JPH08242625A - Controller for rolling in sulky type agricultural working machine - Google Patents

Abstract

PURPOSE: To provide the subject controller for rolling, capable of preventing hunting from occurring and improved in stability and accuracy of rolling control by installing a means designed to discontinue the rolling control when the frequency of noise vibration in output signals from an angular sensor is high. CONSTITUTION: This controller for rolling is obtained by installing an angular sensor 20 provided in a mobile car body 1 having four or more wheels 6 and 7, a tilt sensor 21 installed in a working machine attached to the mobile car body 1 so as to enable the tilting in the left and right directions relatively to the field surface 10 and a means designed to control the rolling of the seedling planter 8 relatively to the field surface 10 based on output signals from the angular sensor 20 and the tilt sensor 21. Furthermore, the controller is equipped with a means designed to discontinue the rolling control when the frequency of the noise vibration in output signals from the angular sensor 20 is high and the amplitude of the noise vibration is large.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riding-type agricultural work machine such as a riding-type rice transplanter in which a traveling vehicle is equipped with a seedling planting device, and the operation of the seedling planting device etc. The present invention relates to a rolling control device that controls a machine so that its posture in the left-right direction with respect to a field scene becomes substantially constant.

[0002]

2. Description of the Related Art Generally, in a riding type rice transplanter,
Since the seedling planting device for planting seedlings in a field scene is configured to be mounted on the traveling vehicle body having at least four wheels, the seedling planting device attached to the traveling vehicle body is It is necessary to perform rolling control so that the posture of the seedling planting device in the left-right direction with respect to the field scene is substantially constant.

In this case, in the conventional rolling control, the seedling planting apparatus is provided with a tilt sensor for detecting a tilt when the seedling planting apparatus makes a rolling motion with respect to a field scene, and based on an output signal from the tilt sensor. The control was made so that the posture of the seedling planting device in the left-right direction with respect to the field scene was substantially constant. Therefore, if the rolling control is performed only by the tilt sensor provided in the seedling planting device, the rolling control of the seedling planting device is delayed with respect to the rolling of the traveling vehicle body.

Therefore, Japanese Patent Laid-Open No. 6-13 as a prior art.
Japanese Patent No. 3612 discloses that, in addition to providing an inclination sensor in a seedling planting device attached to a traveling vehicle body, the traveling vehicle body is provided with an analog type angular velocity sensor for detecting an angular velocity when the traveling vehicle body rolls left and right, It is possible to improve the responsiveness of the rolling control by performing rolling control of the seedling planting device based on the output signals of these two sensors, that is, the inclination sensor provided in the seedling planting device and the angular velocity sensor provided in the traveling vehicle body. is suggesting.

[0005]

However, in the rolling control in this prior art, in addition to transmitting the engine vibration and the vibration of the traveling vehicle body to the analog type angular velocity sensor provided in the traveling vehicle body, Since the rolling motion due to the unevenness of the cultivator where the wheels contact the ground will be transmitted, the output signal from this angular velocity sensor has a so-called noise vibration that the output value finely fluctuates due to the above-mentioned vibration. It will get in.

By the way, among the above noise vibrations, extremely high noise vibrations due to vibrations of the engine or the like of 30 Hz or higher are cut by a low-pass filter or control software, but noise vibrations having a frequency lower than this frequency are cut. Can not be cut easily, so the rolling control of the seedling plant by the output signal from each speed sensor is affected by the noise vibration of the frequency that is not cut by the low pass filter or the control software as described above. become.

In this case, when the frequency in the noise vibration is as low as less than 3 Hz, the rolling control of the seedling plant follows the noise vibration of this frequency, but the frequency in the noise vibration is higher than 3 Hz. Sometimes, the rolling control of the seedling plant cannot follow this high frequency noise vibration, and the rolling control of the seedling plant is changed from the original control state based on the output signals from the tilt sensor and the angular velocity sensor. There is a problem that the rolling control of the seedling planting device becomes unstable and the precision of the control deteriorates because it is largely disturbed like detached hunting.

An object of the present invention is to provide a rolling control device that solves this problem.

[0009]

In order to achieve this technical object, "Claim 1" of the present invention states that "an angular velocity sensor provided on a traveling vehicle body having at least four wheels and an agricultural scene on this traveling vehicle body". And a means for controlling the rolling of the seedling planting device to the field scene based on the output signal of the angular velocity sensor and the inclination sensor provided on the working machine that is installed so as to be tiltable in the left-right direction. And a means for interrupting the rolling control when the frequency of noise vibration is high in the output signal from the angular velocity sensor. .

[0010] According to the second aspect of the present invention, "An angular velocity sensor provided on a traveling vehicle body having at least four wheels and a work which is mounted on the traveling vehicle body so as to be tiltable in the left-right direction with respect to a field scene. Rolling control device in a riding-type agricultural work machine, comprising: a tilt sensor provided on the machine; and means adapted to perform rolling control of the seedling planting device on a field scene based on output signals of the angular velocity sensor and the tilt sensor. In the above, there is provided means for interrupting the rolling control when the frequency of noise vibration is high in the output signal from the angular velocity sensor and the amplitude of the noise vibration is large. .

Still further, according to the "claim 3" of the present invention, "an angular velocity sensor provided on a traveling vehicle body having at least four wheels and mounted on the traveling vehicle body so as to be capable of inclining in a lateral direction with respect to a field scene. Rolling control in a riding-type agricultural work machine comprising a tilt sensor provided on a working machine, and means adapted to perform rolling control of the seedling planting apparatus on a field scene based on output signals of the angular velocity sensor and the tilt sensor. In the device, when the frequency of noise vibration is high among the output signals from the angular velocity sensor, and
A means for interrupting the rolling control is provided when the amplitude of the noise vibration is large, and further, the sensitivity of the rolling control is insensitive to the amplitude of the noise vibration when the amplitude is large. Means for adjusting are provided. "."

[0012]

[Operation] According to the configuration of "Claim 1", when the frequency of noise vibration in the output signal from the angular velocity sensor becomes high during the rolling control by the angular velocity sensor and the tilt sensor, the rolling control is interrupted. Therefore, it is possible to reliably prevent the original rolling control by the angular velocity sensor and the tilt sensor from being hunted by the high-frequency noise vibration generated due to the vibration of the engine and the traveling vehicle body.

Even when the frequency of the noise vibration is high, when the amplitude of the noise vibration is small, rolling control hunting caused by the noise vibration is relatively small. Therefore, by configuring as described in "Claim 2", during the rolling control by the angular velocity sensor and the tilt sensor, the interruption of the rolling control can be performed because the frequency of noise vibration is high and the amplitude is Since it can be limited to a large case, the area in which the rolling control is performed by the angular velocity sensor and the inclination sensor can be expanded as compared with the case of "Claim 1".

Further, by configuring as described in "Claim 3", the sensitivity of rolling control by the tilt sensor and the angular velocity sensor is insensitive to a field in which rolling of the traveling vehicle body is severe, and the rolling field of the traveling vehicle body is small. Can be sensitive in.

[0015]

According to the first aspect of the present invention, therefore, the rolling control of the working machine is controlled by the angular velocity sensor provided on the traveling car body and the tilt sensor provided on the working machine mounted on the traveling car body so as to be freely rotatable. In this case, it is possible to reliably reduce the instability of the rolling control and the deterioration of the accuracy of the rolling control due to the noise vibration in the output signal from the angular velocity sensor, and according to “Claim 2”. Since the area where the rolling control is performed by the angular velocity sensor and the tilt sensor can be expanded as compared with the case of the "claim 1", the stability of the rolling control and the accuracy of the rolling control can be further improved.

Furthermore, according to claim 3, the sensitivity of the rolling control by the tilt sensor and the angular velocity sensor can be made insensitive in a field where rolling of the traveling vehicle body is severe and sensitive in a field where rolling of the traveling vehicle body is small. Therefore, the stability of rolling control and the accuracy of rolling control can be improved as compared with the case of the "claim 2".

[0017]

Embodiments of the present invention will now be described with reference to the drawings when applied to a riding type rice transplanter. In the figure, reference numeral 1
Indicates a traveling vehicle body. The traveling vehicle body 1 includes a bonnet cover 3 for covering the engine, a control handle 4 and a control seat 5 on a top surface of the vehicle body frame 2, and a pair of left and right front wheels 6 supporting a front portion of the vehicle body frame 2. And a pair of left and right rear wheels 7 that support the rear portion of the vehicle body frame 2.

Reference numeral 8 denotes a seedling planting device which is mounted on the rear part of the traveling vehicle body 1 so as to be able to move up and down via an elevating link mechanism 9. The seedling planting device 8 is at least a plurality of units grounded on the field scene 10. Float 11 and each of these floats 11
Each of which is attached to the lower surface, a plurality of transmission cases 12, a seedling mounting table 13 attached to the upper surface side of each transmission case 12, and a seedling planting mechanism 14 attached to each of the transmission cases 12. There is.

Further, the seedling planting device 8 is provided with the traveling vehicle body 1 described above.
A hydraulic cylinder 15 for raising and lowering provided between the seedling planting device 8 and the side is configured to move up and down with respect to the field scene 10. Moreover, the seedling planting device 8 has a rolling shaft 16 protruding forward from the planting device 8. Is rotatably supported by a bearing 17 'attached to a hitch member 17 at the rear end of the lifting link mechanism 9, so that the traveling vehicle body 1 is rotatably mounted about the rolling shaft 16.
Further, a rolling hydraulic cylinder 18 for rolling the seedling planting device 8 with respect to the traveling vehicle body 1 is provided between the seedling planting device 8 and the hitch member 17.

The rolling hydraulic cylinder 18
Is the two solenoids 19a, 19
With the hydraulic switching valve 19 having b, the seedling planting device 8 is moved rightward or leftward from the neutral position of the set position such that the left-right direction is parallel to the field scene 10, for example. It is configured to operate in a switching manner.

The traveling vehicle body 1 is provided with an analog type angular velocity sensor 20 for detecting the angular velocity when the traveling vehicle body 1 rolls left and right, while the seedling planting device 8 is provided with the analog type angular velocity sensor 20. An inclination sensor 21 is provided for detecting an inclination in the left-right direction when rolling motion is performed with respect to the field scene 10. On the other hand, reference numeral 22 is input with the output signals from the angular velocity sensor 20 and the tilt sensor 21, and the hydraulic cylinder 18 for rolling is input.
Is a controller for operating as described below via the hydraulic pressure switching valve 19.

That is, the controller 22 uses, for example, a microcomputer, and adopts a software control method by a program in the microcomputer. First, read-only memory (ROM)
The following tables [Table 1] and [Table 2] are stored in advance, and based on [Table 1] from the combination of the output signal value of the angular velocity sensor 20 and the output signal value of the tilt sensor 21, Hydraulic switching valve 19 of rolling hydraulic cylinder 18
The value of the drive command signal S for pulse driving to (1) is calculated (retrieved), and the rolling hydraulic cylinder 10 is operated at a speed as shown in Table 2 according to the obtained value of S.

[0023]

[Table 1]

[0024]

[Table 2]

[Table 1] shows the angular velocity sensor 20.
Hydraulic cylinder 18 for rolling control with respect to the combination of the output signal value of the tilt sensor 21 and the output signal value of the tilt sensor 21.
In the table showing the relationship of the drive command signal S to the hydraulic switching valve 19, the value (-7 to 0 to +7) of the drive command signal S increases as the numerical value increases, and the moving speed of the hydraulic cylinder 18 increases. In addition, a positive sign among the positive and negative signs indicates a case where the seedling planting device 8 is turned to the right downward direction (posture correction) facing the traveling direction of the traveling vehicle body 1, and the negative signs (-, minus) are opposite. The case where the device 8 is turned toward the traveling direction of the traveling vehicle body 1 in the left downward direction (posture correction) is shown.

[Table 2] is a table showing the relationship between the drive command signal S and the moving speed of the rolling hydraulic cylinder 18. In this way, based on [Table 1], the rolling hydraulic cylinder 1 is selected from the combination of the output signal value of the angular velocity sensor 20 and the output signal value of the tilt sensor 21.
The value of the drive command signal S for pulse driving to the hydraulic pressure switching valve 19 of No. 8 is calculated (retrieved), and the rolling hydraulic cylinder 10 is operated at a speed as shown in [Table 2] according to the obtained value of S. By doing so, the rolling control of the seedling planting device 8 can be performed based on both the output signal of the angular velocity sensor 20 and the output signal of the inclination sensor 21.

As will be described below, the controller 22 outputs the angular velocity sensor 20 when the frequency of noise vibration is high in the output signal from the angular velocity sensor 20 and when the amplitude of the noise vibration is large.
And means for interrupting the rolling control by the tilt sensor 21. That is, the controller 22 operates as shown in the flowchart of FIG.
First, the output signal from the angular velocity sensor 20 is read and the frequency f and the amplitude V of noise vibration in the output signal from the angular velocity sensor 20 are calculated. 20 and the inclination sensor 21, it is determined whether it is equal to or larger than the frequency fo of the tracking limit for the noise vibration of the rolling control, and if fo ≦ f is not satisfied, the process shifts to the following Vo ≦ V comparison. When ≦ f, the rolling control by the angular velocity sensor 20 and the tilt sensor 21 is interrupted.

Thus, in the original rolling control by the angular velocity sensor 20 and the elevation sensor 21, it is possible to reliably prevent hunting from occurring due to high-frequency noise vibration in the output signal from the angular velocity sensor 20. In addition, the controller 22
Is a predetermined value V after the comparison of fo ≦ f.
It is determined whether it is equal to or greater than o, and when Vo ≦ V is not satisfied, rolling control by the angular velocity sensor 20 and the inclination sensor 21 is continued, but only when Vo ≦ V, the angular velocity sensor 20 and the inclination sensor 21 are determined.
Therefore, the rolling control by the angular velocity sensor 20 and the inclination sensor 21 is interrupted during the rolling control of the seedling plant 8 by the angular velocity sensor 20 and the inclination sensor 21 because the noise vibration frequency f is high, and Since it can be limited to the case where the amplitude V is large, the area in which the rolling control of the seedling planting device 8 is performed can be expanded by the angular velocity sensor 20 and the inclination sensor 21.

Furthermore, in addition to having the above-mentioned function, the controller 22 has the angular velocity sensor 2
When the amplitude V of the noise vibration in the output signal from 0 is larger than the predetermined value Vo, the angular velocity sensor 20 and the inclination sensor 2 are based on the magnitude of this amplitude.
1 is provided with means for adjusting the sensitivity when the rolling control of the seedling planting device 8 is performed so that the sensitivity becomes insensitive when the amplitude is large and the sensitivity becomes sensitive when the amplitude is small.

To adjust the sensitivity in this rolling control, for example, a dead zone is provided in the output signal from the tilt sensor 21 across the set position, and this dead zone is increased or decreased based on the magnitude of the amplitude V of the noise vibration. Such end adjustment makes the sensitivity of the rolling control by the tilt sensor 20 and the angular velocity sensor 21 insensitive in a field where rolling of the traveling vehicle body 1 is severe and sensitive in a field where rolling of the traveling vehicle body 1 is small. Therefore, the stability of rolling control and the accuracy of rolling control can be significantly improved.

[Brief description of drawings]

FIG. 1 is a side view of a riding-type rice transplanter.

FIG. 2 is a plan view of a riding type rice transplanter.

FIG. 3 is an enlarged side view of a connecting portion of the seedling planting device to the traveling vehicle body.

FIG. 4 is a IV-IV view of FIG. 3.

FIG. 5 is a diagram showing a hydraulic circuit and a control circuit.

FIG. 6 is a diagram showing a control flowchart.

[Explanation of symbols]

 1 Running Vehicle 2 Vehicle Frame 6, 7 Wheels 8 Seedling Planting Device 9 Elevating Link Mechanism 10 Field Scene 11 Float 12 Transmission Case 13 Seedling Platform 14 Seedling Planting Mechanism 16 Rolling Axis 17 Hitching Member 18 Rolling Hydraulic Cylinder 20 Angular Speed Sensor 21 Inclination Sensor 22 controller

Claims (3)

[Claims] 1. An angular velocity sensor provided on a traveling vehicle body having at least four wheels, an inclination sensor provided on a working machine mounted on the traveling vehicle body so as to be able to incline in a horizontal direction with respect to a field scene, and the angular velocity sensor. And in a rolling control device in a riding-type agricultural work machine comprising means for controlling the rolling of the seedling planting device based on the output signal of the inclination sensor, in the output signal from the angular velocity sensor A rolling control device for a riding-type agricultural work machine, comprising means for interrupting the rolling control when the frequency of noise vibration is high. 2. An angular velocity sensor provided on a traveling vehicle body having at least four wheels, an inclination sensor provided on a working machine mounted on the traveling vehicle body so as to be capable of inclining in a horizontal direction with respect to a field scene, and the angular velocity sensor. And in a rolling control device in a riding-type agricultural work machine comprising means for controlling the rolling of the seedling planting device based on the output signal of the inclination sensor, in the output signal from the angular velocity sensor A rolling control device for a riding-type agricultural work machine, comprising means for interrupting the rolling control when the frequency of the noise vibration is high and the amplitude of the noise vibration is large. 3. An angular velocity sensor provided on a traveling vehicle body having at least four wheels, an inclination sensor provided on a working machine mounted on the traveling vehicle body so as to be capable of inclining in a horizontal direction with respect to a field scene, and the angular velocity sensor. And in a rolling control device in a riding-type agricultural work machine comprising means for controlling the rolling of the seedling planting device based on the output signal of the inclination sensor, in the output signal from the angular velocity sensor A means for interrupting the rolling control is provided when the frequency of the noise vibration is high and the amplitude of the noise vibration is large, and the sensitivity of the rolling control is related to the amplitude of the noise vibration. Rolling means in the riding-type agricultural work machine, characterized in that it is provided with means for adjusting so as to make it insensitive when the amplitude is large. Control device.