JPH11289808A - Tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tractor designed to obviate such an unfavorableness that the accuracy of inclination automatic control falls due to misunderstanding left and right angles of inclination through such a scheme that a lateral inclination judging means judges the left and right angles of inclination based on the respective detection results from an inclination sensor and a angular velocity sensor. SOLUTION: This tractor which has a working section linked to a traveling machine body in a laterally tiltable manner, an inclination setter for the working section, a lateral inclination judging means for judging the left and right angles of inclination of the traveling machine body or the working section, and an inclination automatic control means for automatically controlling the inclination of the working section based on input data including inclination set data and lateral inclination judgment data; wherein the above lateral inclination judging means judges the left and right angles of inclination of the traveling machine body or the working section based on the respective detection results from an inclination sensor 11 for detecting the left and right angles of inclination of the traveling machine body or the working section and an angular velocity sensor 12 for detecting the angular velocity of the left and right inclination.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention belongs to the technical field of a tractor having an automatic tilt control function.

[0002]

2. Description of the Related Art In general, some tractors of this type are provided with automatic inclination control means for automatically controlling the inclination of a working unit which is connected to a traveling machine so as to be able to tilt left and right, with a target inclination set by a tilt setting device. is there.

[0003]

Conventionally, the inclination angle of the traveling body or the working unit is detected by the inclination sensor. However, when the traveling body is rolled, suddenly started, or the clutch is engaged, the inclination angle is detected. Since the inclination sensor value largely fluctuates irrespective of the left and right inclination of the traveling machine or the working unit, there is a possibility that the accuracy of the automatic inclination control may be reduced based on misidentification of the left and right inclination angle.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in order to solve these problems in view of the above-mentioned circumstances, and has a working unit connected to a traveling body so as to be able to tilt left and right. A tilt setting device for setting the left-right tilt of the working unit, a left-right tilt determining means for determining a right-left tilt angle of the traveling machine or the working unit, and a working unit based on input data including the tilt setting data and the left-right tilt determining data. The tractor includes an automatic inclination control means for automatically controlling the inclination of the vehicle, wherein the left / right inclination determination means detects a detection value of a left / right inclination angle of the traveling body or the working unit and a angular velocity of the left / right inclination. The right and left inclination angles of the traveling machine body or the working unit are determined based on the detected value of the angular velocity sensor. That is, since the left and right inclination angles of the traveling machine or the working unit are determined in consideration of the angular velocity sensor value that does not greatly change even when rolling, etc., it is possible to prevent a problem that the accuracy of the automatic inclination control is reduced based on the inclination determination error. Can be. The left-right inclination determining means uses the inclination sensor value as left-right inclination determination data from the start of the control until the angular velocity sensor value is stabilized. That is, in a situation in which the angular velocity sensor value is likely to be unstable, the inclination sensor value is used as the left / right inclination determination data. Therefore, it is possible to prevent a disadvantage that the accuracy of the automatic inclination control is reduced based on the error of the angular velocity sensor. Further, the left / right inclination determining means calculates the left / right inclination determination data by adding the integral data of the angular velocity sensor value to the left / right inclination reference data using the inclination sensor value at the time of stability as the left / right inclination reference data. Things. That is, when calculating the left / right tilt determination data by adding the integral data of the angular velocity sensor value to the left / right tilt reference data, the left / right tilt reference data can be updated at any time based on the stable tilt sensor value. The accuracy of the inclination determination data can be improved. Further, the left / right inclination determining means corrects the left / right inclination determination data according to a deviation from the inclination sensor value. That is, since the error (integration error or the like) of the left / right tilt determination data can be corrected based on the tilt sensor value, the accuracy of the left / right tilt determination data can be improved.

[0005]

Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling body of a tractor, and a working machine (tiling unit) 3 such as a rotary is provided at a rear portion of the traveling body 1 via a lifting link mechanism 2.
Are connected so as to be able to move up and down freely. And the working machine 3
Moves up and down with the vertical swing of the lift arm 5 that suspends the lifting link mechanism 2 via the lift rod 4, while the expansion and contraction of the lift rod cylinder 6 interposed between the left and right lift rods 4 Accordingly, the basic structure is the same as that of the related art.

Reference numeral 7 denotes a lift cylinder for moving the lift arm 5 up and down. The lift cylinder 7 expands and contracts with the valve switching operation of the lift arm electromagnetic switching valve 8. Solenoid 8a for switching the solenoid 8 and the solenoid 8 for reduction
b, since the intermittent drive based on the inching pulse is possible, the duty setting of the inching pulse (ON time /
The operation speed of the lift cylinder 7 can be controlled based on the cycle.

Reference numeral 9 denotes a lift rod electromagnetic switching valve for operating the lift rod cylinder 6 to expand and contract. Since the intermittent drive based on the inching pulse is possible, the operation speed of the lift rod cylinder 6 can be controlled based on the duty setting of the inching pulse.

[0010] Reference numeral 10 denotes a rolling sensor unit provided at a predetermined position on the traveling body 1. The rolling sensor unit 10 includes a tilt sensor 11 (capacitance type or the like) for detecting a left-right inclination angle of the traveling body 1. And an angular velocity sensor 12 (rotor type, piezo electric type, etc.) for detecting the angular velocity of the left-right inclination. That is, the output signal of the tilt sensor 11 which has been conventionally employed follows the low-frequency tilt change, but the follow-up, response, noise generation rate, etc. of the angular velocity sensor 12 with respect to the tilt change other than the low frequency. Therefore, the lateral inclination angle of the traveling body 1 is determined in consideration of the output signal of the angular velocity sensor 12 as described later.

Reference numeral 13 denotes a microcomputer (CPU, R
(Including an OM, a RAM, etc.), on the input side of the control unit 13, a tilt arm sensor for detecting the position of the lift arm 5 and the tilt sensor 11 and the angular velocity sensor 12 described above. 14, a position sensor 16 for detecting the operating position of a position lever (work equipment-to-machine height setting device) 15, a pitching sensor 17 for detecting the front-back inclination angle of the traveling body 1, and a lift for detecting the cylinder length of the lift rod cylinder 6. A rod sensor 18, an automatic plowing depth switch 19 for turning on and off automatic plowing depth control (pitching sensor method), a plowing depth setting volume (working machine-to-ground height setting device) 20 for setting a target plowing depth of the automatic plowing depth control, An automatic tilt switch 21 for turning on and off the automatic tilt control,
A tilt setting volume 22 and the like for setting a target tilt of the tilt automatic control are connected via a predetermined input interface circuit. On the output side, a solenoid 8a for extending and reducing the electromagnetic switching valve 8 for the lift arm described above is provided. , 8
b, extension and contraction solenoids 9a and 9b of the lift rod electromagnetic switching valve 9 are connected via a predetermined output interface circuit. That is, the control unit 1
3 is a “position control” for setting a position target value (a lift arm target value) based on the position sensor data and controlling the lift arm 5 to move up and down in accordance with a deviation of the lift arm sensor data from the target value. “Plowing depth automatic control” for setting a plowing depth target value (lift arm target value) based on the volume data and the pitching sensor data, and controlling the lift arm 5 to move up and down in accordance with a deviation of the lift arm sensor data from the target value; "Incline automatic control" in which an inclination target value (lift rod target value) is set based on the inclination setting volume data and the left / right inclination determination data, and expansion / contraction control of the lift rod cylinder 6 is performed according to a deviation of the lift rod sensor data from the target value. , Etc. are executed. Since the basic control procedure of the dynamic control "and" tilt automatic control "is conventional, flowcharts and detailed description thereof will be omitted.

In executing the "inclination automatic control", in the present embodiment, "angle data processing" (main routine) for setting angle data (right / left inclination determination data) required for calculating the inclination target value, "Sensor input processing" for inputting angular velocity sensor data and tilt sensor data
(A / D multiplex interrupt), "correction data processing" for calculating correction data of calculation angle data described later (timer interrupt)
The processing of each processing is described below with reference to flowcharts. However, in the “initial setting” of the main routine, the following initial settings are performed. Angular velocity reference data ← Current angular velocity sensor data Tilt angle reference data ← Current inclination sensor data Angular velocity prohibition flag ← Set

In the "sensor input process", the angular velocity sensor data is input, and the angular velocity sensor data is integrated and added to the integrated data. That is, the angular velocity data is converted into the angle change amount data using the following arithmetic expression. Current integration data ← (previous angular velocity data + current angular velocity data) / 2 Current addition data ← current integration data-angular velocity reference data Integration data ← integration data + current addition data After calculating the integration data, a predetermined angle conversion coefficient To convert the data into angular deviation data that matches the level of the tilt sensor data. Thereafter, the tilt sensor data is input and the interrupt is terminated.

In the "correction data processing", first,
Whether the correction flag is set in "degree data processing"
And if the judgment is YES, the calculated angle data
Data (calculated angle data = inclination angle reference data ± angle deviation data
The following formula is used for the correction data
And calculate. Addition / subtraction data ← (| Tilt sensor data-Calculated angle data |
X correction coefficient)^Two  Correction data ← correction data + adjustment data
Computes correction data to gradually approach sensor data
The actual correction process is "angle data processing"
It is to be performed in.

In the "angle data processing", it is first determined whether or not a control permission state (inclination automatic ON state) using angular velocity sensor data is determined. After executing data update processing (current tilt sensor data setting), integration data (angle deviation data) clear processing, correction data clear processing, and correction flag reset processing, the tilt sensor data is added to the angle data. Is set.

On the other hand, when it is determined that the control is permitted, the stable state of the angular velocity sensor data and the inclination sensor data is determined. Here, the first state in which the angular velocity sensor data fluctuates and the angular velocity sensor data Is stable, and a second state in which the tilt sensor data is changing is separated from a third state in which both data are stable, and the process is branched according to this state determination. In the third state where both data are stable, the inclination sensor data is basically set in the angle data, while in other states, the calculated angle data is set in the angle data in principle, but the angular velocity sensor data is not. At the start of control that tends to be stable, the above-mentioned angular velocity prohibition flag is set, so that the inclination sensor data is preferentially set in the angle data until the angular velocity prohibition flag is reset based on the stability judgment of both sensor data. It is supposed to.

In the first state, after executing the reset processing of the correction flag, the processing of setting the calculation angle data, and the processing of setting the calculation flag, the calculation angle data is set in the angle data. In other words, in the situation where the angular velocity sensor data is changing, the inclination sensor data at the time of stability is used as the inclination angle reference data, and the integral data (angle deviation data) of the angular velocity sensor data is added (or subtracted) to the inclination angle reference data. The calculated angle data is set in the angle data, but even when the angular velocity sensor data is changing, if it is determined that the tilt sensor data is changing at a low frequency, the tilt sensor data is added to the angle data. Is set.

In the second state, the correction flag is set, and the calculated angle data is set. Thereafter, the calculated angle data is set in the angle data. That is, in a situation where the angular velocity sensor data is stable and the tilt sensor data is changing, the calculated angle data is set in the angle data as in the first state, but in the second state, the “correction data processing” is performed. The correction of the calculated angle data is performed based on the correction data calculated in.

In the third state, the set state of the operation flag and the presence / absence of a deviation (deviation between the inclination sensor data and the operation angle data) are determined. If any of the determinations is NO, After executing the processing of updating the angular velocity reference data and the inclination angle reference data, the processing of clearing the integral data and the correction data, and the processing of resetting the correction flag, the calculation flag, and the angular velocity prohibition flag, the inclination sensor data is set in the angle data. It has become. That is, in a situation where both sensor data are stable, various data necessary for the calculation of the calculation angle data is updated, and the consistency between the actual inclination angle and the calculation angle data is maintained.

On the other hand, when the operation flag is set and the deviation is large, the deviation decreases when the angle data is switched from the operation angle data to the inclination sensor data because the angle data changes rapidly. In the meantime, the calculated angle data is set to the angle data while performing the above correction. In this state, the calculated angle data is clearly erroneous calculation data (if the deviation is extremely large in the same phase,
It is determined whether or not the phase is opposite. If the determination is YES, the angular velocity prohibition flag is set, and then the inclination sensor data is set in the angle data.

In the apparatus constructed as described above, a target inclination value is set based on the inclination setting volume data and the angle data in the lateral direction of the machine, and the lift rod cylinder 6 is set in accordance with the deviation of the lift rod sensor data from the target value. In executing the tilt automatic control for controlling the expansion and contraction of the vehicle, the angle data includes the detection data of the tilt sensor 11 for detecting the right and left tilt angle of the traveling body 1 and the detection data of the angular velocity sensor 12 for detecting the angular speed of the right and left tilt. It will be determined based on this. That is, since the left / right inclination angle of the traveling aircraft 1 is determined in consideration of the angular velocity sensor data that does not greatly change even when the vehicle rolls, the inclination determination is performed as compared with the conventional case in which the left / right inclination angle is determined only by the inclination sensor data. Accuracy can be improved, and as a result, inconvenience in which the accuracy of the automatic tilt control is reduced based on the tilt determination error can be prevented as much as possible.

The calculated angle data calculated based on the angular velocity sensor data is obtained by using the tilt sensor data in a stable state as the tilt angle reference data, and adding the integral data of the angular velocity sensor data to the tilt angle reference data. Since the calculation is performed, it is possible to avoid a problem that the integration error is accumulated and the accuracy of the calculation angle data is reduced.

Further, in a situation where the angular velocity sensor data having excellent responsiveness is changing, the computed angle data computed based on the angular velocity sensor data is preferentially used.
It is possible to perform highly accurate inclination determination with excellent responsiveness.

Even when the angular velocity sensor data is changing, if the tilt sensor data is a low-frequency tilt change that follows, the tilt sensor data is used, so that when the low-frequency tilt change occurs, The inclination determination accuracy can be improved as compared with the case where a minute change in the angular velocity sensor data is integrated.

Further, in a situation where the angular velocity sensor data is stable, the calculated angle data is corrected according to the deviation from the inclination sensor data, so that the integration error of the angular velocity sensor data is accumulated and the accuracy of the calculated angle data is reduced. Inconvenience can be avoided.

In addition, since the inclination sensor data is used from the start of the control until the angular velocity sensor data is stabilized, it is possible to prevent the inconvenience that the accuracy of the inclination judgment is lowered based on the error of the angular velocity sensor data.

The present invention is, of course, not limited to the above-described embodiment. For example, when updating the reference data, the work machine tilt operation state and the work machine elevation operation state are determined. The reference data may be updated only in the operation stop state. In this case, the accuracy of the reference data can be improved by eliminating sensor noise accompanying the operation. In the above embodiment,
At the beginning of the control, the use of the calculated angle data based on the angular velocity sensor data is prohibited, but the start of the automatic tilt control (valve output, automatic lamp lighting) is prohibited until the tilt sensor data and the angular velocity sensor data are stabilized. You may. In the above-described embodiment, the angular velocity prohibition flag for prohibiting the use of the calculated angle data is set in the initial set of the main routine. However, every time the automatic inclination control is restarted, the angular velocity prohibition flag is set. May be set in response to a predetermined event.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a graph showing basic sensor characteristics of an inclination sensor and an angular velocity sensor.

FIG. 3 is a graph showing sensor characteristics in a gentle inclination change state and a sharp inclination change state.

FIG. 4 is a graph showing sensor characteristics in a roll state.

FIG. 5 is a block diagram showing input and output of a control unit.

FIG. 6 is a flowchart showing a main routine.

FIG. 7 is a flowchart showing “angle data processing”.

FIG. 8 is a flowchart illustrating “sensor input processing”.

FIG. 9 is a flowchart illustrating “correction data processing”.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 2 Elevating link mechanism 3 Work implement 10 Rolling sensor unit 11 Tilt sensor 12 Angular velocity sensor 13 Control part 22 Tilt setting volume

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Satoshi Tamura 667 Iida-cho, Oji, Higashi-Izumo-cho, Yatsuka-gun, Shimane 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. Address 1 Inside Mitsubishi Agricultural Machinery Co., Ltd.

Claims (4)

[Claims] A working unit connected to the traveling machine so as to be able to tilt left and right, a tilt setting device for setting a left and right tilt of the working unit,
A tractor including left / right inclination determining means for determining a left / right inclination angle of a traveling machine or a work unit, and automatic inclination control means for automatically controlling the inclination of the work unit based on input data including inclination setting data and left / right inclination determination data. At
The left-right inclination determining means is configured to determine the left-right inclination of the traveling body or the working unit based on the detection value of the inclination sensor that detects the left-right inclination angle of the traveling body or the working unit and the detection value of the angular velocity sensor that detects the angular velocity of the left-right inclination. A tractor characterized by determining an angle. 2. The tractor according to claim 1, wherein the right and left inclination determining means uses the inclination sensor value as left / right inclination determination data from the start of the control until the angular velocity sensor value is stabilized. 3. The left / right inclination determining means according to claim 1, wherein the inclination sensor value at the time of stability is used as left / right inclination reference data, and integrated data of an angular velocity sensor value is added to the left / right inclination reference data to obtain left / right inclination determination data. A tractor characterized by calculating. 4. The tractor according to claim 3, wherein the left / right inclination determining means corrects the left / right inclination determination data according to a deviation from the inclination sensor value.