JPH08103124A - Lifting control device for seedling planting device of rice transplanter - Google Patents

Abstract

(57) [Abstract] [Purpose] When detecting a lug hole dug up by a lug of a propulsion wheel, a control form to the insensitive side is adopted, which is different from the control form in which the groove trace of the side float is detected. . That is, when a hole deeper than the groove trace G of the side float 17S and a deep hole is detected at a constant cycle, it is determined that the lug hole Sa is detected, and the ascending / descending sensitivity of the center float 17C is switched to the insensitive side. To do so.

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 equipped with a pair of left and right propelling wheels so that the planting device can be freely moved up and down. Equipped with left and right groove trace sensors that measure the depth of subsidence of the left and right leveling floats placed in the field based on the depth of the groove marks of the leveling float, and fluctuations in ground pressure with respect to the seedling planting device A center float that moves up and down on the basis of the height of the center float and a lift detector that detects the amount of lift of the center float are provided, and the height of the center float with respect to the seedling planting device is maintained constant based on the detection result of the lift. In addition to performing the raising and lowering control for raising and lowering the seedling planting device, a rice transplanter equipped with a control means for making the control sensitivity of the raising and lowering control sensitive as the average value in the measurement results of the left and right groove mark sensors increases. Seedling On lifting the control device for the attached devices.

[0002]

2. Description of the Related Art Conventionally, in the case of simply performing the elevation control, the control sensitivity of the elevation control is set to a sensitive side as the average value in the measurement results of the left and right groove mark sensors becomes larger.

[0003]

Accordingly, when the pressing force of the ground leveling float against the field is weak, the groove mark becomes shallow, so the average value of the detection values of the left and right groove mark sensors is small. If it is evaluated and the control sensitivity is too sensitive, it is necessary to adjust to the insensitive side. On the other hand, when the force of the ground leveling float against the field is strong, the groove marks become deep, so the average value of the detection values of the left and right groove mark sensors is large, and if the control sensitivity is too insensitive, it becomes sensitive. Need to be adjusted. As a general control form, the control form as described above is adopted. However, when a large value exceeding the normal detection value is detected, if the normal control form is adopted, the characteristic of control sensitivity is contradicted. The direction may be controlled.
In other words, when the value is larger than the normal detection value, the target detected by the groove depth detecting means is not the groove trace formed by the leveling float, but another portion at the same site as the groove trace of the leveling float. It may be a deep hole formed by the cause. There is a hole formed by a lug or the like of the propulsion wheel, which is considered as such a hole, and it is highly possible that this lug hole is detected. The fact that such lug holes remain indicates that the ground leveling function by the ground leveling float is not sufficiently exerted, and it can be determined that the so-called lift control sensitivity is too sensitive. However, when the normal control sensitivity adjustment using the above average value is performed, the average value itself becomes large,
Since the pressing force of the leveling float is weakened in order to set the control sensitivity to the sensitive side, the result becomes more and more sensitive side.
An object of the present invention is to provide an attitude control device for a seedling planting device of a rice transplanter, which can set up and down control sensitivity with high accuracy.

[0004]

According to the characterizing feature of the present invention, the control value based on the measurement result of at least one groove mark sensor is a value which is a large value exceeding a normal detection value and which is generated in a substantially constant cycle. In one case, the control means makes the control sensitivity of the elevating control insensitive to the insensitive side regardless of the average value, and the function and effect thereof are as follows.

[0005]

In other words, when the detection value of the groove mark sensor is larger than the normal detection value and it appears in a constant cycle, the groove mark depth detecting means is an intermittent connection formed by something other than the ground leveling float. It can be determined that a hole has been detected, and regardless of the average value, the control means controls the seedling planting device to operate on the pressing side in order to make the control sensitivity on the insensitive side.

[0006]

Therefore, by switching the seedling planting device to the insensitive state, the ground leveling function by the ground leveling float can be made more powerful, and the leveling function for the above-mentioned interrupted hole can be expected, and the depth of the groove trace can be expected. Erroneous control due to erroneous detection of the detection means can be avoided in advance.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 that are operated as steering wheels by steering.
An engine 4 and a belt tension type continuously variable transmission 5 that continuously changes the power from the engine 4 are mounted on the front part of the traveling machine body 3 equipped with A link mechanism 8 in which a seat 6 is arranged and which is driven up and down by a lift cylinder 7 with respect to a rear end portion of the traveling machine body 3
The seedling planting device A is connected through the shaft so as to be able to roll around the axis X in the front-rear posture to form a riding-type rice transplanter.

An elevating lever 9 is provided on the right side of the driver's seat 6 for controlling the raising and lowering of the seedling planting device A and for opening and closing a planting clutch (not shown) as a clutch mechanism. A shift lever 10 for operating the continuously variable transmission 5 is provided on the left side, and a control box 11 is provided on the upper surface of the fender on the left side of the driver's seat 6.

The seedling planting apparatus A is rotated by a seedling stand 12 on which a mat-like seedling W is placed, a transmission case 13 to which power is transmitted from the traveling machine body 3, and a power transmitted from the transmission case 13 via a chain case 14. Rotary case 15,
From the lower end of the mat-like seedling W placed on the seedling stand 12 at the time of operation, the rotary case 15 is provided with a pair of planting arms 16 provided one by one and three ground leveling floats 17 and configured for 6-row planting. The planting arms 16 cut out the seedlings one by one and plant them in a field scene.

As shown in FIG. 2, FIG. 3 and FIG. 4, three leveling floats 17 are arranged. Of these, the left and right leveling floats, that is, the side floats 17S, 17S are located in the central portion in the left-right direction. And the side float 17S that contacts the bottom of the groove trace G formed on the
A second grounding portion 19 that comes into contact with a field scene S that is not grounded is provided so as to be swingable around a lateral axis Y, and the first grounding portion 18 and the second grounding portion 19 and the push-pull wire 20 A potentiometer-type groove mark sensor T that is operated to measure the depth of the groove mark G is provided.

The groove mark sensor T is, as shown in FIG.
The pipe material 47 is rotatably supported by the frame 45 of the seedling planting apparatus A via bearings 46, and the pipe material 47 and the operation axis Ta of the groove mark sensor T are respectively held. By linking the push-pull wires 20, 20 so as to rotate, the level difference between the first grounding portion 18 and the second grounding portion 19, that is, the depth of the groove trace G can be measured. .

As shown in FIG. 5, three leveling floats 1
The left and right central grounding floats (hereinafter referred to as center floats 17C) of 7 are swingable around a lateral support shaft 22 with respect to a rear end portion of an arm 21 extending rearward from a lower portion of the chain case 14. By connecting the front part to the lower part of the seedling planting apparatus A via a bending-type link 23, the front part is configured to be able to move up and down, and a rod 24 that is connected to this front position. , A spring 2 which connects the operation arm 26 of the potentiometer type float sensor 25 as an ascending / descending detection means, and further applies a downward biasing force to the center float 17C with respect to the operation arm 26.
7 is provided so that the amount of elevation of the front portion of the center float 17C can be measured. Then, so that the detection value of the float sensor 25 is maintained (the seedling planting device A
The seedling planting apparatus A is moved up and down so that the distance between the center float 17C and the front part of the center float 17C is constant, and the up and down control is performed.

As shown in FIG. 6, the double-acting rolling cylinder 2 is provided at the upper end of the vertical frame 8A at the rear end of the link mechanism 8.
8 is provided in a horizontal posture, and the rolling spring 30 is provided in a horizontal posture between the end portion of the piston rod 28A protruding left and right from the cylinder 28 and the vertically oriented frame 29 of the seedling planting apparatus A.
In addition, the seedling planting apparatus A is provided with a rolling sensor 31 for measuring the amount of rocking of the weight so as to measure the amount of inclination in the left-right direction.

On the upper surface of the control box 11, as shown in FIG. 7, an "absolute" position for performing absolute rolling control,
Selector switch 32 that can be switched between "ground" for performing ground rolling control and "OFF" position for releasing rolling control, changeover switch 33 for allowing automatic switching of rolling control modes, and seedling planting device during absolute rolling control A rolling angle setting device 34 for setting a rolling angle of A, a manual rolling switch 35 for forcibly performing a rolling operation, a lifting sensitivity setting device 36 for setting a control sensitivity at the time of lifting control of the seedling planting apparatus A, and the rolling device. The alarm lamps 37 and 38 are provided to notify the abnormality of the sensor 31 and the abnormality of the groove mark sensor T, respectively.

Further, at the time of raising / lowering control of the seedling planting apparatus A, the control sensitivity is changed by changing the value measured by the float sensor 25 as a control target. That is, the spring 27 acting on the operation arm 26
If the control target is changed to compress the
As the center float 17C is brought to the front rising position as the urging force of the center float 17C increases, the vertical fluctuation of the front part of the center float 17C is suppressed. As a result, the control sensitivity decreases, and the control target is set in the direction to relax the spring 27. If changed, the urging force of the spring 27 decreases and the center float 17C
Center float 1
As a result of easy swinging of the 7C front part in the vertical direction, the control sensitivity is increased.

As shown in FIG. 8, the selection switch 32, the changeover switch 33, the rolling angle setting device 34, the manual rolling switch 35, and the elevation sensitivity setting device 3 are provided for the control device 39 having a microprocessor as a control means.
6, a solenoid valve 40 for controlling the lift cylinder 7, a solenoid valve 41 for controlling the rolling cylinder 28, and a pair of the pair of sensors for forming a system in which signals are respectively input from the left and right groove mark sensors T, T and the float sensor 25. Alarm lamp 3
An output system is formed for each of 7, 38.

The lifting and lowering control and the rolling control are performed with the above-mentioned structure as a basic structure. Here, as a mode of performing the rolling control, in the case of the ground parallel control, the control is performed so that the detection results of the groove mark sensor T are the same, and in the case of the absolute horizontal control, the detection result of the rolling sensor 31 and the rolling angle setting are performed. The control is performed so as to match the set value of the container 34. In addition, as a mode of performing the elevation control, the control sensitivity is controlled by performing a control so that the distance between the seedling planting device A and the front part of the center float 17C becomes constant, that is, the detection value of the float sensor 25 becomes constant. The adjustment is made based on the average value of the detection values of the left and right groove mark sensors T, T. This groove mark sensor T,
When T fails, the elevation sensitivity setting unit 36 is used.

Next, a description will be given of the control of using the groove mark sensor T and adjusting the lift sensitivity when the first grounding portion 18 falls into the lug hole Sa formed by the lug 2A of the rear wheel 2 and is not in a normal detection state. . First, as shown in FIG. 9, the detection values P1 and P2 of the left and right groove mark sensors T and T are fetched (# 1).
Here, it is determined whether or not the first ground contact portion 18 has fallen into the lug hole Sa. That is, when it falls into the lug hole Sa, it shows a value larger than the normal detection value. Therefore, in order to determine whether or not such a state, a predetermined value a exceeding the normal detection value is set. , Detection value P
It is determined whether 1 or P2 is larger than a predetermined value a (# 2,
3).

Then, if it is smaller than the predetermined value a, normal lifting control is performed. Calculate the average value Q of the detection values P1 and P2,
If this Q is within a certain range (β1 <Q <β2) (#
4), the elevation control sensitivity is maintained at its normal level (# 6), and if this Q is smaller than a certain value (Q <β1) (# 4), the elevation control sensitivity is switched to the insensitive side (# 5). Is larger than a certain value (β2 <Q) (# 4), the elevation control sensitivity is switched to the sensitive side (# 7). To switch the lift control sensitivity,
When the seedling planting device A is moved down to the traveling machine body 3 and the center float 17C is pressed against the field surface, the spring 27 switches to the compressed state and can be set to the insensitive side as described above. The seedling planting device A is raised to the traveling body 3 and the center float 17 is attached to the field.
When C is floated, it becomes sensitive side.

When the detected value P1 or the like is large in contrast to such normal elevating control (# 2, 3), whether or not a large detected value is generated in a predetermined cycle, leaving normal elevating control. Since it is necessary to detect whether or not the data is sampled for a predetermined time (# 8), it is judged whether the data is an intermittent signal of a predetermined cycle (# 9). To the insensitive side (# 5). For other signals, the elevation control sensitivity is maintained (# 6). When the elevating control sensitivity is switched to the insensitive side, the elevating control sensitivity may be switched to the insensitive side even when the data is a continuous signal instead of the intermittent signal and the detected value is large. The above control is repeated every about 10 ms.

[Other Embodiments] In the above embodiment, if at least one of them detects an intermittent signal as data, the elevation control sensitivity is set to the insensitive side, but the left and right groove mark sensors 25 serve as data. Even when the intermittent signal is sensed, it may be switched to the insensitive side.

It should be noted that reference numerals are given in the claims for convenience of 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]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a plan view showing the arrangement of leveling floats and the like.

FIG. 3 is a side view of a part of the side ground float.

FIG. 4 is a schematic diagram of a detection system of a groove mark sensor.

FIG. 5 is a side view of the front part of the central leveling float.

FIG. 6 is a front view of a rolling drive system.

FIG. 7 is a plan view of the control box.

FIG. 8 is a block circuit diagram of a control system.

FIG. 9 is a flowchart of lifting control operation.

[Explanation of symbols]

 1, 2 propulsion wheels 3 traveling machine body 17S leveling float 17C center float 25 up / down detection means 39 control means A seedling planting device T groove mark sensor

Claims (1)

[Claims] 1. A pair of left and right propulsion wheels (1, 1, 2, 2)
The seedling planting device (A) is connected to a traveling machine body (3) equipped with the above so as to be able to drive up and down, and the propulsion wheels (1, 1, 2, 2) are provided on the left and right side portions of the seedling planting device (A). Left and right groove trace sensors (T) that measure the depths of subsidence of the left and right ground leveling floats (17S) and (17S) placed in the rear of the field based on the depth of the groove marks on the leveling ground float (17S) ，
A center float (17C) that includes (T) and moves up and down with respect to the seedling planting device (A) based on fluctuations in ground pressure.
Elevation detecting means (25) for detecting the amount of elevation of the center float (17C) and the center float (17C) are provided.
The center float (17C) is moved up and down so as to keep the height of the center float (17C) relative to the seedling planting device (A) constant based on the detection result, and the left and right groove marks A raising / lowering control device for a seedling planting device of a rice transplanter equipped with a control means (39) for making the control sensitivity of the raising / lowering control sensitive as the average value in the measurement results of the sensors (T), (T) increases. In the case where the control value based on the measurement result of at least one of the groove mark sensors (T) and (T) is a value larger than a normal detection value and a value generated at a substantially constant cycle, By the control means (39), regardless of the average value,
A lifting control device for a seedling planting device of a rice transplanter, wherein the control sensitivity of the lifting control is set to the insensitive side.