JPH0670620A - Controller for lifting and lowering of rice transplanter - Google Patents

Abstract

PURPOSE:To obtain a controller for lifting and lowering of a rice transplanter capable of automatically suppressing a hunting state and maintaining the stable lifting and lowering operation. CONSTITUTION:The controller for lifting and lowering of a rice transplanter is constructed by connecting a seedling planter to a mobile machine body drivably, liftably and lowerably with a lifting cylinder 6, installing a potentiometer (PM) for sensing the extent of vertical rocking following the fluctuation in ground contact pressure of a ground contact float 4 provided vertically rockably around a rear fulcrum in the seedling planter, driving and controlling the lifting cylinder 6 based on the results of sensing with the potentiometer so as to maintain the seedling planter at a prescribed ground height and reducing and controlling the machine body travel speed following the operation to sense the practical agreement of the fluctuation period of the sensed values in the potentiometer (PM) with the repeated period of the driving signal relatively to the lifting cylinder 6 when the practical agreement is sensed.

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. In addition, when the control sensitivity in the lifting control operation is too sensitive and the preset value set by manual operation is not appropriate, the mud hardness of the field is hard and the control target reference attitude of the grounding float is upward. In such a case, the fluctuation amount of the vertical fluctuation of the grounding float due to the fluctuation of the grounding pressure becomes large, the control is not stable and does not converge, and a so-called hunting phenomenon in which an oscillation state occurs may occur. When such a hunting phenomenon occurs, the conventional structure does not converge, so that the machine body needs to be stopped once, and there is a drawback that the work efficiency decreases.
In particular, recently, there has been a tendency for the traveling speed of the machine body to be increased in order to improve the work efficiency, and the above-mentioned harmful effects become a problem. The present invention aims to eliminate the above-mentioned problems.

[0004]

According to a first aspect of the present invention, there is provided a rice transplanter lifting control apparatus as set forth in the opening paragraph, wherein a fluctuation cycle of a detected value in the detecting means and a drive for the actuator in the lifting control means. In addition to the provision of hunting state detection means for detecting that the signal repetition cycle is substantially the same, vehicle speed deceleration means for decelerating the vehicle traveling speed in accordance with the detection operation of the hunting state detection means is provided. Therefore, in the characteristic configuration of the second invention, in the raising / lowering control device of the rice transplanter described at the beginning, the fluctuation cycle of the detection value in the detection means and the repetition cycle of the drive signal for the actuator in the lifting control means are substantially equal to each other. The hunting state detecting means for detecting the coincidence is provided, and the hunting state detecting means is provided. With the detection operation lies in the fact that is provided with the sensitivity correction means for changing the detection sensitivity of the detecting means.

[0005]

According to the characteristic configuration of the first aspect of the invention, for example, when the control target reference attitude of the ground contact float is too upward and the aircraft traveling speed is set too fast, the above-mentioned hunting phenomenon occurs. When such a hunting state is detected, paying attention to the point that the fluctuation cycle of the detected value and the repetition cycle of the drive signal are almost the same, and when such a hunting status is detected, the aircraft travels. The speed is automatically reduced to reduce the ground pressure applied to the ground float, desensitize the sensing sensitivity, and suppress the hunting phenomenon. In this way, since the hunting state is detected by the detection value of the detection unit used for the elevation control and the drive signal of the elevation actuator, there is no adverse effect such as clogging with straw chips,
Even after that, the smooth lifting control operation can be maintained. According to the characteristic configuration of the second invention, when the hunting state as described above is detected, the hunting phenomenon is suppressed by automatically changing the detection sensitivity of the detection means to, for example, the insensitive side. Similar to the first aspect of the invention, since the hunting state is detected by the detection value of the detection means used for the lifting control and the drive signal of the lifting actuator, there is no adverse effect such as clogging with straw chips, and the like. Can maintain a smooth lifting control operation.

[0006]

Therefore, even when the sensitivity setting does not correspond to the field condition or the traveling speed of the machine is not appropriate, the hunting state can be automatically suppressed and the stable lifting control operation can be maintained. I came to be able to offer things. Moreover, unlike the case of directly detecting the mud hardness by rushing into the mud, there is no fear of the occurrence of harmful effects such as the accumulation of straw debris, and the smooth lifting control operation can be maintained for a long period of time.

[0007]

Embodiments will be described below with reference to the drawings. Figure 4
Shows a riding type rice transplanter. This rice transplanter takes out the seedlings for planting one plant at a time from the lower end of the seedling stand 2 and the seedling stand 2 which reciprocally move laterally with a constant stroke through the parallel four-link mechanism 1 at the rear of the riding type traveling body. Seedling planting device 5 including a planting mechanism 3 that is planted in a field in the field, a plurality of grounding floats 4 that are vertically swingably supported around a rear horizontal axis, and the like.
Are connected so as to be able to move up and down and roll around the front-rear axis so that seedlings can be planted while the machine is running. The seedling planting device 5 is configured to be movable up and down by a lift cylinder 6 (an example of an actuator), and is equipped with an elevating control means A for controlling the height of the seedling planting device 5 to a predetermined value. There is. That is, as shown in FIG. 1, the vertical swing amount of the front side of the grounding float 4 located at the center of the left and right due to the fluctuation of the grounding pressure is detected by the potentiometer PM (an example of a detecting means) to detect the seedling planting device 5. The first control device 14 for a working device equipped with a microcomputer is an electromagnetic hydraulic control valve for the lift cylinder 6 so that the detected value as ground height data and the detected value substantially match the reference attitude setting value by the artificial setting device 13. By controlling the switching of V, the elevation of the seedling planting device 5 is controlled to be maintained at a predetermined height. That is, the elevating control means A is provided in the first control device 14 in a control program format. Although not described in detail, the first control device 14 is provided with rolling control means for maintaining the horizontal rolling posture of the seedling planting device 5 in a horizontal posture. For the traveling machine body, the power of the engine 16 mounted in the hood at the front of the machine body is supplied to the transmission case 18 via the belt type continuously variable transmission 17, and the output after the gear change is applied to the front and rear traveling wheels 19 and 20. A transmission system is configured to supply the seedling planting device 5, and the belt type continuously variable transmission 17 includes an engine side pulley 21 and a transmission case side pulley 22 as split pulleys, as shown in FIG. Then, via the cam mechanism 23, an electric cylinder 24 (an example of a second actuator) is used to retroactively change the pulley interval to change the winding diameter of the transmission belt 25, so that the speed change operation can be continuously performed. . The electric cylinder 24 detects the actual operation amount thereof by a stroke sensor 26, and a traveling second control equipped with a microcomputer so that the detection value of the stroke sensor 26 and the set value manually set by the speed setting device 27 match. A feedback control system is configured to drive and control the device 28, and the device 28 is provided so as to be manually operated at an arbitrary shift position.

Then, the hunting state detecting means B for detecting that the fluctuation cycle of the detection value in the potentiometer PM and the repetition cycle of the drive signal for the lift cylinder 6 in the lifting control means A are substantially coincident with each other.
A vehicle speed decelerating means C for controlling the traveling speed of the machine body in accordance with the detection operation of the hunting state detecting means B, and a potentiometer P for the detection operation of the hunting state detecting means B.
And a sensitivity correction means D for changing the detection sensitivity of M. The hunting state detection means B and the sensitivity correction means D are the first
The control device 14 is provided with the vehicle speed reduction means C in the second control device 28 in a control program format.
4, 28 execute control as follows.

FIG. 2 shows a control flowchart of the first controller 14. First, a standard initial value b1 is set as the control dead zone b [step 1], then the detected values of the setter 13 and potentiometer PM are read [step 2], and the detected value X of the potentiometer PM is set to the setter 13. The electromagnetic control valve V is switched and driven to make the lift cylinder 6 expand and contract so as to be within the control dead zone width for the set value a according to the above, and the raising and lowering control is performed so that the seedling planting device 5 is maintained at a predetermined ground height [step 3]. ~ 5]. Then, in the lifting control operation as described above, the potentiometer P
When it is detected that the detection signal by M and the drive signal for the lift cylinder 6 are vibrating in a substantially synchronized state, it is determined that a hunting phenomenon has occurred, and the deceleration signal is sent to the second control device 28. To send [Step 6,
7], the dead zone b2 wider than the initial value b1 is set as the control dead zone b, and the detection sensitivity of the potentiometer PM in the ascending / descending control is switched to the insensitive side [step 8] until the hunting state as described above is no longer detected. , Up / down control is performed with insensitive detection sensitivity. FIG. 3 shows a control flowchart of the second control device 28.
The output values of the speed setter 27 and the stroke sensor 26 are read [step 11], and the electric cylinder 24 is extended / contracted so that the set value Y by the speed setter 27 and the detected value S of the stroke sensor 26 substantially match to change the speed. The gear shift control of the device 17 is performed so that the speed is set manually (steps 12 to 14). Then, when the deceleration signal is given from the first control device 14 side during the work traveling, the vehicle speed is automatically decelerated by decelerating by a predetermined amount from the speed set by the speed setter 27 [steps 15 and 16]. When such an automatic deceleration operation works, the set speed may be too fast for the field situation, so the operator is warned by the alarm lamp 29 [step 17]. Steps 2-5
The up-and-down control means A is constituted by the above, the hunting state detection means B is constituted by the step 6, and the step 7 and the step 1 are constituted.
Vehicle speed deceleration means C is constituted by 5 and 16, and sensitivity correction means D is constituted by step 8.

[Other Embodiments] In the above embodiment, when the hunting state is detected, the vehicle speed is automatically reduced and
Although the detection sensitivity was corrected to the insensitive side at the same time,
Only one of the vehicle speed decelerating means C and the sensitivity correcting means D may be adopted. Further, any one of the above controls may be adopted, and when the hunting state is detected, the electromagnetic control valve V is operated. The duty ratio of the supply pulse current may be changed to adjust the valve opening, and the operation output of the lift cylinder 6 itself may be reduced.

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.

[Fig. 2] Control flowchart

FIG. 3 is a control flowchart.

[Figure 4] Overall side view of rice transplanter

[Explanation of symbols]

 4 Grounding float 5 Seedling planting device 6 Actuator A Elevating control means B Hunting state detecting means C Vehicle speed decelerating means D Sensitivity correcting means PM detecting means

Claims (2)

[Claims] 1. An actuator (6) for a traveling vehicle body
The seedling planting device (5) is connected to the seedling planting device (5) so as to be movable up and down by means of a grounding float (4) provided on the seedling planting device (5) so as to be vertically swingable around the rear fulcrum. Elevating control means that includes a detecting means (PM) for detecting, and drives and controls the actuator (6) to maintain the seedling planting device (5) at a predetermined height above ground based on the result of the detecting means (PM). A raising / lowering control device for a rice transplanter comprising (A), wherein a fluctuation cycle of a detection value in the detection means (PM) and a repetition cycle of a drive signal for the actuator (6) in the lifting control means (A). Hunting state detecting means (B) for detecting that the
And the hunting state detecting means (B)
An elevation control device for a rice transplanter equipped with a vehicle speed reduction means (C) for controlling the traveling speed of the airframe in response to the detection operation of the above. 2. An actuator (6) for a traveling vehicle.
The seedling planting device (5) is connected to the seedling planting device (5) so as to be movable up and down by means of a grounding float (4) provided on the seedling planting device (5) so as to be vertically swingable around the rear fulcrum. Elevating control means that includes a detecting means (PM) for detecting, and drives and controls the actuator (6) to maintain the seedling planting device (5) at a predetermined height above ground based on the result of the detecting means (PM). A raising / lowering control device for a rice transplanter comprising (A), wherein a fluctuation cycle of a detection value in the detection means (PM) and a repetition cycle of a drive signal for the actuator (6) in the lifting control means (A). Hunting state detecting means (B) for detecting that the
And the hunting state detecting means (B)
An elevation control device for a rice transplanter equipped with a sensitivity correction means (D) for changing the detection sensitivity of the detection means (PM) according to the detection operation of the above.