JPH06141605A - Controller of working machine - Google Patents

Abstract

PURPOSE:To control a working machine in an optimum condition while minimizing sensors on the working machine body side by connecting an actuator condition detecting sensor to a controller on the tractor side and connecting it through a communication line to a controller of the working machine. CONSTITUTION:A steering angle sensor for detection of a steering angle of a steering wheel, a speed sensor 25, a lift arm angle sensor 23 for detecting elevation of a lift arm and other units are connected to a controller on the tractor 1 side. A controller for controlling an actuator set to a working machine 17 is connected through a communication line to a controller of the tractor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine control device for controlling various working machines such as a seeder and a fertilizer, which are connected to a tractor.

[0002]

2. Description of the Related Art There is known a device for spraying seeds and fertilizers by connecting a seeder, a fertilizer applicator and the like to a rear part of a tractor through a three-point link mechanism.

[0003]

By the way, in the case of such a conventional apparatus, the control unit is not mounted on the working machine side, and the feeding amount of seeds or fertilizer is not adjusted at all. The conventional device merely obtains power from the rolling wheels rolling on the ground to rotationally drive the feeding portion. Therefore, in the conventional device, when the tractor is traveling at a constant speed, seeds and fertilizers are sown in a good condition in the field, but when the tractor is stopped or the vehicle speed fluctuates significantly, the seeding amount and the fertilizer application amount change, There is a problem that seeds and fertilizer cannot be sprayed in an appropriate state because the seeds and fertilizer are wasted or the amount of spraying is increased.

[0004]

SUMMARY OF THE INVENTION The present invention is proposed in view of the above-mentioned problems, and various working machines connected to the tractor while effectively utilizing the sensor information on the tractor side. Is to be controlled in an optimum state. Therefore, the following technical measures were taken. That is, the tractor-1 having the controller 38 for control
And a working machine 17 which is also connected to it and which also has a controlling controller 39. The steering angle sensor 2 for detecting the turning angle of the steered wheels is provided on the tractor-side controller 38.
4. Vehicle speed sensor 25 for detecting vehicle speed, lift arm 10
A sensor for detecting the operating state of the machine, such as a lift arm angle sensor 23 for detecting the rise of the vehicle, is connected, and a part or all of the sensor information is sent to the work machine side controller 39 via the communication line 40. The working machine control device is configured to be transmitted and to control an actuator provided in the working machine 17 according to the transmitted sensor information.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. First, the structure will be described. 1 is a tractor, and front and rear wheels 2 and 2 and rear wheels 3 and 3 are provided at the front and rear portions of the body,
The rotational power of the engine 5 in the bonnet 4 is appropriately decelerated by a transmission in the mission case 6 to reduce the front wheels 2, 2
And tell the rear wheels 3 and 3.

A hydraulic cylinder case 8 is fixedly provided on the upper rear portion of the mission case 6, a single-acting hydraulic cylinder 9 is provided in the hydraulic cylinder case 8, and the hydraulic cylinder case 8 is also provided. Lift arms 10, 10 on both left and right sides of
Is freely pivoted. The hydraulic cylinder 9 and the lift arms 10 and 10 are collectively referred to as a hydraulic lifting mechanism 12 here.

Top link 13, lower link 14, 1
A fertilizer applicator 17 is connected to the rear end of the three-point link mechanism 15 composed of 4 as a working machine so as to be able to move up and down. Lift rods 18 and 18 are connected between the lift arms 10 and 10 and the lower links 14 and 14, respectively.
Reference numeral 20 is a position operation lever, and a position setting device 21 for setting the ground height of the working machine connected to the rear part of the tractor-1 at the rotation base of the position operation lever 20.
Is attached.

On the other hand, a lift arm angle sensor 23 for detecting the rotation angle of the lift arm 10 on one side, that is, the height of the working machine, is attached to the rotation base portion of the lift arm 10 and is set by the position operation lever 20. Lift arm 10, 1 at the designated position
It is constructed so that 0 rotates and stops at that position, which constitutes a position control system. Tractor
A steering angle sensor 2 for detecting a steering angle is provided above the front wheel 2 of
4 is provided, and a vehicle speed sensor 25 that detects the vehicle speed is provided at the lower part of the body. The steering angle sensor 24
May be detected not from the turning angle of the front wheel 2 but from the turning angle of the steering wheel 7.

The fertilizer applicator 17 as a working machine has a hopper 28 for containing fertilizer, a shutter 30 provided at a feeding portion below the hopper 28, a solenoid 31 for opening and closing the shutter 30, and a feeding portion. An opening adjustment motor 32 that adjusts the opening amount, an opening amount sensor 34 that detects the opening amount, a setter 35 that sets the opening amount, and a spray switch 37, and the spray switch 37 is in an ON state. The fertilizer feed-out control can be performed, but if this is OFF, the shutter-3
0 is closed so that the fertilizer feeding control cannot be performed.

FIG. 2 is a block diagram of this control system. The tractor-main unit side controller 38 and the working unit side controller 39 are connected by a communication line 40 as shown in the figure. The detection value of the steering angle sensor 24 on the tractor-1 side and the detection value of the vehicle speed sensor 25 are transmitted to the working machine side controller 39 via the communication line 40. Next, the operation of this embodiment will be described based on the flowchart of FIG.
First, in step S1, various sensor values and setting values of various setting devices are read. Communication is started between the controller 38 on the machine side and the controller 39 on the working machine side, and data is exchanged between the controllers at regular intervals. In this embodiment, the cutting angle information of the front wheels 2 of the tractor-1 and the vehicle speed information are transmitted to the fertilizer applicator 17 side.

On the fertilizer application side, the opening of the shutter 30 is adjusted with reference to these information. That is, the opening degree of the shutter 30 is calculated from the setting value of the opening degree setting device 35 and the detection value of the vehicle speed sensor 25, and the optimum opening amount is set. In this case, the higher the vehicle speed, the larger the opening amount,
Conversely, when the vehicle speed is slow, the opening amount is set to be narrowed (step S3).

Then, when the steering angle sensor 24 detects that the vehicle is turning (step S4), or when the vehicle speed sensor 25 detects that the vehicle is stopped (step S4).
5) Alternatively, when the spray switch 37 is turned off (step S6), the solenoid 31 is excited to completely close the shutter-30 (step S7). Then, when the actual opening amount of the hopper 28 is equal to the set value set by the opening setting device 35, the output of the opening adjusting motor 32 is turned off (step S10), and the opening direction command is issued. If so, the opening adjustment motor 32 is driven to expand the opening amount (step S9). On the contrary, when the output command for closing the shutter 30 is issued, the output for closing is output to the opening adjustment motor 32 (step S1).
1), the shutter 30 is opened (step S1)
2).

4 and 5, the position of the lift arm 10 is detected by the lift arm angle sensor 23, and this information is transmitted to the working machine side controller 39. In the illustrated example, a sowing machine is used as a working machine, and the feeding section of the sowing machine is controlled. Opening amount sensor 3 used in FIG.
Instead of 4, the seed amount sensor 42 for detecting the amount of seeds to be sown is connected to the working machine-side controller 39.

In the sowing operation using this sowing machine, the shutter 30 is closed when the lift arm 10 is raised to the maximum raised position, the machine is stopped, or the shutter opening / closing switch is turned off. I am trying. As described above, the sensor information on the tractor-1 side is transmitted to the controller 39 on the working machine side such as a fertilizer applicator or a sowing machine using one communication line 40, and the working machine uses the information. However, since it is configured to adjust the opening amount of the shutter 30, the on / off operation of the spray switch 37, which is conventionally performed to close the shutter 30 when turning the aircraft at the end of the field. Is unnecessary and the operation is simplified.

Further, conventionally, since it is troublesome to turn on and off the spraying switch at the end of the field, there has been a case where the fertilizer is sprayed or sowed while making a large swivel on the ridge in order to omit it. In this case, the same area is sprayed or seeded many times, and the fertilizer and seeds are often wasted. However, in this embodiment, the shutter is turned when the vehicle is turning, when the vehicle is stopped, or when the working machine is lifted.
Since 30 is closed or the amount of fertilizer applied and the amount of sowing are limited, waste such as spraying loss of fertilizers and seeds, double spraying, and double seeding does not occur.

The circuit shown in FIG. 6 is an improvement of a part of the position control system. The circuit configuration of this improved device will be briefly described. In the figure, reference numerals 50 and 52 are O provided at the upper limit position and the lower limit position of the position operation lever 20.
It is an N-OFF type switch. Position operation lever
When 20 is rotated to the upper limit position, the upper limit switch 50
It becomes N, and when the hand is released, it is urged to be turned off by the spring pressing mechanism 53. When the position operation lever 20 is lowered to the lower limit position, the stop spring 54 causes the cam groove 55 provided in the position operation lever 20.
The position operation lever 20 is configured to hold its position. Reference numeral 57 is a CPU, and the position setter 21 and the lift arm angle sensor 23 are connected to the CPU 57 via an A / D converter.

Two transistor circuits 58 and 59 are connected to the output side of the CPU 57, and the solenoids 61 and 6 of the hydraulic control valve 60 are connected to these transistor circuits 58 and 59.
2 are connected. Further, the transistor circuits 58 and 59
Between the solenoids 61 and 62 and relays 64 and 6
5 is inserted, and normally these relays 64 and 65 are O.
It is configured to be held in the FF state.

When the position operation lever 20 is vertically rotated in the range from the lower limit position to the upper limit position, a control output signal is output from the CPU 57 according to the deviation, and the raising side solenoid 62 or the lowering side solenoid 61 is turned on. It is configured to excite and switch the hydraulic control valve 60 appropriately. Therefore, normal position control can be performed in the range from the lower limit position to the upper limit position.

On the other hand, when the position operation lever 20 is rotated to the upper limit position, the upper limit switch 50 is turned on and the relay 64 operates to directly excite the raising side solenoid 62. In this case, the output on the CPU 57 side is cut. On the contrary, when the position operation lever 20 is lowered to the lower limit position, the lower limit switch 52 is turned on, the relay 65 is operated, and the lower side solenoid 61 is excited. In this case as well, the output from the CPU 57 side is similarly cut and the lower solenoid 61 is directly driven by the power source of the battery.

As described above, the ON-OFF switches 50 and 5 are respectively provided at the lower limit position and the upper limit position of the position operation lever 20.
2 is provided and the solenoids 61 and 62 of the hydraulic control valve 60 are directly excited by using these switches 50 and 52, so that the CPU that constitutes the main part of the control unit
Even when 57 malfunctions and normal operation cannot be expected, the working machine can be lowered to the lowest position or raised to the highest position. Conventionally, an emergency switch is provided in a place different from the position operation lever 20, and the emergency switch is operated to raise and retract the work implement to the maximum raised position. An emergency manual operation area is provided as an extension of the area, and the same position operation lever 20 can be used to control the lifting and lowering of the working machine, which is convenient because it can be operated comfortably.

In the case of the above apparatus, the stop spring 54 for fixing the position operation lever 20 at the lower limit position.
Is provided, this position operation lever-20
When is rotated to the lower limit position, the lower solenoid 61 is continuously excited even if the hand is released. Conventionally, when the output from the lower side is output from the CPU 57, the transistor in the transistor circuit 58 generates heat, and a radiator has to be provided to suppress this, which causes a cost increase. Then, by directly exciting the lower side solenoid 61, a working machine such as a plow or a Japanese plow can be kept in a free-flow state for a long time.
Since the lowering output from is cut, there is no problem that the transistor heats up or power consumption increases.

[0022]

As described above, the present invention is
A tractor having a controlling controller and a working machine connected to the tractor and also having a controlling controller. The tractor-side controller has a steering for detecting a steering wheel turning angle. An angle sensor, a vehicle speed sensor that detects the vehicle speed, a lift arm angle sensor that detects a rise in the lift arm, and other sensors that detect the operating status of this unit are connected, and some or all of this sensor information is sent to the communication line. It is configured to control the actuator provided in the work machine according to the transmitted sensor information by transmitting it to the controller on the work machine side through a large number of sensors on the work machine side. Without providing it, the working machine can be controlled in an optimum state in a very fine manner by effectively utilizing the sensor information on the tractor side.

[Brief description of drawings]

FIG. 1 is a side view of a tractor-working machine.

FIG. 2 is a block diagram of a control system.

FIG. 3 is a flowchart explaining the operation of the control system.

FIG. 4 is a block diagram of another embodiment.

FIG. 5 is a flowchart of another embodiment.

FIG. 6 is a circuit diagram of a partially improved device.

[Explanation of symbols]

 1 tractor 2 front wheel 3 rear wheel 7 steering handle 10 lift arm 12 hydraulic lifting mechanism 17 working machine (fertilizer application) 20 position operating lever 21 position setter 23 lift arm angle sensor 38 machine side controller 39 work Machine side controller

Claims (1)

[Claims] 1. A tractor having a controller for control.
And a working machine that is also connected to it and has a controlling controller, and the tractor-side controller has a steering angle sensor that detects the turning angle of the steered wheels, a vehicle speed sensor that detects the vehicle speed, Connect a sensor that detects the operating status of the machine, such as a lift arm angle sensor that detects the rise of the lift arm, and send some or all of this sensor information to the work machine controller via the communication line. A work implement control device, which is configured to be transmitted and to control an actuator provided in the work implement according to the transmitted sensor information.