JPS6253122B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention detects the brightness of ground reflected light on uncultivated land and cultivated land separately in order to automatically make the lateral end of the tilling section follow the boundary between uncultivated land and cultivated land. a third sensor for detecting the brightness of ground reflected light at the boundary between uncultivated land and cultivated land; based on the brightness of the third
It is determined whether the brightness detected by the sensor is the brightness of the ground reflected light at the predetermined boundary, and the third sensor detects the brightness of the ground reflected light at the predetermined boundary. Regarding a tiller equipped with a control mechanism that automatically changes the position of the tiller in the lateral direction of the tiller relative to the tractor, the control system is improved to be rational in view of the characteristics of changes in the brightness of ground reflected light on uncultivated land. The purpose is to improve followability even more depending on the situation.

Next, embodiments of the present invention will be described based on the drawings.

At the rear of a riding tractor 2 equipped with a pair of left and right driving rear wheels 1, 1, a rotary tilling device 3 is lifted and lowered by a pair of left and right lift arms 4, 4 of the tractor 2, which are vertically movable. It is constructed so that the output of a tractor engine (not shown) is transmitted to the tilling device 3 via a rotary shaft 5 which is freely connected and can be bent by a universal joint. A riding-type cultivator is constructed that is capable of carrying out plowing work.

The tractor-side connecting member 6, the tiller frame 7, and a pair of left and right connecting members 8, 8 that pivotally connect these constitute a parallel four-link mechanism, and by operating the link mechanism, the position of the tiller 3 relative to the tractor can be adjusted. can be changed laterally on the aircraft. Then, a sensor group 9 is provided to detect the brightness of the light reflected from the ground of the uncultivated land E ₁ and the cultivated land E ₂ , and the light is projected onto the ground area at the boundary between the uncultivated land E ₁ and the cultivated land E ₂ ,
A first boundary sensor S ₃ and a second boundary sensor S ₃ that detect the brightness of the reflected light are connected to the tiller 3.
The brightness detected by the first or second boundary sensor S ₃ , S ₃ based on the brightness detected by the sensor group 9 is is the brightness of the ground reflected light at a predetermined boundary, and automatically moves the tilling device 3 in the horizontal direction of the tractor 2 so as to detect the brightness of the ground reflected light at the predetermined boundary. A control mechanism 11 is provided to automatically change the position of the rotary rotary 10 while automatically aligning the working end of the rotary 10 on the cultivated land side to the boundary L between the uncultivated land E ₁ and the cultivated land E ₂ during reciprocating travel. It is designed to allow you to perform the following tasks.

That is, one sensor group 9 is disposed on each of the left and right ends of the tilling device 3, and each sensor group 9 emits light onto a ground portion located outside the lateral side of the machine body from the working range of the rotary 10, and detects the reflected light. It is formed by a first sensor S ₁ and a second sensor S ₂ configured to detect brightness, and the boundary L is located on the right side of the vehicle body when traveling is shown in Figure 4 A. In both cases, both sensors S ₁ and S ₂ are connected to the uncultivated land E ₁ as shown in Figure 4 (b) during the go-around position located on the left side.
and the cultivated land E ₂ separately to detect the brightness A of the ground reflected light on the uncultivated land E ₁ and the brightness C of the ground reflected light on the cultivated land E ₂ on the other hand. It is set as.

Then, in configuring the control mechanism 11, a third
As shown in the figure, only the detection values A and C of the sensor group 9 and the detection value B of the first boundary sensor _S3 are taken out during the outbound trip, and both detection values A and C of the sensor group 9 are taken out during the go-around. In order to extract only the detection value B of the second boundary sensor S ₃ , both boundary sensors S ₃ and S ₃ are selectively linked to the two sensors S ₁ and S ₂ of the sensor group 9. a switching mechanism 12 that calculates the three detected values A, B, and C introduced from the switching mechanism 12; A mechanism 14 for determining the position change direction is provided, and the hydraulic cylinder 15, which is expanded/contracted and locked by the control valve V operated by the determination mechanism 14 based on the result, is connected to the tractor side connecting member. 6 and one pivot connecting member 8. That is, the arithmetic mechanism 13 calculates both the detected values A and C from the sensor group 9.
Calculate the average value (A+C _{/ 2} ) of The mechanism 14 determines whether the detected value B of the first sensor S ₃ or the second sensor S ₃ for the boundary corresponds to the ground reflected light at the boundary based on the calculated value (A+C/2-B). is detected, and the control valve V is operated to move the first sensor S ₃ or the second sensor S ₃ for the boundary portion left and right so that the detected value B and the average value are balanced. The switching mechanism 12 includes an operating device 16 for artificially selecting and switching the linkage of the first sensor S ₃ and the second sensor S ₃ for the boundary portion with respect to the sensor group 9 at the start of work, and In order to automatically switch the linkage as the vehicle turns, an automatic operating mechanism 17 detects that the tilling device 3 has been raised by detecting the position of the lift arm 4, and automatically switches the linkage based on the result. is attached.

The control mechanism 11 is configured such that when the first sensor S ₁ or the second sensor S ₂ detects the brightness A of the ground reflected light of the uncultivated land E ₁ , the detected brightness A falls within the set range. An input control mechanism 18 is provided which stops inputting the detected brightness A to the control mechanism 11 when the brightness changes beyond D and inputs the brightness within the set range to the control mechanism 11. This prevents position change control of the tillage device 3 based on a sudden change in brightness on the uncultivated land side caused by peripheral objects such as straw waste and grass locally present in the uncultivated land _E1 ,
This allows for smooth control.

That is, as shown in FIG _. 5, the input control mechanism 18 inputs the detected brightness A, _C and the standard A comparator 18b that compares the brightness D of the ground reflected light of the uncultivated land _E1 with a certain range of brightness D set by the setting device 18a.
Based on the comparison result by the comparator 18b, when the detected brightnesses A and C exceed the brightness D in the certain range, the first and second sensors
A switch circuit 18c that opens a circuit that outputs the brightness A and C detected by S ₁ and S ₂ to the control mechanism 11, and a first and second sensor S before the switch circuit 18c opens. a holding circuit 18d that holds the brightnesses A and C detected by _{S1 and S2} so that they can be output as brightness within a set range;
and a timer 18e that closes the switch circuit 18c when the brightness A, C detected by the sensors _S1 , _S2 continues to exceed the brightness D in the certain range for a set time. be.

In view of the operating state of the switching mechanism 12, the sensor S ₁ of the sensor group 9 is in a state of detecting only the brightness A of the ground reflected light of uncultivated land.
Alternatively, in order to activate only the input control mechanism 18 on the side for S ₂ , both input control mechanisms 18, 18
Provided with a mechanism 19 for selectively switching to an operating state,
When the brightness A of the detected uncultivated land E ₁ exceeds the brightness D within a certain range, the switch circuit 18c is opened and the brightness A of the detected uncultivated land E ₁ is controlled. Stop the input to the mechanism 11,
The control mechanism 11 is actuated by the input from the holding circuit 18d, and when the detected brightness A of the uncultivated land _E1 exceeds the brightness D in the certain range for a set time, the timer 1 is activated.
8e closes the switch circuit 18c, and the brightness A of the uncultivated land E exceeding the brightness D within a certain range is input to the control mechanism 11.

Incidentally, the sensors for both the boundary parts may be one sensor whose mounting position can be changed from side to side, or the control structure may be made for only one side, and these sensors for the boundary parts S ₃ and S ₃ The third sensor _S3 detects the brightness of the light reflected from the ground.

Further, as shown in the above embodiment, if the sensor for uncultivated land and the sensor for cultivated land are used together, the control configuration can be simplified.However, although this is disadvantageous, it is necessary to use dedicated sensors for uncultivated land and cultivated land, respectively. The sensors for the uncultivated land E ₁ may be collectively referred to as first sensors S ₁ and S ₂ .

In summary, the present invention provides the above-mentioned tiller, when the brightness detected by the first sensor for the uncultivated land changes beyond a set range, the first sensor detects the uncultivated land. The present invention is characterized in that an input control mechanism is provided that stops inputting the brightness that has been set to the control device and inputs a brightness within the set range to the control mechanism.

In other words, in general, changes in the brightness of ground reflected light are relatively stable on cultivated land, but in uncultivated land, sudden and large changes are likely to occur frequently due to straw waste, grass, etc. If control is performed as it is based on the brightness detected by the first and second sensors as in the past, the follow-up performance of the tilling device for the border area will deteriorate due to disturbance, but if the first sensor for uncultivated land When the brightness detected by the system suddenly changes significantly beyond the set range, the system inputs the brightness within the set range to the control mechanism instead of the brightness exceeding the set range. It is now possible to perform control that adapts to the characteristics of changes in brightness of ground reflected light on uncultivated land, further improving tracking performance.

Incidentally, although reference numerals 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.

[Brief explanation of the drawing]

The drawings show an embodiment of the power cultivator according to the present invention, in which Fig. 1 is a partial plan view, Fig. 2 is a partial side view, Fig. 3 is a block diagram of the control system, and Fig. 4 A and B show working conditions. FIG. 5 is a circuit diagram showing the input control mechanism. 2... Tractor, 3... Tilling device, 11...
Control mechanism, 18... Input control mechanism, A, B, C...
...Brightness, E ₁ ... Uncultivated land, E ₂ ... Cultivated land, S ₁ ,
S ₂ , S ₃ ...sensor.

Claims (1)

[Claims] 1. First and second sensors that separately detect the brightness A and C of the ground reflected light of uncultivated land _E1 and cultivated land _E2 .
S ₁ and S ₂ are provided, and a third sensor S ₃ for detecting the brightness of ground reflected light at the boundary between uncultivated land E ₁ and cultivated land E ₂ is attached to the tillage device 3, and the first and second sensors
Whether or not the brightness B detected by the third sensor _S3 based on the brightness A and C detected by S1 _{and S2} is the brightness of the ground reflected light at the predetermined boundary. a control mechanism 11 that automatically changes the position of the tilling device 3 in the lateral direction of the machine body with respect to the tractor 2 so that the third sensor _S3 detects the brightness of the ground reflected light at a predetermined boundary portion; The tiller is equipped with a tiller, and when the brightness A detected by the first sensor for the uncultivated land _E1 is changing beyond a set range, A cultivator characterized in that an input control mechanism 18 is provided that stops inputting the brightness A to the control device 11 and inputs a brightness within the set range to the control mechanism 11. 2. The operation of the input control mechanism 18 is stopped when the change in brightness A detected by the first sensor exceeds a set range for a set period of time. The tiller described in section.