JPH02142403A - Rise and fall control device for working vehicle - Google Patents

Abstract

PURPOSE:To simplify operation by automatically exchanging a ground height detecting sensor for a rise and fall position detecting sensor in control of rise and fall corresponding to operating state of working device. CONSTITUTION:Control of rise and fall is carried out by using a ground height detecting sensor S1 when a working device is in a nonworking state or is changed from nonworking state to working state and is in the state until a set time elapses. When the working device becomes a working state after lapse of the set time, the ground height detecting sensor is exchanged for a rise and fall position detecting sensor S2, rise and fall are controlled and the working machine will not follow dent of traveling face.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a height above ground detection sensor that detects the height of a working device above the ground, and a lifting position detection sensor that detects the lifting position of the working device with respect to a machine body. The present invention relates to a lifting control device for a working vehicle, which is provided with a sensor and a control means for controlling the lifting and lowering of the working device based on the detection information of both sensors.

[Conventional technology]

For example, if this type of lifting control device for a work vehicle is applied to a device for controlling the lifting and lowering of the reaping section of a combine harvester, the reaping section will not plunge into the ground in a highly uneven field area. In order to do this, a sensor for detecting the height above the ground is used to control the height above the ground so that the height of the cutting section follows the unevenness of the ground. In order to prevent this from following, the sensor for detecting the height above ground and the sensor for detecting the position of elevation are installed in parallel so that the elevation can be controlled using the sensor for detecting the position of elevation relative to the aircraft. There is.

However, conventionally, which of the above-mentioned sensors is used to control the elevation has been manually selected and switched.

[Problem to be solved by the invention]

By the way, in so-called headlands, large irregularities may occur due to human footprints, machine travel traces, etc., and when starting the reaping work by traveling on the headlands for turning, etc., the reaping part against the ground must be It is necessary to make the height above the ground follow the unevenness of the ground. On the other hand, the part of the field where the actual reaping work is done is relatively flat, and in this part of the field, it is better to avoid following depressions in the ground, etc., so that the reaping work can be done more stably and It also feels good.

In response to this situation, it is difficult to switch between the sensor for detecting the height above the ground and the sensor for detecting the elevation position in order to control the elevation. Therefore, improvement was desired. Furthermore, if the sensor to be used is incorrectly selected, there is a risk that the cutting section will collide with the ground.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to control the elevation using either a sensor for detecting the height above the ground or a sensor for detecting the elevation position according to the operating state of the working device. The purpose is to be able to switch automatically.

[Means to solve the problem]

The lift control device for a working vehicle according to the present invention includes a height above ground detection sensor that detects the height of the working device above the ground, a lifting position detection sensor that detects the lifting position of the working device with respect to the body, and both sensors. A control means for controlling the lifting and lowering of the working device based on the detected information is provided, and its characteristic configuration is as follows.

That is, in the first characteristic configuration, a working state detecting means for detecting whether the working device is in a non-working state or a working state is provided, and the control means is configured to detect a state based on detection information of the working state detecting means. When the working device is in a non-working state or after changing from a non-working state to a working state, the height above the ground is maintained at the target height based on the detection information of the height above the ground detection sensor until a set time elapses. The elevator is controlled to move up and down, and after the set time has elapsed, the control is controlled to maintain the target up/down position based on the detection information of the sensor for detecting the up/down position.

Further, in a second characteristic configuration, a working state detecting means is provided for detecting whether the working device is in a non-working state or a working state, and the control means is configured to control the operating state based on the detection information of the working state detecting means. When the working device is in a non-working state or after changing from a non-working state to a working state, the height above the ground is maintained at the target height based on the detection information of the height above the ground detection sensor until a set time elapses. and after the set time elapses, the target ground is controlled within a range above the set elevation position on the descent side with respect to the aircraft and below the set elevation position on the rise side with respect to the aircraft. The structure is configured to control the elevation and descent based on the detection information of both the sensors in order to maintain the height.

[For production]

First, a common configuration in the first characteristic configuration and the second characteristic configuration will be described.

As mentioned above, when the work equipment is in the non-working state, it is necessary to make it follow the unevenness of the running surface in order to prevent the work equipment from colliding with the ground, but after the work equipment is in the working state, It is necessary to avoid following dents etc. on the running surface.

Therefore, a working state detection means is provided to detect whether the working equipment is in the non-working state or in the working state, and when the working equipment is in the non-working state or after changing from the non-working state to the working state, a set time Until this period has elapsed, the elevation control is performed to maintain the height of the working device above the ground at the target height above the ground based on the detection information of the sensor for detecting the height above the ground.

After the set time has elapsed, that is, when the working device enters the working state, in order to prevent the working device from being raised or lowered by following a dent in the running surface, the first characteristic configuration The sensor for detecting the height above the ground is switched from the sensor for detecting the height above the ground to the sensor for detecting the elevation position, and the elevation is controlled to maintain the target elevation position.

However, as shown in the second characteristic configuration above, the working device is
Elevation control is performed to maintain the target height above the ground based on the information of the sensor for detecting the elevating position, and elevating control is performed based on the detection information of both sensors so that the possible elevating range is the set elevating range for the aircraft. You may also do so. In this case, although the work equipment is controlled to rise and fall according to the unevenness of the ground, its lifting range is restricted to the set range, so lifting and lowering over sudden large unevenness is avoided, and relatively Effective when working on flat ground.

〔Effect of the invention〕

Therefore, based on whether or not the work equipment is in a non-working state, it is possible to automatically switch between the detection information of the sensor for detecting height above the ground and the sensor for detecting the elevation position to perform the elevation control. This eliminates the need for artificial switching of the sensors used, making the operation easier. Furthermore, it has become possible to avoid the risk of the working device colliding with the ground due to erroneous operation.

[Example] Hereinafter, an example in which the present invention is applied to a device for controlling the elevation and descent of a reaping section in a combine harvester will be described based on the drawings.

As shown in Fig. 3, the combine harvester has a reaping section (2) as a working device mounted on a single-acting hydraulic cylinder ( 3
) is pivotally mounted around the horizontal axis (P) so that it can be driven up and down.

The reaping section (2) includes a switch-type stock sensor that is turned ON when the cut stem culm comes into contact with the stock base during the transport path of the cut stem culm in the reaping section (2). (S0) and an ultrasonic reflection type height above ground detection sensor (
S1) and a rising/lowering position detection sensor (S2) using a potentiometer for detecting the rising/lowering position of the reaping section (2) with respect to the body (V). In other words, the stock sensor (S0) is connected to the reaping unit (S0) as a working device.
2) corresponds to the working state detection means for detecting whether the device is in a non-working state or in a working state.

Although not described in detail, the height above ground detection sensor (S1) includes an oscillator that repeatedly emits ultrasonic waves toward the ground at a set period, and a receiver that receives reflected waves of the ultrasonic waves emitted from the oscillator. and is configured to detect the height above the ground based on the elapsed time from the time of ultrasonic emission to the time of receiving the reflected wave. And, it is provided at a lower part on the tip side of the reaping part (2).

The elevating position detection sensor (S2) is connected to the horizontal axis center (P
) is configured to detect the swinging position of the reaping section (2) around the mower as the vertical position.

Next, each of the sensors (S0), (S1), (S2)
A control configuration for controlling the raising and lowering of the reaping section (2) by operating the hydraulic cylinder (3) based on the detected information will be described.

As shown in FIG. 1, the reaping section (2) is set at a target height above the ground set by the first target height setter (4A) or set by the second target height setter (4B). The hydraulic cylinder (3) is actuated based on the detection information of the height above the ground detection sensor (SO) and the elevation position detection sensor (S2) so as to maintain the target elevation position within a set range. A microcomputer-based control device (5) constituting a control means (100) is provided.

In Fig. 1, (6) is a neutral return bias type control valve for the hydraulic cylinder (3), and (7) is the control valve (
(6) is a solenoid for switching and operating the control valve (6), and (8) is a manually operated neutral return energizing lifting operation lever, and the control valve (6) can be manually switched in priority to the solenoid (7). As such, it is interlocked and connected to the control valve (6) via a link mechanism (9). however,
Although not described in detail, the link mechanism (9) has a flexibility that allows the valve operation by the solenoid (7) when the lift operation lever (8) is in the neutral position (N). Further, (Srn) is an automatic switch for selecting whether to raise and lower the reaping section (2) automatically or manually, and (S1) is a switch when the raising and lowering operation lever (8) is in the lowered position (
U) A lowering switch that detects that it has been operated, (S
4) is a raise switch that detects that it has been operated to the same raise position, and although it will not be described in detail, the lower switch (S
3) Or when the rise switch (S1) is turned on,
This is provided so that even when the automatic switch (Sm) is switched to the automatic side, energization of the solenoid (7) is prohibited and priority is given to manual operation. (S1) is a threshing clutch (not shown)
A threshing switch that detects that the operating lever (10) for the threshing switch (10) is operated to the entry side,
When S1) is in the OFF state, actual elevation control is not performed even if the automatic switch (Sm) is switched to the automatic side.

Next, the operation of the control device (5) will be explained based on the flowchart shown in FIG.

However, actual control is started only when the automatic switch (Sm) is on the automatic side (ON) and the threshing switch (S1) is in the ON state.

As the control is started, it is determined whether the stock sensor (S0) is ON or OFF, and if it is ON, the time elapsed since the change from OFF to ON is started during the reaping operation. It is determined whether a set time (set to approximately 5 seconds) required for the working condition to stabilize has elapsed since the start of the process.

When the stock sensor (S0) is OFF, and
If the elapsed time from FF to ON has not elapsed, the height above the ground of the reaping section (2) has been set by the first target height setting device (4A). The solenoid (7) is actuated to control the elevation so that the target height above the ground is maintained within a set range based on the detection information of the height above the ground detection sensor (S1).

If the elapsed time since the stock sensor (S0) changes from OFF to ON has exceeded the set time, the detected vertical position detected by the vertical position detection sensor (S2) is the same as the first vertical position. 2 It is determined whether or not the target elevation position set by the target height setter (4B) is within the set range.

If the detected lifting position is within a set range with respect to the target lifting position, the operation of the solenoid (7) is stopped in order to maintain the current lifting position, and if it is not within the setting range, The solenoid (7) is operated based on the detection information of the elevation position detection sensor (S2) to perform elevation control.

However, each process explained above is performed by the automatic switch (Sm
) or until the threshing switch (S1) is turned off.

Example C] In the above example, after the set time elapses after the stock sensor (S0) changes from OFF to ON, the elevating position detection sensor (S2) alone detects the Although the case where the reaping part (2) is configured to be controlled up and down is illustrated, the up and down control is performed based on the detection information of both the sensor for detecting the height above the ground (S1) and the sensor for detecting the up and down position (S2). You can do it like this.

To explain, as shown in FIG. 4, after the set time elapses after the stock sensor (S0) changes from OFF to ON, the elevating position detection sensor (S2) The vertical position of the reaping section (2) detected at
L> is above the set vertical position (L2) on the descending side with respect to the target vertical position and is the set vertical position (L2) on the upward side.
1), in other words, within the set dead zone for the target elevation position, the elevation control by the ground height detection sensor (S1) is continuously executed, and the target elevation position is lowered. It may be maintained at a certain height.

As a modification of this type of elevation control, the range on the ascending side from the set elevation position 2) on the descending side may be controlled as the ascending/descending range based on the information of the height above ground detection sensor (S1). can. In this case, a descent into a large concave portion is restricted, and an upward movement into a large convex portion is permitted.

Further, in the above embodiment, the present invention is applied to a lifting control device for the reaping section of a combine harvester, but the present invention can also be applied to lifting control devices for various work vehicles, and the present invention can be applied to lifting control devices for various work vehicles. The specific configuration, the specific configuration of the working device, the specific configuration of the working vehicle, and the specific configuration of each part can be changed in various ways.

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 lifting 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 flowchart of control operation, and FIG. 3 is a side view of the front part of a combine harvester. FIG. 4 is a flowchart of control operation in another embodiment. (2)... Working device, (V)... Machine body, (S0)... Working state detection means, (S1).
...Sensor for detecting height above ground (S2)...
- Lifting position detection sensor (100)... Control means. Figure 2

Claims (1)

[Claims] 1. A height above ground detection sensor (S_1) that detects the height above the ground of the working device (2), and a body (V) of the working device (2).
Lifting position detection sensor (
S_2) and a control means (100) for controlling the lifting and lowering of the working device (2) based on the detection information of both sensors (S_1) and (S_2), , a working state detection means (S_
0), and the control means (100) controls whether the work device (2) is in a non-work state or from a non-work state to a work state based on the detection information of the work state detection means (S_0). After the set time has elapsed, the elevation is controlled to maintain the target height above the ground based on the detection information of the height above the ground detection sensor (S_1), and after the set time has elapsed, the height above the ground is controlled. Lifting position detection sensor (S_2
) A lifting control device for a working vehicle configured to perform lifting control so as to maintain the target lifting position based on detection information of the vehicle. 2. A height above ground detection sensor (S_1) that detects the height above the ground of the working device (2), and a body (V) of the working device (2).
Lifting position detection sensor (
S_2) and a control means (100) for controlling the lifting and lowering of the working device (2) based on the detection information of both sensors (S_1) and (S_2), , a working state detection means (S_
0), and the control means (100) controls whether the work device (2) is in a non-work state or from a non-work state to a work state based on the detection information of the work state detection means (S_0). After the set time has elapsed, the elevation is controlled to maintain the target height above the ground based on the detection information of the height above the ground detection sensor (S_1), and after the set time has elapsed, the height above the ground is controlled. Both sensors (S_1 ), (S_
2) A lifting control device for a working vehicle configured to perform lifting control based on the detection information.