JPS63279702A - Elevation controller for working machine - Google Patents

Abstract

PURPOSE:To keep control sensitivity at an optimum value without requiring special operation, by increasing the control sensitivity with increasing added values which are successively added absolute values of deviation between detected values obtained by a ground height detecting sensor and the target height by a set number. CONSTITUTION:A controller is constituted of an absolute value arithmetic means 101 for repeatedly calculating absolute values of deviation between detected values obtained by a ground height detecting sensor 4 and the target height, adding means 102 for successively adding the calculated absolute values by a set number, a control sensitivity regulating 103 for increasing control sensitivity with increasing added values, etc., obtained by the adding means 102 using a controller. Optimum sensitivity can be maintained in spite of a change of working places.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a working device that is connected to a traveling vehicle body so as to be able to rise and fall, and a ground height detection sensor is attached to the working device to maintain the working device at a target height. The present invention relates to a lifting control device for a work machine, which is provided with lifting control means 41 for operating an actuator for lifting based on information detected by the above-mentioned height above the ground sensor.

[Prior art] When controlling the elevation of work equipment, if there are many large unevennesses on the work site, it is necessary to make the control sensitivity sensitive.
On the other hand, if there are few irregularities in the work area, it is desirable to reduce the control sensitivity to avoid unnecessary lifting and lowering due to small irregularities. For this reason, conventionally, a control sensitivity adjustment means that is manually operated is provided, and the operator adjusts it according to the situation at the work site.

(No prior literature can be listed.) [Problems to be solved by the invention] If the control sensitivity is artificially adjusted, not only will the adjustment operation be troublesome and troublesome, but it will also lead to operational errors. If this is forgotten, there is a risk that it will not be possible to maintain appropriate control sensitivity, and improvements are desired.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to maintain appropriate control sensitivity without requiring special operations.

[Means for solving problems]

A characteristic configuration of the lifting control device for a working machine according to the present invention includes an absolute value calculating means for repeatedly calculating the absolute value of the deviation between the detected value of the height above the ground sensor and the target height, and setting the calculated absolute value. It is equipped with an addition means for sequentially adding up the number of objects, and a control sensitivity adjustment means that makes the control sensitivity more sensitive as the addition value obtained by the addition means becomes larger.The functions and effects thereof are as follows. That's right.

[For production]

In other words, by repeatedly calculating the absolute value of the deviation between the detected value of the ground height detection sensor and the target height, and calculating the added value by adding the set number of absolute values, the control sensitivity can be determined appropriately based on the added value. Taking advantage of the fact that it is possible to determine whether
The control sensitivity is automatically adjusted based on the magnitude of the added value.

In other words, if the control sensitivity is adjusted so that the larger the added value is, the more sensitive it is, it is possible to maintain appropriate control sensitivity regardless of changes in the work area.

〔Effect of the invention〕

Therefore, without requiring any special operation, it is now possible to perform good elevating and lowering control while maintaining an appropriate '#I sensitivity according to the conditions of the work site.

〔Example〕

EMBODIMENT OF THE INVENTION Hereinafter, the case where the Example of this invention is applied to a combine harvester which is an example of a working machine will be described.

As shown in FIG. 6, the combine harvester includes a traveling vehicle body (1) and a reaping section (2) as a working device that is connected to the front part of the vehicle body so as to be able to move up and down, and the reaping section (2) is It is raised and lowered by a single-acting hydraulic cylinder (3).

The reaping section (2) is provided with an ultrasonic sensor (4) as a height above the ground detection sensor. This ultrasonic sensor (4) is a transmitter (4a) that emits ultrasonic waves at a set period.
, a receiver (4b) for receiving reflected ultrasonic waves from the ground, and an interfnis (4C) are assembled into one unit, and the time from the point of ultrasonic transmission to the point of ultrasonic reception is provided. is configured to detect the height above the ground based on the height above the ground.

As shown in FIG. 1, based on the detection information of the ultrasonic sensor (4), the reaping section (2) is adjusted to maintain the reaping section (2) at a target height (also referred to as target cutting height). Lifting system 41 means (100) for raising and lowering, and ultrasonic sensor (4)
an absolute value calculating means (101) for repeatedly calculating the absolute value (Dm) of the deviation between the detected value, that is, the measured value (DR), and the target height, that is, the target value (Ho);
) for a set number of elements (102), and control sensitivity adjustment means (103) that makes the control sensitivity more sensitive as the addition value (D) obtained by the addition means (102) becomes larger.
), etc., are configured using a control device (5) using a microcomputer.

That is, the neutral return type control valve (6) of the hydraulic cylinder (3) is provided to be switched by an electromagnetic mechanism (7) capable of forward and reverse operation, and the electromagnetic mechanism (7)
A drive circuit for normal operation (7a) and a drive circuit for reverse operation (7b) are connected to the control device (5). However, the control valve (6) is interlocked and connected via a link mechanism to a manually operated neutral return type lifting operation lever (8), and is manually switched with priority over the electromagnetic mechanism (7). It is now possible to It should be noted that a flexibility is formed in the link mechanism to allow the valve operation by the electromagnetic mechanism (7) when the lift operation lever (8) is in the neutral position f(N).

A manually adjustable target height setting device (9), a lowering switch (Sl) that detects when the lifting operation lever (8) is operated to the lowering position (D) side, and the lifting operation lever (8) is in the upper position A rise switch (S2) that detects that it has been operated to the (U) side, and a stock switch (SO) that detects the presence or absence of shell culms in the shell culm conveyance path of the reaping section (2) (see also Figure 6) ,
A threshing switch (S3) that detects that the lever (10) for the threshing clutch is operated to the entry side, and an automatic switch (Sm) that switches between automatic mode and manual mode.
are connected to the control device (5).

The control device (5) then controls various controls 41 based on pre-stored information and various information sequentially input.
It is configured to execute processing corresponding to the means.

The control operation will be explained based on the flowchart shown in FIG.

That is, first, a process of setting various information to initial values is executed. After that, the automatic switch (Sm) is operated to automatic mode, and the threshing switch (S3) is turned on and operated.
Furthermore, when the lowering switch (S+) is turned on and operated,
In order to start the detection operation of the ultrasonic sensor (4), the transmission operation of the transmitter (4a) is started, and at the same time, the process of elevation control is started.

After executing the elevation control process, the automatic switch (Sm)
is OFF, the threshing switch (S3) is OFF, the stock switch (So) is OFF and the rise switch (S2) is ON, and the stock switch (So) is ON. However, if it is determined that the measured value by the ultrasonic sensor (4) is higher than the target value (target height) by a set value or more, the conditions for switching the elevation control process to a stopped state are met. , ultrasonic sensor (4
), the process moves on to determining the conditions for switching to the control operating state described above. If the conditions for switching the lift control process to the stopped state are not met, the processes starting with the lift control process will be repeatedly executed.

Basically, as shown in FIG. 4, the process of the elevation control is such that the measured value (DR) by the ultrasonic sensor (4) is set in the target range (MO), which is the target value (Ho) plus or minus the allowable value. , a rising range (Mu) below the target range (MO), a low speed range (Mill) above the target range (0+o), a medium speed range (M112) above the low speed range (Mill).
, and a high speed range (g.) above the medium speed range (MO2), and based on the determination result, the control valve (6) is operated intermittently. It is something.

Information for intermittently operating the control valve (6) is stored in advance. This information includes the above-mentioned ranges (Mu) and (M.), as shown in FIG.

(Mn+), (MO2), and (MO3), the ON time for operating the control valve (6) and the control valve (
6), and has a longer ON time in the medium speed range (Ml) than in the low speed range (MILL), and a longer ON time in the high speed range (MO2) than in the medium speed range (MO2).
M113) has a longer ON time.

Furthermore, the OFF time set as described above is automatically adjusted to adjust the control sensitivity.

Next, an explanation will be added based on the flowchart of FIG.

First, we check the waiting time to repeat the lift control routine at the set cycle, and when the timing is appropriate,
Absolute value of deviation (D) between target value (Ho) and measured value (DR)
n) is executed.

Next, the calculated absolute value (Dn) is added to the added value (D
), and the added absolute value (D
The process of adding 1 to the count value (N) for counting the number of n) is executed.

Thereafter, it is checked whether the count value (N) has reached the set number (K), and only when it has reached it, the process of adjusting the control sensitivity is executed.

To adjust the control sensitivity, check whether the added value (D) is within the range between the maximum value (DL) and the minimum value (DS).
OF which stops the control valve (6) if it is not within the range.
Output time change processing is executed to lengthen the F time by a set value (for example, 10 ms) or shorten it by a set value (for example, 10 m5). In other words, the addition value (D) is the minimum value (
DS), the OFF time is lengthened by the set value to dull the control sensitivity, and conversely, if the additional value (D) is □ larger than the maximum value (DL), the OFF time is increased by the set value. Shorten by the set value to make the control sensitivity more sensitive.

Subsequently, processing for initializing the addition value (D) and count value (N) to zero is executed.

If it is determined in the above-mentioned count value (N) check that the set number (k) has not been reached, or after control sensitivity processing is completed, the measured value will fall within the target range (M).
It is checked to see if it is within the range, and if it is, execute the process to stop the output, and if it is not, execute the process below.

It is checked whether the measured value is larger than the target value (-), and if it is smaller, processing for increasing the output is executed.

If the above check determines that the
It is checked whether or not it is in the low speed range (Mn+), and if it is in the low speed range (M.,), low speed descending output processing is executed, and if it is not in the low speed range (G,), it is output in the medium speed range (M.,). M1
12), and check whether the medium speed range (MI+2
), the processing for a medium-speed descending output is executed, and when it is not in the medium-speed range (MD), the processing for a high-speed descending output is executed.

[Another example]

INDUSTRIAL APPLICATION This invention is applicable not only to a combine harvester but also to various agricultural machines, such as a tractor equipped with a mowing device as a working device that can be raised and lowered.

As the ground height detection sensor, various sensors can be used in addition to the ultrasonic sensor (4), such as one in which a potentiometer detects the vertical position of a grounding body that can be raised and lowered.

In order to change the control sensitivity, in addition to changing the elevation speed as in the above embodiment, the target range group can also be changed. ), or if the measured value of the height above the ground is determined by the average value of multiple sampling values, the number of sampling values may be changed. Can be changed.

In addition, various changes can be made to the specific configuration of each part necessary for implementing the present invention.

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.

The drawings show an embodiment of the lifting control device for a work machine according to the present invention, with FIG. 1 being a block diagram showing one control configuration, FIGS. 2 and 3 being a flowchart showing the control operation, and FIG. 4 being a flowchart showing the control operation. Figure 5 is a diagram showing the relationship between target values and discrimination criteria, Figure 5 is a diagram showing the base turn, and Figure 6 is a side view of the front of the combine.
(1)... Traveling vehicle body, (2)... Work equipment, (3)... Actuator for lifting and lowering work equipment, (4)... Ground height Detection sensor, (100
)...41 means of lift system, (101)...
- Absolute value calculation means, ('102)...addition means, (103)...control sensitivity adjustment means.

Claims (2)

[Claims] 1. A height above ground detection sensor (4) is attached to a working device (2) which is connected to the traveling vehicle body (1) so as to be able to rise and fall, so as to maintain the working device (2) at a target height (H_0). A lift control 4 that operates an actuator (3) for lifting based on the detection information of the height above the ground detection sensor (4).
1 means (100) for controlling the elevation of a work machine;
) and the target height (H_0) (Dn)
an absolute value calculating means (101) for repeatedly calculating the absolute value (Dn), an adding means (102) for sequentially adding a set number of the calculated absolute values (Dn), and an added value (D) obtained by the adding means (102). A lifting control device for a work machine, which is provided with control sensitivity adjusting means (103) that increases the control sensitivity as the size increases. 2. The lifting control device for a working machine according to claim 1, wherein the control sensitivity adjusting means (103) is configured to change and adjust the operating speed of the actuator (3).