JPH0662628A - Lift-controlling apparatus for rice transplanter - Google Patents

Abstract

PURPOSE:To smoothly perform the calibration of the sensitivity of a lift-control operation utilizing the detection result of the vertical motion of a grounding float. CONSTITUTION:A seedling transplantation apparatus 3 is connected to a mobile machine body in a state vertically movable with a hydraulic cylinder 2. The transplantation apparatus 3 is provided with a grounding float 7 freely swinging in vertical direction around a rear supporting point. The hydraulic cylinder 2 is controlled to keep the seedling transplantation apparatus 3 to a prescribed height from the ground by the signal transmitted from a potentiometer PM which detects the vertical motion of the float 7 caused by the variation of the grounding pressure. When the vertical oscillation of the value detected by the potentiometer PM is within a prescribed period and over a prescribed amplitude, the lift controlling sensitivity is decreased to the insensitive side. Contrarily, where the value detected by the potentiometer PM is within a prescribed period and within a prescribed amplitude, the lift controlling sensitivity is automatically increased to the sensitive side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a seedling planting device to a traveling machine body so as to be driven up and down by an actuator.
The seedling planting device is provided with a detecting means for detecting the amount of vertical swing due to the fluctuation of the grounding pressure of the grounding float that is vertically swingable around the rear fulcrum, and based on the result of this detecting means, the seedling planting device is grounded. The present invention relates to a lifting control device for a rice transplanter equipped with lifting control means for driving and controlling the actuator to maintain a predetermined height.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned raising / lowering control device for a rice transplanter, as shown in, for example, Japanese Patent Application Laid-Open No. 4-141014, a sensitivity adjuster by artificial setting is provided and a mud surface is provided on the side of the grounding float. It is equipped with a mud hardness detection sensor that detects the mud hardness by rushing into the vehicle, and based on the detection result of this mud hardness detection sensor, there is a configuration that corrects and controls the dead band width in the artificially set up / down control operation. there were.

[0003]

However, in the conventional structure described above, since the mud hardness detection sensor is configured to plunge into the mud, straw dust is caught and accumulated on the detection sensor to obtain an accurate mud hardness. There is a high possibility that detection will not be possible, and after such detection becomes impossible, there is no choice but to rely on sensitivity setting by an artificial setting device, but it is difficult to adjust sensitivity appropriately according to the field conditions by artificial setting. In many cases, the sensitivity may be too insensitive or too sensitive,
There was still room for improvement. The present invention aims to eliminate the above-mentioned problems.

[0004]

A feature of the present invention is that in the elevator control device for a rice transplanter described at the beginning, a detection value of the detection means is a predetermined cycle or less and an amplitude of a predetermined width or more. When it detects that it is vibrating, the first sensitivity adjusting means for changing the control sensitivity in the elevating control means to the insensitive side, and the detection value of the detecting means within a predetermined period,
Further, it is provided with a second sensitivity adjusting means for changing the control sensitivity of the ascending / descending control means to a sensitive side when it is detected that it is vertically vibrating with an amplitude within a predetermined width.

[0005]

[Function] When the control sensitivity in the raising / lowering control operation is set to a value which is preset by artificial operation and is not appropriate and too sensitive, the mud hardness of the field is hard, and the control target reference attitude of the ground float is If it goes up too much, the fluctuation amount of the vertical fluctuation of the ground float due to the fluctuation of the ground pressure becomes large and the control is not stable and does not converge, which may cause a so-called hunting phenomenon in which an oscillation state occurs. In such a case, the detection value of the detection means greatly changes within a predetermined period, so the sensitivity is automatically set to the insensitive side to suppress the occurrence of hunting and switch to smooth control. . Also, as in the case of the hunting phenomenon described above, if there is no large fluctuation but the detected value fluctuates in a predetermined cycle, the grounding float can be freely moved with the aircraft running without control operation. By repeating the vertical movement, it is judged that the control sensitivity is too insensitive and control followability is poor, and the control sensitivity is automatically changed to the sensitive side.

[0006]

As a result, even when the sensitivity setting by the artificial setting does not correspond to the field situation, the control situation is judged based on the detection result of the vertical movement detection of the ground float, and the appropriate control sensitivity is obtained. By automatically switching to, it became possible to always perform stable lifting control operation. Moreover, since the result of the vertical movement detection of the grounding float is used, there is no fear that harmful effects such as the accumulation of straw chips will occur, and smooth sensitivity correction can be performed for a long period of time.

[0007]

Embodiments will be described below with reference to the drawings. Figure 5
Shows a riding type rice transplanter. This rice transplanter is equipped with a lift cylinder 2 through a link mechanism 1 at the rear of the riding type traveling body.
The seedling planting device 3 is configured to be movable up and down by an example of an actuator so as to be driven up and down. The seedling planting device 3 takes out seedlings for planting one by one from the lower end of the seedling stand 5 and the lower end of the seedling stand 5 which are reciprocally moved laterally with a constant stroke in the planting transmission case 4 also serving as a frame, and planted in the field. The planting mechanism 6 is supported, and a plurality of grounding floats 7 and the like are supported so as to be vertically swingable around the rear horizontal axis.

Further, there is provided an elevating control means A for automatically controlling the height of the mud surface of the seedling planting device 3 to a substantially predetermined value and keeping the seedling planting depth substantially constant.
That is, the amount of vertical swing caused by the fluctuation of the ground pressure on the front side of the ground float 7 located in the center of the left and right is measured by the potentiometer PM.
The control device 8 equipped with a microcomputer performs switching control of the electromagnetically operated hydraulic control valve V of the lift cylinder 2 on the basis of the detection result, and the pair of seedling planting devices 3 is detected. The mud height is maintained and controlled at a substantially constant level. More specifically, as shown in FIG. 1, the detected value of the potentiometer PM is input to the control device 8, and the detected value is preset to a reference set value manually set by the manual setting device 9. The electromagnetic control valve V is automatically controlled so as to fit within the width, and the lift cylinder 2 automatically raises and lowers the seedling planting device 3.

When it is detected that the detected value of the potentiometer PM is oscillating vertically with a predetermined period or less and with an amplitude of a predetermined width or more, the first sensitivity adjustment for changing the control sensitivity in the elevator control operation to the insensitive side. The control sensitivity in the lifting control operation is changed to the sensitive side when it is detected that the detection values of the means B and the potentiometer PM are oscillating vertically with a predetermined period or less and with an amplitude within a predetermined width.
And sensitivity adjusting means C. The lifting control means A,
Each of the first sensitivity adjusting means B and the second sensitivity adjusting means C is provided in the control device 8 as a control program, and the control device 8
Executes the control as follows. As shown in FIG. 4, first, an initial value b1 determined in advance as a control dead zone b is set [step 1], the control reference value by the artificial setting device 9 and the detection value X by the potentiometer PM are read [step 2], and the potentiometer is set. The lift cylinder 2 is drive-controlled to maintain the seedling planting device 3 at a predetermined height above ground so that the detected value X by PM falls within the control dead zone width [Step 3
~ 5]. Then, the detected value X of the potentiometer PM is
For example, as shown in FIG. 2, if it is judged that the vibration is repeated with a large amplitude exceeding the predetermined amplitude E1, the control dead zone b
As a result, the value b2 larger than the initial value b1 is reset [steps 6 and 7] to change the control sensitivity to the insensitive side.
Further, if it is determined that the detected value X of the potentiometer PM repeatedly oscillates with a small amplitude equal to or less than a predetermined value E2, as shown in FIG. 3, the control dead zone b is a value b3 smaller than the initial value b1. Reset [Step 8,
9], the control sensitivity is changed to the sensitive side. Step 3
Up to step 5 constitutes the elevation control means A, steps 6 and 7 constitute the first sensitivity adjusting means B, and steps 8 and 9 constitute the second sensitivity adjusting means C.

The dead zone initial setting value b1 and the reset values b2 and b3 may be artificially changed.

It should be noted that reference numerals are added to the claims to facilitate the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a control block diagram.

[Figure 2] Detection value characteristic diagram

[Fig. 3] Detection value characteristic diagram

FIG. 4 is a control flowchart.

[Figure 5] Overall side view of rice transplanter

[Explanation of symbols]

 2 Actuator 3 Seedling planting device 7 Grounding float A Elevating control means B 1st sensitivity adjusting means C 2nd sensitivity adjusting means PM detecting means

Claims (1)

[Claims] 1. An actuator (2) for a traveling machine body
The seedling planting device (3) is connected to the seedling planting device (3) so as to be movable up and down by the Elevating control means that includes a detection means (PM) for detecting, and drives and controls the actuator (PM) to maintain the seedling planting device (3) at a predetermined height above ground based on the result of the detection means (PM). An elevation control device for a rice transplanter equipped with (A), which detects that the detection value of the detection means (PM) is vertically oscillating at an amplitude of a predetermined cycle or less and a predetermined width or more. The first sensitivity adjusting means (B) for changing the control sensitivity in the elevation control means (A) to the insensitive side, and the detection value of the detection means (PM) is up and down with an amplitude within a predetermined width within a predetermined cycle. When it is detected that it is vibrating, the lifting control means (A Elevation control apparatus for rice planting machine that is a second sensitivity adjusting means for changing the sensitive side (C) the control sensitivity in.