JPS62236404A - Automatic plowing depth controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a sensor for detecting the relative distance in the vertical direction between a rotary tiller connected to a vehicle body so as to be movable up and down, and the rear ground of the rotary tiller. The present invention relates to an automatic plowing depth control device including a control means for raising and lowering a rotary tillage device to maintain the detected value of the sensor at a set value set by a plowing depth setting device.

[Conventional technology]

Conventionally, as an automatic tillage depth control device configured as described above, as shown in Japanese Patent Application Laid-open No. 56-61904, for example, a rear cover is pivoted to the rear of a low-kuri tillage device with a left-right axis. There is a structure in which the rotary tiller is raised and lowered by feedback control so as to maintain the posture set by contact with the ground at a predetermined posture.

[Problem that the invention seeks to solve]

In addition, in plowing work using a rotary tiller, the rotor tiller is lowered to the desired plowing depth while the rotor is being driven, and then the vehicle body is moved forward, and the sensor detects the ground that has risen due to plowing. Automatic plowing depth control starts after reaching the desired position.

In other words, when the rotary tiller is lowered to the desired plowing depth, the sensor is in a position to detect uncultivated ground, so if automatic plowing depth control is started at this point, the vehicle body will be moved forward and the tiller will be lowered. After reaching the state where the sensor detects the ground, the rotary tiller moves up to follow the raised ground.
Since the plowing depth would be shallower than the desired plowing depth, the timing for starting the control was determined as described above.

An object of the present invention is to obtain, by rational modification, an automatic plowing depth control device that performs plowing depth control based on the uncultivated ground detected by a sensor at the start of work, with a structure as simple as possible.

・'1 [Means for solving the problem] The feature of the present invention is that in the automatic plowing depth control device having the configuration described above, the level of the ground that has been raised by plowing by the rotary tiller and the uncultivated ground can be adjusted. An artificial correction means is provided to give a correction value corresponding to the difference, and the initial stage of automatic plowing depth control is set to a control mode in which the target plowing depth is not corrected, and the sensor detects the plowed ground.
In this state, the present invention is equipped with an automatic mode switching means which sets a control mode in which the plowing depth set value corrected by the manual correction means is set as the target plowing depth, and its functions and effects are as follows.

[For production]

If the above characteristics are configured as shown in FIG. 1 and operated according to the flowchart shown in FIG. 6, the rotary tiller (5
) is lowered to the desired plowing depth and the automatic control is started, the signal value from the manual correction means (13) is not input, so the desired plowing depth is maintained. As shown in the figure, when the vehicle body (1) moves forward to the position where the sensor (9) detects the raised ground (GH), the correction signal value from the human correction means (13) is automatically sent to the control device (16). By inputting the value, it is possible to perform control based on the level of the uncultivated ground (Gp) obtained by subtracting the correction signal value from the detected value of the sensor (9).

〔Effect of the invention〕

Therefore, even if the car body travels to a position where the sensor detects plowed ground by relatively simple modification of the conventional control structure by providing an artificial correction means, the plowing depth set on uncultivated ground will be reduced. An automatic plowing depth control device was obtained that maintains the plowing depth.

In particular, since the present invention has a structure in which the correction is set artificially, the control system can be configured relatively easily.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, a pair of left and right lift arms (3) are provided at the rear end of the vehicle body (1) that are raised and lowered by the operation of a hydraulic cylinder (2), and a lift arm (3) is provided at the rear end of the vehicle body (1). An agricultural tractor is constructed by connecting a rotary tiller (5) via a three-point linkage mechanism (4) that is operated up and down.

As shown in the figure, the vehicle body (1) is provided with a driver's seat (6), and on the right side of the driver's seat (6) is a control box (7) that controls the elevation of the rotary tiller (5).
) and an operating lever (8), and the rotary tillage device (5) is equipped with a rotor (5a) for tillage, and the rotary tillage device (5) and the rotary tillage device (
5) A sensor with an ultrasonic ranging structure that detects the relative distance to the
9) is provided.

The agricultural tractor is equipped with a control means (C) for adjusting the ground level of the rotary tiller (5) in order to maintain the plowing depth of the rotary tiller (5) at a set value.

As shown in FIGS. 1 and 2, the control means (C) is a potentiometer (
10), a lift arm sensor (11) that is operated in accordance with the amount of swing of the lift arm (3), and a dial (12a) provided in the control box (7).
), the tillage depth setting device (12) is operated by the control box (7), and the dial (13a
), a tilt sensor (14) that detects the longitudinal tilt of the vehicle body (1), and a distance sensor (15) that calculates the travel distance of the vehicle body (1). ), the sensor (9), a control device (16) to which signals from these sensors are input, and a solenoid valve (18) to which signals from the control device (16) are transmitted via a drive circuit (17), The hydraulic cylinder (2) is configured to be driven by the operation of the solenoid valve (18).

Further, the control device (16) includes a microprocessor (not shown) and operates according to the flowchart shown in FIG.

In other words, this control assumes that the work is started with the vehicle body (1) stopped, and when the control starts at the start of the work, the flag is first set to rOJ (#l step).

As shown in FIG. 8, the operating lever (8) can be operated between an automatic control position (8) and a manual operating range (M);
The operating state of the operating lever (8) is determined (steps #2 and #3).

When the operation is in the manual control range (M), the rotary tilling device (
When the rotary tiller (5) is raised and lowered and is operated to the automatic control position (8), the sensor ( 9
) to maintain the feedback signal at a predetermined level by raising and lowering the rotary tiller (5) (steps #4, #5, #6).

In addition, when performing manual control in step #4, use the operating lever (
Control is performed so that the voltage value of the potentiometer (10) operated by 8) and the voltage value from the lift arm sensor (11) are balanced, and the rotary tiller (5)
Since the sensing direction of the sensor (9) deviates in the longitudinal direction depending on the level of the vehicle or the longitudinal inclination of the vehicle body (1), the signal values from the lift arm sensor (11) and the inclination sensor (14) are not manually controlled during automatic control. The subroutine is configured to modify the control amount based on these values.

Steps #4 and #6 are based on the assumption that the rotary tiller (5) is lowered to the uncultivated ground (Gp) at the start of work, as shown in Figure 4, and is under automatic control. After the level of the low tillage device (5) is set to the desired plowing depth, the distance sensor (15)
) detects that the vehicle has traveled a predetermined distance, sets the flag to "1"
After setting, move on to the next control (Steps #7 and #8).

The predetermined distance detected in step #7 is the distance between the rotary tiller (
Vehicle body (1) based on when 5) is set to the set plowing depth
is the amount of advance, and when the vehicle body (1) moves forward by the predetermined distance,
The tilled ground (Gll) reaches below the sensor (9).

The distance sensor (15) is an example of automatic mode switching means (E), and measures the amount of rotation of a gear (19b) provided on an axle (19a) of a rear wheel (19) provided on the vehicle body (1). It is configured to be detected and counted by a sensor (15a), and the amount of advance of the vehicle body (1) is calculated from this counted number.

Further, as described above, when the sensor (9) is in a state of detecting the plowed ground (Gll), the flag is set to rlJ, and then the signal from the human correction means (13) is transmitted to the control device (16).
), the correction signal value is subtracted from the level value of the cultivated ground (GH) input from the sensor (9), and the elevation control is started based on the value resulting from this subtraction ( #9, #lO step).

That is, as shown in Figures 4 and 5, uncultivated ground (Gp
), the plowing depth set in ) is called the actual plowing depth (D), and while the sensor (9) detects the plowed ground (Gp), control is performed based on the plowed ground (Gp). The actual plowing depth (D) is maintained, and then when the sensor (9) reaches the position where the plowed ground (GH) is detected, the plowing depth apparently increases, but the amount of this apparent increase The sensor (9) detects the tilled ground (GH) by inputting the correction value (S) set approximately equal to
This makes it possible to control the actual plowing depth (D) while maintaining the actual plowing depth (D).

Furthermore, when the control flow reaches step #11, #8,
Steps #10 and #11 are sequentially performed, and the automatically corrected control is repeated.

Further, as shown in FIG. 3, a plowing depth indicator (20) made of a liquid crystal display is provided near the dial (13a) of the correction means (13), and the plowing depth indicator (20) is connected to a decoder. It is driven by a signal from the control device (16) transmitted through the control device (21), and displays the actual plowing depth (D) in a bar graph.

In other words, the value output to the plowing depth indicator (20) is a value that is not corrected while the sensor (9) detects the unplowed ground (Gp) as described above, and When the ground (GH) is detected, a corrected value is obtained.

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The dial (13a) of the artificial correction means (13) is formed with the same number of scales as the dial (12a) of the artificial correction means (13), for example, when plowing the ground with standard soil quality at an actual plowing depth of 8CIl+.
The setting value is also 3 cm (the position marked as standard in Figure 3)
By setting this, the correction value equal to the heaving amount is output from the artificial correction means (13), and the correction value is set to ``0'' during plowing work regardless of the actual plowing depth (Fig. 3). In this section, set it to the position marked ``Substitute''.

Incidentally, (22) shown in FIG. 3 is a switch that operates the control device (16).

Note that although numbers are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Another example]

In addition to the above-described embodiments, the present invention may also be configured such that the sensor (9) has a contact structure, and the automatic mode switching means (I) may be configured with a timer.

[Brief explanation of drawings]

The drawings show an embodiment of the automatic plowing depth control device according to the present invention,
FIG. 1 is a block diagram showing the basic configuration of the control device;
2 is a block diagram showing the configuration of the control device, FIG. 3 is a plan view showing the control box, and FIG. 4 is a side view of the vehicle body showing a state in which the rotary tiller is lowered with the vehicle stopped, FIG. 5 is a side view of the vehicle body showing the plowing operation state, and FIG. 6 is a flowchart showing the operation pattern of the control device. (1)...Vehicle body, (5)...Rotary tilling device, (9)...Sensor, (13)...
...Artificial correction means, (C) ...Control means, (
E)...Automatic mode switching means, (Gl+)...
...Ground with heaving, (Gp) ...Uncultivated ground, (S) ...Correction value.

Claims (1)

[Claims] A rotary tilling device (5) connected to the vehicle body (1) so as to be movable up and down, and a sensor (9) for detecting the relative distance in the vertical direction between the rotary tilling device (5) and the ground behind the rotary tilling device (5) are provided. An automatic plowing depth control device comprising a control means (C) for raising and lowering a rotary plowing depth controller (5) to maintain the detected value of the sensor (9) at a set value set by a plowing depth setting device (12). Artificial correction means (13) for providing a correction value (S) corresponding to the level difference between the ground (GH) which has been raised by plowing with the tillage device (5) and the uncultivated ground (Gp).
), the automatic tilling depth control initial stage is a control mode in which the target tilling depth is not corrected, and in the state where the sensor (9) detects the tilled ground, the tilling depth setting value corrected by the manual correction means (13) is set. An automatic plowing depth control device equipped with automatic mode switching means (E) for setting a control mode to a target plowing depth.