JPH0615106U - Raising and lowering control device for detection sensor in work vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] To improve the operability of a sensor provided with a vertically movable detection sensor. [Structure] In the automatic control OFF state, the detection sensor 5 is moved up and down only while the manual lifting switch 9 is being operated, while in the automatic control ON state, the detection sensor 5 is moved up and down to the upper and lower limit positions based on the operation of the manual lifting switch 9. Hold yourself.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a lift control device for a detection sensor in a work vehicle such as a passenger management machine.

[0002]

[Problems to be Solved by Prior Art and Invention]

 Today, in this type of work vehicle, it has been proposed to perform automatic control such as automatic steering control based on the detection of a direction detection sensor in order to improve work efficiency and safety. If the detection sensor is such as to detect in proximity to the field scene, there is a risk of contact with an obstacle and damage during non-work such as a turning stroke. Therefore, it has been proposed that the detection sensor be configured to move up and down freely in the detection posture and the storage posture based on the actuator operation, and in this case, a manual lifting switch for operating the actuator will be provided. However, when an automatic neutral return type switch is used as the manual lifting switch, the switch operation must be continued until the detection sensor reaches the target position, and the operation load increases, while the manual neutral return type switch is used. When a switch is used, the detection sensor can be moved up and down to the target position by a one-touch switch operation, but there is the trouble that the switch must be returned to the neutral position once the target position is reached. Even in such cases, the actual situation was that the operability was poor.

[0003]

[Means for Solving the Problems]

 The present invention was devised with the object of providing an elevation control device for a detection sensor in a work vehicle that can eliminate these drawbacks in view of the above-mentioned circumstances. It is equipped with a detection sensor attached, a control unit that performs automatic control based on the detection of the detection sensor, and an automatic neutral return-type manual elevating switch that outputs an elevating operation command of the detection sensor to the control unit. In the working vehicle described above, in the automatic control OFF state, the control unit raises and lowers the detection sensor only during the operation of the manual raising / lowering switch, while in the automatic control ON state, the detection sensor based on the operation of the manual raising / lowering switch is activated. It is characterized in that it is equipped with a sensor elevating and lowering control means for self-holding the elevating and lowering to the upper and lower limit positions. With this configuration, the present invention can remarkably improve the operability in the lifting operation of the detection sensor.

[0004]

【Example】

 Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a passenger management machine. The traveling machine body 1 is a sprayer (boom sprayer) for spraying liquid on the rear part of the traveling machine body 1 for carrying out control work in a field where crops have already been planted. 2) are connected via an elevating link mechanism 3, but an unmanned operation mechanism including an actuator is provided in an operation unit such as a steering mechanism provided in the traveling machine body 1.

Reference numeral 4 denotes a pair of left and right sensor arms provided in the front part of the machine body. The sensor arms 4 project from the front end part of the machine body in a slanted shape so as to be positioned between the planted crop rows. A detection bar protruding toward the inner side and a change in the angle of the detection bar (a swinging angle due to contact with the crop) are detected at the protruding tip of the control unit 6 which will be described later. A detection sensor 5 having an angle sensor for inputting to the vehicle is provided. Further, the sensor arm 4 further has a detection posture that projects downward and rearward, and the sensor arm 4 retracts and swings rearward and upward from the detection posture to travel the vehicle body. An electric cylinder 7 that moves up and down is connected to the storage posture along the bottom of the unit 1. The electric cylinder 7 is of a so-called limiter type which expands and contracts based on forward and reverse driving of the electric motor M and automatically stops at upper and lower limit positions based on the limit detection of each limit switch LSU and LSD.

The control unit 6 is configured by using a so-called micro computer (including MPU, ROM, RAM, etc.). In addition to the detection sensor 5, the control unit 6 has a manual reset type (one Automatic steering switch 8 consisting of a single throw switch that remains in the ON position with the second operation and returns to the OFF position with the second operation. Automatic neutral reset type (automatic return to the OFF position when you release your hand). A signal is input from a manual lifting switch 9 or the like, which is a double throw switch, and an operation signal is output to the unmanned operation mechanism or the electric cylinder 7 based on a determination based on these input signals. . That is, the control unit 6 compares the detection values of the left and right detection sensors 5 in the ON state of the automatic steering switch 8 and automatically controls the unmanned operation mechanism of the steering mechanism so as to match the detection values. It is configured to perform various controls (straight automatic control), sensor elevating control for elevating and lowering the sensor arm 4 based on the operation of the manual elevating switch 9, and the gist of the present invention is among these controls. The sensor elevation control will be described in detail below based on the flow chart.

In the sensor ascending / descending control, the ON / OFF of the automatic steering switch 8 is first determined. If it is determined to be OFF here, it is then determined whether the manual lifting switch 9 is ON-OFF. If the determination is OFF, the electric cylinder 7 is stopped while the manual lift switch 9 is ON. Outputs an expansion / contraction operation signal corresponding to the operating direction of the manual lifting switch 9 to the electric cylinder 7. That is, in the OFF state of the automatic steering switch 8, the detection sensor 5 is moved up and down only while the manual lifting switch 9 is being operated.

On the other hand, when the automatic steering switch 8 is ON, the manual raising / lowering switch 9 is turned OFF based on the previous data of the manual raising / lowering switch 9 stored in a predetermined storage area and the data input this time. To switch from ON to ON. If it is determined to switch from ON to OFF, the drive timer that is set to be slightly longer than the time required for the full stroke operation of the electric cylinder 7 is started, and the operation direction of the manual lifting switch 9 is handled. The flag data (1 or 2) is set in the motor flag, and thereafter, the expansion / contraction operation signal corresponding to the operating direction of the manual lifting switch 9 is output to the electric cylinder 7. After the motor flag is set to "1" or "2", the operation signal is continuously output to the electric cylinder 7 until the drive timer ends. That is, when the automatic steering switch 8 is in the ON state, the detection sensor 5 is raised and lowered based on the operation of the manual raising and lowering switch 9, and the raising and lowering operation is maintained in a self-holding manner until the end of the drive timer. The electric cylinder 7 will be automatically stopped based on the detection of the limit switches LSU and LSD before the drive timer expires.

In the embodiment of the present invention configured as described above, the detection sensor 5 moves up and down based on the operation of the manual elevating switch 9, but the automatic steering switch 8 is automatically turned on. In the steering control state, the ascending / descending operation is self-held until the detection sensor 5 reaches the upper and lower limit positions. Therefore, although the manual elevating switch 9 is an automatic neutral return type switch, the detection sensor 5 can be moved up and down to the upper and lower limit positions by a one-touch operation without continuing to operate the manual elevating switch 9. Perhaps, it is possible to eliminate the trouble of having to perform the neutral return operation when the detection sensor 5 reaches the upper and lower limit positions as in the case of using a manual neutral return type switch. It is possible to remarkably improve the operability in the lifting operation of the sensor 5.

Moreover, while the detection sensor 5 is held up and down by itself, the detection sensor 5 is moved up and down only while the manual raising and lowering switch 9 is being operated when the automatic steering switch 8 is turned off. As a result, the height position of the detection sensor 5 can be freely adjusted.

[0011]

[Operation effect]

 In summary, since the present invention is configured as described above, it is configured to raise and lower the detection sensor based on the automatic neutral return type switch operation, while the automatic raising / lowering switch is operated during automatic control. The lift of the detection sensor based on the operation of is self-held to the upper and lower limit positions. That is, the detection sensor can be moved up and down to the upper and lower limit positions by a one-touch switch operation without continuing to operate the manual lifting switch, and the detection sensor can be operated as in the case of using a manual neutral return type switch. There is no need to operate the switch again when the lower limit position is reached, and as a result, the operability in the lifting operation of the detection sensor can be significantly improved.

On the other hand, in the automatic control OFF state, since the detection sensor is moved up and down only during the operation of the manual lifting switch, it is possible to freely adjust the height position of the detection sensor. Although it is designed to be held by itself, it is possible to perform highly accurate detection based on the height adjustment of the detection sensor.

[Brief description of drawings]

FIG. 1 is a side view of a traveling body.

FIG. 2 is a block circuit diagram showing an outline of a control mechanism.

FIG. 3 is a flow chart showing sensor elevating control.

[Explanation of symbols]

 1 Traveling Aircraft 4 Sensor Arm 5 Detection Sensor 6 Controller 7 Electric Cylinder 8 Automatic Control Switch 9 Manual Elevating Switch

Claims (1)

[Scope of utility model registration request] 1. A detection sensor attached to a machine body so as to be able to move up and down, a control section for automatically controlling based on the detection of the detection sensor, and an automatic neutral point for outputting an elevation operation command of the detection sensor to the control section. In a work vehicle equipped with a return-type manual lifting switch, the control unit causes the control unit to move the detection sensor up and down only when the manual lifting switch is in operation when the automatic control is OFF, and when the automatic control is ON, the manual lifting An elevation control device for a detection sensor in a work vehicle, comprising sensor elevation control means for self-holding the elevation of the detection sensor based on the operation of a switch to upper and lower limit positions.