat type solenoid valve ff1), and the output is output to the solenoid valve (20) to perform left and right steering control.

A maximum steering angle setting device (4) configured as a voltage volume setting device is provided on the steering wheel (5) shown in FIG. 2, and an automatic setting switch (21 ), automatic steering control mode switch (2 switches,
An operating force setting device (23) is provided for setting an operating force for switching from automatic steering control to manual power steering. (24 is a flow control valve, and (2S) is a relief valve.

The steering control device (3) is composed of a computer (CPU), and has a steering force sensor (1ω) and a steering angle sensor (1ω) on the input side.
1a, steering angle setting device (4), direction sensor (2), mode switch (2δ, automatic setting switch (21), operating force setting device (23), and solenoid valve 12 on the output side.
1, and a flow rate control valve 24 of the hydraulic circuit. Figure 7,
I2e in FIG. 8 is a rotary tiller.

The operation will be explained with reference to FIGS. 6 to 8.

A steering control device (3) consisting of a computer (CPU)
) among the input devices that must be operated before work.
Turn on the automatic setting switch 21), turn on the motor 1 switch (2) as the original switch for working with automatic steering control, and turn on the steering switch so that it is possible to switch to manual power steering while the control is in progress. The switching level value of the operating force is set using the operating force setting device (23) of the wheel (5).

Further, the steering operation angle setting device (4) is used to set the maximum (or optimum) operation angle B (or B') for the deflection angle A of the direction, and the work is started.

The operating force sensor (10) is for manual power steering, and the input required for automatic steering control is the direction sensor (2), which controls the steering depending on the input value. Yes, as shown in Figure 7, while the 1-tract vehicle body (1) with the rotary tiller Qe attached to the rear is proceeding along the planned direction (A), the land condition of the rotary tiller Qe is changed. Due to the influence of
The direction sensor (2) detects that the vehicle (B) has swung to the right by a swing angle A.
When detected with the input value of When the front axle (
8) When the (C) position of +81 moves to the (D) position, the direction sensor (2) detects the deflection angle of zero degrees in the direction (c
Since the input is made to p u), if the steering operation angle is immediately controlled to 0 degrees and returned, the traveling direction (b) will follow the planned direction (a), and the (D) position will proceed in the direction of the (E) position. It is possible.

In the case shown in Fig. 8, the steering angle setting device (4) is not set at the maximum constant angle, but when the steering angle is set at the steering angle (A1), the steering angle (Bl) is larger than the steering angle (A1). ), the ratio (B
/A) may be done in this way. In this case, the direction is gradually corrected, especially in the case of ridge work, etc., so the correction is gentle, resulting in a beautiful ridge finish. The tractor also has good stability when working at relatively high speeds.

In addition, while the steering control operation is in progress, the operator must use the control wheels (5
), if you suddenly apply an operating force to the control wheel (5) that exceeds the operating force level set by the operating force setting device (23), (c p u) will prioritize the power setting. The steering device (6) connects the operating force sensor (10).
It is possible to switch to manual operation by switching to the hydraulic power horizontal axis according to the detected value.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention; FIG. 1 is a partial side view, FIG. 2 is a partial plan view, FIG. 3 is a partial plan sectional view, and FIG. 4 is a partial side view. 5 is a hydraulic circuit diagram, FIG. 6 is a control block diagram, and FIGS. 7 and 8 are operational diagrams. In the figure, code (1) is the vehicle body, (2) is the direction sensor, and (3)
is a steering control device, (4) is a steering angle setting device, (5) is a steering wheel, (6) is a power steering device, (10) is a steering force sensor, (lδ is a steering angle sensor, ( 1 is a hydraulic cylinder, (21 is a solenoid valve, t21 is an automatic setting switch, 2i5 is a mode switch, and (23 is an operating force setting device).

Claims (1)

[Claims] 1. Direction sensor (2) that detects the traveling direction of the vehicle body (1)
The direction sensor (2) detects the direction of the vehicle body (1).
) to correct the direction of travel by steering the steering control device (3).
), a steering operation for setting a steering operation upper limit angle according to the magnitude of the deflection angle in the actual traveling direction (b) detected by the direction sensor (2) with respect to the planned traveling direction (a). A steering control device for a mobile agricultural machine characterized by being provided with an angle setting device (4). 2 Power steering device (6) that performs power steering by detecting the operating force of the control wheel (5)
and a direction sensor (
In a mobile agricultural machine having a steering control device (3) that automatically steers the vehicle body (1) to correct the traveling direction based on the direction detection of 2), while the steering control device (3) is in progress, A steering control device for a mobile agricultural machine, which is configured to be capable of preferentially switching to manual power steering by manually steering the steering wheel (5) beyond a predetermined operating force.