JPH11164604A - Steering control equipment for travel device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering gear of a travel device capable of giving a travel state where the travel device does not impair ridges in a tea plantation irrespective of whether there is any experience, by making it possible to automatically set the travel direction parallel to a ridge in a tea plantation by the travel device itself when the device travels in the direction parallel to the ridge in a tea plantation, etc. SOLUTION: The self-propelled travel device provided with a travel device whose crawlers set up in the lower part of a main body traveling astride a ridge in a tea plantation operated and steered by reversibly rotatable hydraulic motors 34, 34', is equipped with (A) a tea plant-detecting means 71, 72 placed in at least one side of the ridge in the crosswise direction and in front of and in the rear of the main body in the travel direction, and changeable in states of contact with the skirts of tea plants and (B) a steering controller 70 for motors 34, 34' driving crawlers. The steering controller 70 is coupled with detecting means 71, 72 in an input side and with changeover valves 64, 64' for controlling the supply and exhaust of oil to motors 34, 34' in an output side, and changes the state of supply of oil to the valves 64, 64' according to contacting states of means 71, 72 with the skirts of the tea plants.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device for a traveling device, and more particularly to a steering control device for a riding type traveling device having a crawler as a traveling device.

[0002]

2. Description of the Related Art In recent years, with the aging of workers, there is an urgent need to automate various machines for managing tea gardens and reduce the work load. In order to respond to these requests, for example, a driver's seat is provided on a traveling device using a crawler, and a tea leaf plucking device or a pest control device for tea plantation management is installed, and the crawler is positioned in a ridge and self-propelled. A device has been proposed that can perform necessary work while doing so.

In such a self-propelled riding type traveling apparatus,
As long as it is not an extremely sloping land, it is possible to get on the tea ridge and perform tea plantation management work including plucking work.

[0004]

By the way, when the above-mentioned self-propelled riding type traveling device is used, when the vehicle travels in parallel with the direction of the tea ridges, the steering is performed using a steering wheel. Then it is relatively difficult to run in parallel with the tea ridge. In other words, when steering the steering wheel so as to be parallel to the tea ridge, or when finely adjusting the steering wheel so as to be parallel to the tea ridge according to the traveling speed, it is necessary to get used to the steering condition easily. It is difficult to steer. On the other hand, when moving forward, the state of the tea ridge can be visually recognized, but it is not so much, but when traveling backward, it is difficult to check the rear by the device mounted on the traveling device, so even beginners can move backwards in parallel with the tea ridge. Extremely difficult. For this reason, if traveling in parallel with the tea ridge is not possible, the crawler may rush into the tea tree side,
In this case, the tea plant will be damaged. Such backward running is a running performed when there is no turning allowance at the end of one tea ridge, and corresponds to a case where the vehicle moves backward as it is after traveling through one tea ridge. Such inconvenience occurs not only in a traveling device using a crawler but also in a case where a wheel or a caterpillar is used.

An object of the present invention is to set a traveling direction parallel to a tea ridge automatically by the traveling device itself when traveling in parallel with a tea ridge or the like, in view of the problem in the traveling device using the crawler or the like. It is an object of the present invention to provide a steering control device in a traveling device capable of obtaining a traveling state that does not damage a tea ridge regardless of experience.

[0006]

In order to achieve the above object, an invention according to claim 1 is a hydraulic system capable of rotating a crawler disposed at a lower part of a body of a vehicle body straddling a tea tree ridge. In a self-propelled traveling device including a traveling device that is driven and steered by a motor, a tea tree that is disposed at least in the width direction of the tea ridge and at the front and rear in the traveling direction of a vehicle body and can change a contact state with a tea tree skirt portion. Detecting means, a steering control unit for a hydraulic motor that drives the crawler, the steering control unit is connected to the tea tree detecting means on the input side, and controls the supply and discharge of oil to the hydraulic motor on the output side. A switching valve for performing the operation is connected, and the supply state of the oil to the switching valve is changed according to the state of contact of the tea tree detecting means with the tea tree skirt.

According to a second aspect of the present invention, in the steering control device of the traveling device according to the first aspect, the tea tree detecting means includes a detection plate that swings in accordance with a state of contact with the tea tree bottom. The detection plate detects a case where the detection plate swings in a direction away from the tea tree skirt portion with respect to a reference position and a case where the detection plate swings in a direction into the tea tree skirt portion and outputs a signal to the steering control unit. And

According to a third aspect of the present invention, in the steering control device of the traveling device according to the first aspect, the tea tree detecting means is located forward and backward in the traveling direction of the vehicle body, and is configured for forward and backward travel. It is characterized by having.

According to a fourth aspect of the present invention, in the steering control device for a traveling apparatus according to the first aspect, the steering control unit determines whether the tea tree detecting means is in contact with the tea tree detecting means and the tea tree bottom. When separating from the tea tree skirt, the supply amount of oil to the hydraulic motor located on the side opposite to the side where the tea tree detection means is provided is reduced, and the tea tree detection means enters the tea tree skirt. Is characterized in that the amount of oil supplied to a hydraulic motor located on the side where the tea tree detecting means is provided is reduced.

[0010] The invention according to claim 5 is the invention according to claim 2 or 3.
In the steering control device of the traveling device described above, the tea tree detecting means is provided with a detection plate having an inclined surface formed in a direction away from the tea tree skirt in front and rear directions of travel.

[0011]

According to the first, second and fourth aspects of the present invention, the state of oil supply to the hydraulic motor is changed in accordance with the state of contact between the tea tree detecting means and the bottom of the tea tree to automatically perform steering control. Done. In particular, according to the second and fourth aspects of the present invention, when the tea tree detecting means is away from the tea tree hem as the contact state of the tea tree hem with the tea tree detecting means, the hydraulic pressure located on the side opposite to the side where the tea tree detecting means is provided By reducing the amount of oil supplied to the motor, the traveling direction of the traveling device is corrected by increasing the traveling amount of the crawler on the side where the tea tree detecting means is provided compared to the crawler on the opposite side, and When the detecting means enters the tea tree skirt, the amount of oil supplied to the hydraulic motor on the side where the tea tree detecting means is provided is reduced, so that the crawler on the side opposite to the side on which the tea tree detecting means is provided becomes tea tree. The traveling direction of the traveling device is corrected by making the traveling amount larger than that of the crawler on the side where the detecting means is provided, thereby automatically traveling in a state parallel to the tea ridge. It is possible.

According to the third and fifth aspects of the present invention, the contact state between the tea tree detecting means and the tea skirt hem can be detected regardless of whether the traveling device is moving forward or backward. The traveling of the traveling device parallel to the tea ridge can be performed. Moreover, the tea tree detecting means, which may come into contact with the tea tree when moving forward and backward, has an inclined surface before and after the traveling direction, so that the tea tree is not broken, and the contact state with the tea ridge hem portion is not caused. Can be reduced when tea is detected.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. FIG. 1 is a perspective view showing a simplified riding plucker equipped with a traveling device to which a steering control device according to an embodiment of the present invention is applied. In FIG. 1, a simplified riding plucker (for convenience,
The plucking machine 1 includes a vehicle body 2, a traveling device 3, a plucking device 4, a carrier 5, and a load receiving member 6. In addition, not only the device for picking tea leaves but also the device for controlling tea leaves can be mounted on the traveling device.

In FIG. 1, a vehicle body 2 includes portal frames 21 and 22 disposed in front and rear of the vehicle body, and lifting frames disposed between the portal frames 21 and 22 at both ends in the width direction of the vehicle body. 23, and a board 24 that forms part of the gate-shaped frame 21 located on the front side of the vehicle body in the gate-shaped frame. The height of the portal frame 21 located on the front side of the vehicle body is lower than that of the portal frame 22 located on the rear side of the vehicle body, so that an operator's effort to get on and off the board 24 is reduced. Portal frame 21, 2
2 between the connecting frames 2 along the running direction of the vehicle body 2.
5 are provided. As shown in FIG. 2, the connecting frame 25 extends rearward from the portal frame 21 located on the front side of the vehicle body to serve as a step, and the height of the connecting frame 25 is adjusted to the portal frame 22 on the rear side of the vehicle body. In the middle thereof, a part of an elevating frame 23 composed of a vertical frame for guiding the plucking device 4 up and down is fixed. The gate-shaped frames 21 and 22 are set to a material and a shape that can secure rigidity in a state of straddling the tea ridge. Board 2
Numeral 4 is made of a plate material capable of securing bending rigidity when the operator gets on the vehicle. On the upper surface, a pilot seat 26 on which the operator sits, a pilot portion 27 located in front of the pilot seat 26, and a handrail frame 28 are provided. Is provided. In the vicinity of the board 24,
An engine 60 mounted on the front upper surface of the connection frame 25 and an oil tank 61 mounted on the portal frame 21 on the front side of the vehicle body are arranged. The oil tank 61 is used as a fuel supply member of the oil pump 60. The connecting frame 25 includes a lifting frame 23
A lifting motor (using a reference numeral 48 for convenience) for driving a lifting body of the plucking device 4 described later is disposed at a position corresponding to the top of the support member 25A, and a support member 25A and an engine Battery 29
Are fixed respectively. The elevating motor 48 is not limited to the top of the elevating frame 23 described above, but can be of course arranged at an appropriate position on the elevating frame 23.
Furthermore, it is also possible to provide only one or both of the elevating frames 23.

A screw rod (not shown) is provided inside the elevating frame 23. As shown in FIG. 1, the screw rod uses a rotating mechanism of a raising / lowering motor 48 to reduce the rotational force (for convenience, reference numeral 48A is used). ).
The support member 25A is provided with its upper end positioned so as to be at the same height as the top of the portal frame 22 on the rear side of the vehicle body. As will be described later, the load receiving member 6 is arranged on the support member 25A.

The traveling device 3 includes a driving wheel 31 and a driven wheel 3
2 is provided with a rubber crawler 33 wound around
The drive wheels 31 have hydraulic motors 3 corresponding to the respective crawlers.
4, 34 'are connected. Drive wheel 31 and driven wheel 32
, A reinforcing frame 35 is connected at both ends in the extending direction thereof, and a plurality of rolling wheels 36 are rotatably supported along the extending direction of the reinforcing frame 35. The lower ends of the portal frames 21, 22 and the elevating frame 23 are fixed to the upper surface of the reinforcing frame 35, and constitute a skeleton as a vehicle body here.

The rotation of the hydraulic motors 34, 34 'is controlled by a hydraulic control circuit shown in FIG.
That is, in FIG. 3, the hydraulic control circuit includes a direction switching valve 63 that controls the supply of oil from an oil pump 62 (see FIG. 1) driven by the engine 60 to each of the hydraulic motors 34 and 34 ′; , 34 ′ electromagnetically-driven rotary direction switching valve 6 for oil amount control
4, 64 'as main parts. Each of the directional control valve 63 and the directional directional control valves 64 and 64 ′ is constituted by a four-port two-position control valve, and among these, the directional control valve 63 supplies and stops oil to drive the traveling device. It is used as a valve to control parking or emergency stop. Rotating direction switching valves 64, 6
A variable throttle valve is provided in the oil passage communicating with 4 ′, and when the communication state of the port is switched by a signal from a steering control unit 70 described later and this oil passage communicates,
The supply amount of oil to the hydraulic motors 34, 34 'is reduced. Rotating direction switching valves 64, 64 '
Is usually kept in a state where the oil passage having the variable throttle valve is not communicated. In this case, the hydraulic motors 34, 3
4 'rotates at a predetermined rotation speed.

The plucking device 4 includes support frames 41 and 4
1 is provided with a pair of side plates 42, 42 at both end portions.
A cutting blade 43 composed of a circular clipper blade capable of covering the entire width of the top surface of the tea tree ridge is reciprocally supported on the lower front side between the side plates 42, 42. Engines 44 and 45 are provided at both left and right ends of the plucking device 4, and blowers 46 are connected to the engines 44 and 45. The engine 44 reciprocates the cutting blade 43 and at the same time sends air into the blower tube. The engine 45 is dedicated to sending air into the blower tube. Support frame 4
Reference numeral 1 is used as a portion for attaching an opening end of a container such as a tea bag described later. The driving source for reciprocating the blowing blade 46 and the cutting blade 43 is not limited to the above-described engines 44 and 45, and a single engine may be used, and the driving force from the engine may be applied to each driving source. It is also possible to configure to use as. The blower pipe 46 is provided with a plurality of nozzles 46a, and blows pressure air from above the cutting blade 43 toward the rear of the cutting blade 43 so as to blow the tea leaves plucked by the cutting blade 43 rearward. , Are arranged at predetermined intervals. A guide plate 49 is detachably connected as a bottom surface of the rear opening of the plucking device 4.

The picking device 4 is provided with an elevating body 47. Although not shown, the elevating body 47 is provided with a ball screw which meshes with a screw rod located in the elevating frame 23, thereby rotating the screw rod. It can move up and down according to the direction. Further, the elevating body 47 is provided with a roller 47a which is fitted to a guide rod 23a arranged in parallel with the elevating frame 23, so that the elevating body 47 is guided at the time of elevating.

The carrier 5 includes a guide plate 49 located behind the plucking device 4 and a sub-carrier 5A connected to the rear of the guide plate 49. The guide plate 49 is integrated with the elevating body 47. And can be moved up and down together with the plucking device 4 having the elevating body 47. Further, the loading platform 5 is provided with a guide body 51 integrated with the position of the portal frame 22 on the rear side of the vehicle body, separately from the lifting / lowering body 47, and includes rollers provided on the guide body 51. , Guides the user at the time of elevating and lowering. The auxiliary carrier 5A is swingably supported by a guide plate 49 via a hinge portion 5A1. A side surface of the swing end portion of the auxiliary carrier 5A is provided with a cylinder 52 having a base supported by a guide body 51. Plunger 52A
Are connected. The cylinder 52 includes a plunger 52A.
When the plunger 52A is expanded, the auxiliary carrier 5A is deployed in a substantially horizontal state, and when the plunger 52A contracts, the auxiliary carrier 5A is folded substantially vertically using the hinge 5A1 as a fulcrum.

On the other hand, the load receiving member 6 has an upper portion and a vehicle front-rear end which are supported at one longitudinal end and a central portion by a column member 25A located on the upper surface of the connecting frame 25 and the portal frame 22 on the rear side of the vehicle. Excluding bottom frame 6
A, a fixed side frame 6B, and a movable side frame 6C, and have a size capable of mounting a container such as a tea bag. As shown in FIG. 4, the bottom frame 6 </ b> A has a portal frame 22 and a support member 2.
Bracket 6 hanging vertically at a position corresponding to 5A
A1 is provided, and the bracket 6A1 is integrated by inserting a locking pin 6D that can be inserted into and removed from the locking portion 22b and the support member 25A provided near the portal frame 22. ing. When the locking pin 6D is removed, the bottom frame 6A can be removed from the portal frame 22 and the support member 25A. In addition, support member 2
When only the locking pin 6D located on the 5A side is withdrawn, the auxiliary loading platform 5A side can be inclined with the portal frame 22 side as a fulcrum, as shown by a two-dot chain line in FIG.

Among the frames, the fixed side frame 6B located inside the vehicle body is formed integrally with the bottom frame 6A.
The movable side frame 6C located on the outside of the vehicle body can swing with respect to the bottom frame 6A as shown by a reference numeral θ in FIG. As shown in FIG. 5A, the frame member located outside the bottom frame 6A in the vehicle width direction and the frame member at the bottom of the movable side frame 6C are at the same position, and the frame members at the same position are related to each other. Removably supported. That is, FIG.
The bottom frame 6A and the movable side frame 6
B is an exploded schematic view showing frame members at the same position (for convenience, the frame member on the bottom frame 6A side is indicated by reference numeral 6A2, and the frame member on the movable side frame 6C side is indicated by reference numeral 6C1). The crown gear 7 is connected to one of the detachable crown gears 7A and 7B. Of the one 7A and the other 7B of the crown gear 7, one 7A is a frame member 6A on the bottom frame 6A side.
2 and the other 7B are respectively connected to the frame member 6C1 of the movable side frame 6C, and by moving the frame member 6C1 of the movable side frame 6C in the vehicle longitudinal direction, FIGS. 5B and 5C.
As shown in the figure, the crown gear 7 can be engaged and released. The other 7B of the crown gear 7 located on the column member 25A side of the vehicle body 2
On the outer surface, a toggle lever 8 composed of an L-shaped lever supported by a stationary part of the vehicle body 2 is arranged. The toggle lever 8 has a force point as the operation handle portion 8A, and is positioned so that the action point 8B faces the other 7B of the crown gear 7, and the action point 8B faces the other 7B of the crown gear 7 so as to face the crown. The other 7 of the gear 7
B, and when the point of action 8B moves away from the other 7B of the crown gear 7, as shown in FIG. 5C, along the support shaft 9 through which the other 7B of the crown gear 7 is inserted. You can move. In the state shown in FIG. 5C, the movable side frame 6C1 can be swung. After the movable side frame 6C is swung to a desired angle, the toggle lever 8 is swung again to apply the operating point. 8B to the other 7 of the crown gear 7
B is pressed to engage and maintain its attitude.

On the other hand, the steering of the traveling device 3 is controlled by a steering control unit shown in FIG. FIG.
It is a block diagram for explaining the configuration of the steering control unit,
In the figure, a main part of a steering control unit 70 is constituted by a microcomputer, and a forward tea tree detecting means 71 is provided on an input side via an I / O interface (not shown).
A reverse direction tea tree detecting means 72 is connected, and a rotation direction switching valve 64, 64 'for driving the hydraulic motors 34, 34' is provided on the output side, and parking not shown in FIG. And a direction switching valve 63 for traveling (FIG. 3
Are connected to each other. Although not shown, a start switch and a forward / reverse changeover switch are connected to the input side of the steering control unit 70.

Tea tree detecting means 71, 7 for forward and backward travel
As shown in FIG. 2, 2 is arranged at the lower part of the portal frames 21 and 22, that is, at the upper part of the crawler corresponding to the height of the tea plant, and the structure thereof is shown in FIG. FIG. 7 is a perspective view for explaining the principle structure of the tea tree detecting means. In FIG. 7, the forward and backward tea tree detecting means 71 and 72 are connected to the gate-shaped frame 21 on one side in the tea ridge width direction in the traveling device 3. , 22 are provided. The tea tree detecting means 71 and 72 for forward and backward movement have substantially the same configuration except for a part, and therefore the configuration of the tea tree detecting means 72 for reverse movement will be described with reference to FIG. In FIG. 7, the reverse tea tree detecting means 72 includes a base shaft 72C rotatably supported by an upper bracket 72A and a lower bracket 72B integrated with the portal frame 22.
The base end of a detection plate 72D that can face the side surface of the tea plant is integrated with the base shaft 72C. Base axis 7
2C, a tension spring 74 and a stopper 75 are provided on the peripheral surface on the same side.
Is given to the tea tree side (the swinging behavior indicated by the arrow S in the figure). Detection plate 72 based on this swinging habit
The swinging position of D is defined so that the stopper 75 comes into contact with the bolt 76 fastened to the immobile portion (a member indicated by a two-dot chain line). The bolt 76 regulates the swing of the simplified riding type tea leaf pruning tree 1 so that the detecting plate 72D does not extremely enter into the skirt of the tea ridge due to the habit of the tension spring 74 when the tree 1 is put on the tea ridge. Used for Thereby, when the simple riding type tea leaf pruning tree 1 enters the tea ridge, the tea tree is prevented from being broken by the detection plate 72D.

The detecting plate 72D has an inclined surface 72D1 corresponding to the forward or backward direction, in which the front and rear running directions are away from the tea plantation, in other words, the inclined surface 72D1 is formed so that the shape in plan view is toward the tea plantation side and the central portion is convex. 72D1 'are formed. When the inclined surfaces 72D1 and 72D1 'come into contact with the tea plant,
It is provided to prevent the tea tree from being damaged by the edge of the detection plate 72D.

At one axial end of the base shaft 72C, there is arranged an angle sensor 77 which is a main part of the tea plant detecting means. The angle sensor 77 detects a case where the detection plate 72D swings in a direction away from the skirt portion of the tea ridge and a case where it swings in a direction into the tea ridge by detecting the swing direction of the detection plate 72D. You can do it. For this reason, in the angle sensor 77, the positional relationship between the detection plate 72D and the tea ridge hem portion is such that the detection plate 72D hits the tea ridge hem portion when the simplified riding tea pruning tree 1 enters the tea ridge. The adjusted and abutted position is set as a reference position, that is, a swing starting point position, and is pushed against the swinging direction or the skirt portion of the tea ridge due to the habit of the tension spring 74 to resist the habit of the tension spring 74. Thus, the swing direction moving away from the tea ridge can be detected, and a signal corresponding to the swing direction is output to the steering control unit 70. Note that the swing starting point position in the angle sensor 77 is a position adjusted so that the simplified riding tea pruning tree 1 enters the tea ridge and the detection plate 72D is brought into contact with the tea ridge hem. The corresponding angle reading value of the angle sensor 77 can be updated.

It is necessary to roughly position the detection plate 72D so that the detection plate 72D comes into contact with the skirt of the tea ridge when entering the tea ridge. Therefore, the position adjusting members 78, 7 attached to the upper bracket 72A and the lower bracket 72B.
9 is used. That is, the position adjusting member 78 is provided with the guide hole 7 having a longitudinal direction in the width direction of the tea ridge.
8A is formed of an angle piece formed with one piece fixed to the upper bracket 72A. The position adjusting member 79 is formed of an angle piece having a piece that supports the bearing 72C1 of the base shaft 72c, and is fixed to the lower bracket 72B. A guide hole 79A having the width direction of the tea ridge as a longitudinal direction is formed in the one part fixed to the lower bracket 72B.
The position adjusting members 78 and 79 having the above-described configuration are configured such that fixing bolts 80 and 80 'are inserted into the guide holes 78A and 79A, and the support plate 81 on which the angle sensor 77 is mounted and fixed on the position adjusting member 78 side. The position of the support plate 81 on which the base shaft 72C is supported by changing the fastening position between the screw formed on the base member and the bolt 80 fastened to the screw in the guide hole 78A is indicated by an arrow L in FIG. In addition, the position of the detection plate 72D can be changed by displacing in the width direction of the tea ridge so as to hit the tea ridge. On the position adjusting member 79 side, the fastening position between the screw formed on the lower bracket 72B and the bolt 80 'fastened to the screw is changed in the guide hole 79A, so that the upper bracket 7
In accordance with the position change on the 2A side, the lower side of the base shaft 72C can be displaced in the ridge width direction to change the position of the detection plate 72D so as to hit the ridge. Regarding the configuration of the position adjusting members 78 and 79 described above, the lower bracket 7
The position adjusting member 79 located on the 2B side may be a plurality of bolt through holes instead of the guide hole 79A.

A steering control unit 7 to which signals from the forward and backward tea plant detecting means 71 and 72 having the above-described structure are inputted.
In the case of 0, the swinging direction is determined by the signal from the angle sensor 77 according to the contact state of the detection plate 72C with the skirt of the tea ridge, and the next control mode is executed. (1) When the detection plate 72D swings in a direction away from the skirt of the tea ridge, the amount of oil supply to the hydraulic motor that drives the crawler located on the side opposite to the side where the detection plate 72D is provided is reduced. Decrease. (2) When the detection plate 72D swings in a direction to enter the skirt portion of the tea ridge, the supply amount of oil to the hydraulic motor that drives the crawler located on the side where the detection plate 72D is provided is reduced. Such a control mode is set by a signal selectively output from the steering control unit 70 to the rotation direction switching valves 64 and 64 '. That is, in FIG. 3, when the oil passage in which the variable throttle valve is disposed is in communication with either of the rotation direction switching valves 64 and 64 ′, the rotation direction switching valve indicated by reference numeral 64 is temporarily provided. Is the detection plate 7
If the rotation direction switching valve for the hydraulic motor 34 that drives the crawler on the side where the 2D is provided is provided, a part of the oil flowing to the hydraulic motor 34 leaks a very small amount. As a result, the supply amount of oil to the hydraulic motor 34 decreases, and the rotation speed of the hydraulic motor 34 decreases. In this case, the rotation direction switching valve 64 'is maintained in the normal state for the hydraulic motor 34' located on the side opposite to the side on which the detection plate 72D is provided, so that the supply of the predetermined amount of oil is maintained. Is done. For this reason, the crawler on the hydraulic motor 34 'side advances more than the crawler on the side where the detection plate 72D is located.
The traveling direction of the traveling device 3 is corrected using the crawler on the side where is located as a fulcrum. Such a decrease in the supply amount of oil to the hydraulic motor is also operated by the swing direction of the detection plate 72D for the hydraulic motor 34 'located on the side where the detection plate 72D is not provided.

Since the present embodiment has the above configuration,
By driving the traveling device 3 with the crawler positioned between the tea furrows, the tea leaf picking machine 1 can travel. When traveling, it can be steered visually by the working vehicle to drive against changes in direction or turning such as large bends in the tea ridge,
The vehicle body 2 is turned by the selective driving of the hydraulic motors 34, 34 'according to the steering wheel angle.

On the other hand, when traveling in parallel with a single row of tea ridges, after entering the tea ridge, of the tea tree detection means 71 and 72, the tea tree detection means (for example,
The position is adjusted so that the detection plate 72D of the tea tree detection means 72) hits the tea ridge. At this time, in addition to or without performing the adjustment of the base shaft 72C, the detection plate 72
The swing start position of D is adjusted. When the swing fulcrum position of the detection plate 72D is set, the swing fulcrum position of the angle sensor 77 is updated, and the swing direction according to the state of contact with the tea ridge is detected based on this position. When the contact state of the tea ridge with the detection plate 72D changes, that is, the detection plate 72D
(1) above when rocking in the direction of entering the tea ridge
The control mode described in (2) above is executed, and when the detection plate 72D swings in a direction away from the tea ridge, the control mode described in (2) above is executed. When the swing from the swing fulcrum position is not performed on the detection plate 72D, the steering control unit 7
At 0, the oil supply amount to each of the hydraulic motors 34, 34 'is set and maintained at a predetermined value, and the straight traveling state is set.

In the embodiment described above, in the control mode executed by the steering control unit 70, the hydraulic motor for driving the crawler is controlled immediately according to the swing direction of the detection plate 72D. For example, the detection plate 72D
Thus, the time from when the change in the contact state with the tea ridge is detected may be measured, and the hydraulic motor may be stopped when a predetermined time has elapsed. According to such control, it is possible to prevent a situation in which the crawler rushes into the tea ridge when steering by hydraulic control to the hydraulic motor cannot be performed in time with respect to the traveling speed.
Further, in the present invention, it is of course possible to apply to a controlling machine or a branching machine as a riding type exclusive machine. Further, as the traveling device, not only a crawler but also a structure using a wheel or a structure using a caterpillar can of course be used. Moreover, the tea leaf detecting means is not limited to being provided simply in the tea ridge width direction in the front and rear direction in the running direction, but may be arranged on a diagonal line, for example.

[0032]

As is apparent from the above embodiments, according to the first, second and fourth aspects of the present invention, oil is supplied to the hydraulic motor in accordance with the state of contact between the tea tree detecting means and the tea tree skirt. Since the steering control is automatically performed by changing the supply state of the vehicle, it is possible to travel in parallel with the tea ridges regardless of the driving experience. In particular, according to the second and fourth aspects of the present invention, when the tea tree detecting means is away from the tea tree hem as the contact state of the tea tree hem with the tea tree detecting means, the tea tree detecting means is located on the side opposite to the side where the tea tree detecting means is provided. The traveling direction of the traveling device is corrected by increasing the traveling amount of the crawler on the side where the tea tree detecting means is provided by increasing the amount of oil supplied to the hydraulic motor to be smaller than the crawler on the opposite side. Also, when the tea tree detecting means enters the tea tree skirt, the amount of oil supplied to the hydraulic motor on the side where the tea tree detecting means is provided is reduced, so that the crawler on the side opposite to the side where the tea tree detecting means is provided. The traveling direction of the traveling device is corrected by making the traveling amount larger than that of the crawler on the side where the tea tree detecting means is provided, thereby automatically traveling in a state parallel to the tea ridge. It can be.

According to the third and fifth aspects of the present invention, the contact state between the tea tree detecting means and the skirt portion of the tea ridge can be detected regardless of whether the traveling device is moving forward or backward. In this case, the traveling of the traveling device parallel to the tea ridge can be automatically performed. Moreover, the tea tree detecting means, which may come into contact with the tea tree when moving forward and backward, has an inclined surface before and after the traveling direction, so that the tea tree is not broken, and the contact state with the tea ridge hem portion is not caused. Can be reduced when the tea utensils are detected.

[Brief description of the drawings]

FIG. 1 is a rear perspective view of a simplified riding plucking machine as an example in which a steering control device according to an embodiment of the present invention is used.

FIG. 2 is a side view of the simple riding type tea leaf picking machine shown in FIG. 1;

FIG. 3 is a block diagram for explaining a hydraulic control circuit used in the simplified riding plucking machine shown in FIG.

FIG. 4 is a perspective view for explaining a structure of a load receiving member used in the simple riding tea picking machine shown in FIG.

5A and 5B are views for explaining the structure of the receiving member shown in FIG. 3; FIG. 5A is a perspective view showing the entire configuration of the receiving member;
(B) is a schematic diagram for explaining the structural principle of the engaging and disengaging mechanism used for the structure shown in (A), and (C) is a schematic diagram for explaining one embodiment of the engaging and disengaging mechanism shown in (B). FIG.

FIG. 6 is a block diagram for explaining a configuration of a steering control unit according to the embodiment of the present invention.

FIG. 7 is a perspective view illustrating a principle structure of a tea tree detecting means used in the steering control unit shown in FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Simple riding type tea leaf picking machine 2 Body main body 21 Portal frame 22 Portal frame 23 Elevating frame 23a Guide rod 24 Boarding board 25 Connecting frame 26 Pilot seat 27 Steering unit 28 Handrail frame 3 Traveling device 31 Drive wheel 32 Follower wheel 33 Rubber Crawler 34, 34 'Motor 35 Reinforcement Frame 35 Roller 4 Plucking Device 41 Support Frame 42 Side Plate 43 Cutting Blade 44 Engine 45 Engine 46 Blast Tube 46a Nozzle 47 Lifting Body 47a Roller 48 Lifting Motor 49 Guide Plate 5 Loading Board 51 Guide Body 52 Cylinder 52A Plunger 5A Secondary carrier 5A1 Hinge 6 Load receiving member 6A Bottom frame 6A1 Bracket 6B Fixed side frame 6C Movable side frame 7 Crown gear 8 Toggle lever 60 Engine 62 Oil pump 63 Direction switching valve 64, 64 'times Use directional control valve 70 the steering control unit 71 forward the tea plant detecting means 72 reverse the tea plant detection means 72C cornerstone 72D detection plate 72D1,72D1 'inclined surface 77 angle sensors 78, 79 positioning member

Claims (5)

[Claims] 1. A self-propelled traveling device including a traveling device for traveling and steering a crawler disposed at a lower portion of a vehicle body which is configured to cross a tea tree ridge by a hydraulic motor capable of rotating forward and reverse. A tea tree detecting means arranged at least in the width direction of the tea ridge on one side in the traveling direction of the vehicle body and capable of changing a contact state with a tea tree skirt, and a steering control unit for a hydraulic motor driving the crawler, The steering control unit is connected to the tea tree detecting means on the input side, and a switching valve for controlling the supply and discharge of oil to and from the hydraulic motor is connected to the output side. A steering control device in a traveling device, wherein a supply state of oil to the switching valve is changed in response to the change. 2. The steering control device according to claim 1, wherein the tea tree detecting means includes a detection plate that swings in accordance with a state of contact with the tea tree bottom, and the detection plate is located at a reference position. Steering in the traveling device, wherein the steering device outputs a signal to the steering control unit by detecting a case of swinging in a direction away from the tea tree skirt and a case of swinging in a direction of entering the tea tree skirt. Control device. 3. The steering control device according to claim 1, wherein the tea tree detecting means is located forward and backward in the traveling direction of the vehicle body, and is configured for forward and reverse travel. A steering control device in a traveling device. 4. The steering control device according to claim 1, wherein the steering control unit moves the tea tree detecting unit away from the tea tree base according to a contact state between the tea tree detecting unit and the tea tree base. In this case, the amount of oil supplied to the hydraulic motor located on the side opposite to the side where the tea tree detecting means is provided is reduced, and when the tea tree detecting means enters the tea tree skirt, the tea tree detection is performed. A steering control device in a traveling device, characterized in that a supply amount of oil to a hydraulic motor located on a side where the means is provided is reduced. 5. The steering control device according to claim 2, wherein the tea tree detecting means includes a detection plate having an inclined surface formed in front and rear directions of travel in a direction away from the tea tree skirt. A steering control device for a traveling device, comprising: