WO2017105080A1 - Agricultural work vehicle and method for controlling hitch of agricultural work vehicle - Google Patents

Abstract

An agricultural work vehicle according to an aspect of the present invention, which can adaptively adjust the velocity profile of the hitch according to the weight of the work machine, is characterized by comprising: a hitch (210) on which an work machine (480) is mounted; a weight calculation unit (430) that calculates the weight of the work machine (480) when the work machine (480) is lifted following a first lift of the hitch (210); and a hitch controller (420) that firstly lifts the hitch (210) according to a reference velocity profile comprising a constant-velocity section (T) and, when calculation of the weight of the work machine (480) is completed, generates an updated velocity profile comprising acceleration sections (a1, a2), constant-velocity sections (b1, b2), and deceleration sections (c1, c1) according to the weight of the work machine (480), and secondly lifts the hitch (210) according to the updated velocity profile.

Description

Hitch control method for agricultural work vehicle and agricultural work vehicle

The present invention relates to an agricultural work vehicle, and more particularly, to a hitch control of an agricultural work vehicle.

Agricultural work vehicles are used to grow crops necessary for human life using the land. For example, a combine, a tractor, and the like correspond to agricultural work vehicles. Combines are vehicles that harvest and thresh crops such as rice, barley, wheat and soybeans. A tractor is a vehicle that performs agricultural work while driving or stopping by connecting various types of work machines. It connects a work machine to the hitch mounted on the tractor, raises or lowers the hitch by hydraulic devices, and performs agricultural work. do.

In the case of a conventional agricultural work vehicle such as a tractor, the weight of the work machine and the engine rotation speed of the agricultural work vehicle are not considered when the hitch is raised or lowered, but only in accordance with the reference speed profile having the form shown in FIG. 1. The hitch was raised or lowered.

Accordingly, the impact is applied to the agricultural work vehicle by the weight of the work machine at the start of the ascending and descending of the hitch, or when the ascending and descending is completed, and the magnitude of the impact on the agricultural work vehicle varies according to the weight of the work machine. In addition to increasing fatigue and psychological anxiety, there is a problem that the durability of the hitch is also reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and it is an object of the present invention to provide an agricultural work vehicle and a hitch control method of an agricultural work vehicle that can adaptively adjust a speed profile of a hitch according to a weight of a work machine.

In addition, the present invention is an agricultural agricultural machine that can calculate the weight of the work machine on the basis of the engine output information of the agricultural work vehicle, the traction information of the agricultural work vehicle, the speed of the hydraulic cylinder for driving the hitch and the angle between the lifting arm and the horizontal plane of the hitch Another technical problem is to provide a hitch control method for a work vehicle and an agricultural work vehicle.

Agricultural work vehicle according to an aspect of the present invention for achieving the above object is a hitch (210, Hitch 210) is equipped with a work machine 480; A weight calculation unit 430 for calculating a weight of the work machine 480 when the work machine 480 is raised according to the first rise of the hitch 210; And according to the reference velocity profile consisting of a constant velocity section (T) to raise the hitch 210 first, and when the weight calculation of the work machine 480 is completed according to the weight of the work tool 480 acceleration tool interval (a1, a hitch controller 420 for generating an update rate profile consisting of a2), an equal velocity section b1 and b2, and a deceleration tool section c1 and c2, and secondly raising the hitch 210 according to the update rate profile. It characterized by including).

In one embodiment, the hitch controller, as the weight of the work machine 480 increases, the size of the acceleration tool (a1, a2) and the deceleration tool (c1, c2) is increased and the constant speed section (b1, The update rate profile can be generated such that the size of b2) is reduced. According to this embodiment, the hitch controller is the sum of the widths of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tool sections c1 and c2 on the update speed profile. The update rate profile is generated so as to remain equal to the width of the constant velocity section T on the reference velocity profile.

The hitch controller may maintain the ascending speed of the hitch 210 at the first speed V ₁ during the constant speed section T of the reference speed profile, and between the acceleration tools a1 of the update speed profile. , the ascending speed of the hitch 210 to a second speed (V _2, V ₂ ') greater than the first speed (V ₁ ) during a2), and the hitch in the constant velocity section (b1, b2) The ascending speed of 210 is maintained at the second speeds V _{2 and} V ₂ ′, and the ascending speed of the hitch 210 is adjusted to the second speeds V _{2, in} the reduction gear sections c1 and c2 _. In V ₂ ′), the update rate profile may be generated such that the values of the second speeds V _{2 and} V ₂ ′ increase as the weight of the work machine 480 increases.

The weight calculation unit uses the engine output information of the agricultural work vehicle, the traction force information of the agricultural work vehicle, and the weight of the work machine 480 by using an angle between the lifting arm 216 of the hitch 210 and the horizontal plane. Can be calculated. At this time, the engine output information includes the torque of the engine and the rotational speed (RPM) of the engine.

On the other hand, the agricultural work vehicle is an engine controller for controlling the engine of the agricultural work vehicle, and provides the engine output information to the weight calculation unit 430; A traction force sensor 460 for measuring the traction force of the agricultural work vehicle and providing the traction force information to the weight calculation unit 430; And an angle detecting sensor 440 measuring the angle between the elevating feeling 216 and the horizontal plane of the hitch 210 and providing the weight calculating part 430.

Hitch control method of the agricultural work vehicle according to another aspect of the present invention for achieving the above object, if the rising command of the work machine 480 mounted on the hitch 210 is received, the reference speed is composed of a section (T) Firstly raising the hitch 210 according to a speed profile; Calculating a weight of the work machine (480); Generating an update speed profile consisting of an acceleration tool section (a1, a2), an equal speed section (b1, b2), and a reduction tool section (c1, c2) according to the weight of the work machine (480); And raising the hitch 210 secondly according to the update rate profile.

In this case, the weight of the work machine may be calculated using engine output information of the agricultural work vehicle, traction information of the agricultural work vehicle, and an angle between the lifting arm 216 of the hitch 210 and the horizontal plane.

The hitch control method of the agricultural work vehicle according to another aspect of the present invention for achieving the above object, the acceleration tool section (a1, a2), the constant speed section (b1, b2), and the deceleration tool section (c1, c2) Generating a configured update rate profile; And raising or lowering the work machine 480 by raising or lowering the hitch 210 according to the update rate profile, wherein the acceleration tool sections a1 and a2 and the constant velocity section b1, b2), and the sizes of the reduction gears c1 and c2 vary depending on the weight of the work machine 480.

At this time, as the weight of the work machine 480 increases, the size of the acceleration tools a1 and a2 and the speed reduction tools c1 and c2 increases and the size of the constant speed sections b1 and b2 decreases. You can create a velocity profile.

According to the present invention, it is possible to adaptively adjust the speed profile of the hitch according to the weight of the work machine to reduce the impact generated when the hitch is raised or lowered, thereby reducing the fatigue and psychological anxiety of the driver There is an effect that can improve the durability of the hitch.

In addition, the present invention can calculate the weight of the work machine on the basis of the engine output information, traction information, and the lifting arm rotation angle of the agricultural work vehicle can not only improve the accuracy of the work machine weight calculation, but also the rotation speed of the engine Depending on the hitch has the effect of adjusting the lifting or lowering speed.

In addition, since the present invention does not require a separate additional configuration for calculating the weight of the work machine, there is an effect that the configuration of the agricultural work vehicle can be prevented from becoming complicated.

1 is a graph showing a reference velocity profile according to the position of a hitch.

Figure 2 is a side view of the agricultural work vehicle according to an embodiment of the present invention.

3 is a view showing the configuration of the hitch shown in FIG.

Figure 4 is a block diagram schematically showing the configuration of an agricultural work vehicle according to an embodiment of the present invention.

5 is a graph showing an update rate profile according to the position of the hitch.

Figure 6a is a view showing a free body diagram for calculating the force acting on the lifting arm of the hitch.

FIG. 6B shows a free body diagram for calculating the force acting on the lower link of the hitch. FIG.

Figure 6c is a view showing a free body diagram for calculating the weight of the working machine.

7 is a view schematically showing the configuration of a traction detection sensor and a traction detection link mounted on an agricultural work vehicle.

8 is a flowchart showing a hitch control method for an agricultural work vehicle according to an exemplary embodiment of the present invention.

The meaning of the terms described herein will be understood as follows.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and the terms “first”, “second”, etc. are used to distinguish one component from another. The scope of the rights shall not be limited by these terms.

It is to be understood that the term "comprises" or "having" does not preclude the existence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

The term "at least one" should be understood to include all combinations which can be presented from one or more related items. For example, the meaning of "at least one of the first item, the second item, and the third item" means not only the first item, the second item, or the third item, respectively, A combination of all items that can be presented from more than one.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a side view of the agricultural work vehicle according to an embodiment of the present invention. As shown in Figure 2, the agricultural work vehicle 200 according to an embodiment of the present invention is equipped with a hitch (Hitch, 210) for connecting a variety of work machines (not shown).

The agricultural work vehicle 200 performs work by using various work machines mounted on the agricultural work vehicle 200 while driving or stopping the farmland. In one embodiment, agricultural work vehicle 200 may be a tractor (Tractor), as shown in FIG. The tractor refers to a vehicle that connects various types of work machines (eg, rotary or plow) to perform agricultural work while driving or stopping.

The hitch 210 is mounted to the front or the rear of the agricultural work vehicle 200 to connect the work machine to the agricultural work vehicle 200. In one embodiment, the hitch 210 is raised by the piston movement of the hydraulic cylinder when the hydraulic oil is supplied into the hydraulic cylinder (not shown) by a hydraulic pump (not shown) to raise the work machine from the ground. In one embodiment, the hitch 210 may be a three-point hitch including an upper link 212 and a lower link 214.

Hereinafter, with reference to Figure 3 will be briefly described for the three-point hitch mounted on the agricultural work vehicle according to an embodiment of the present invention.

3 is a view showing the configuration of a three-point hitch mounted on an agricultural work vehicle according to an embodiment of the present invention.

As shown in FIG. 3, the three-point hitch 210 includes an upper link 212, a lower link 214, a lifting arm 216, and a hydraulic cylinder 218.

The upper link 212 connects the upper portion of the work machine to the agricultural work vehicle 200.

The lower link 214 connects the lower portion of the work machine to the agricultural work vehicle 200. The lower link 214 may include a first lower link 214a and a second lower link 214b.

The lifting arm 216 is rotated by the hydraulic cylinder 218, the position is changed, and the upper link 212 and the lower link 214 is raised or lowered through the position change of the lifting arm 216.

When the hydraulic oil supplied by the hydraulic pump (not shown) flows into the hydraulic cylinder 218, the hydraulic cylinder 218 rotates the lifting arm 216 through a piston movement by the internal hydraulic pressure.

Meanwhile, although FIG. 2 illustrates that the agricultural work vehicle 200 is a tractor, the present invention is not limited thereto, and a link structure capable of raising or lowering a work machine such as the hitch 210 of the present invention is an agricultural work vehicle 200. As long as it can be mounted at the head or tail of the head, it will be applicable regardless of its kind.

Hereinafter, the configuration of the agricultural work vehicle according to the present invention with reference to FIG. 4 will be described in more detail.

Figure 4 is a block diagram schematically showing the configuration of an agricultural work vehicle according to an embodiment of the present invention.

As shown in Figure 4, the agricultural work vehicle 200 according to an embodiment of the present invention, the hitch 210, engine controller 410, hitch controller 420, weight calculation unit 430, the angle sensor 440, the displacement sensor 450, and the traction force sensor 460.

As described above, the hitch 210 is for connecting various types of work machines 480 to the agricultural work vehicle 200, and the description of the hitch 210 has been already described in the parts related to FIGS. 2 and 3. Therefore, detailed description is omitted.

The engine controller 410 controls an engine (not shown) that drives the agricultural work vehicle 200 or provides power to the hydraulic cylinder 218 of the hitch 210. In particular, the engine controller 410 according to the present invention provides the engine output information to the weight calculator 430 so that the weight calculator 430 can directly calculate the weight of the work machine 480.

In one embodiment, the engine output information provided by the engine controller 410 to the weight calculation unit 430 includes the torque of the engine and the rotational speed (RPM) of the engine.

When the hitch controller 420 receives the rising request of the work machine 480, the hitch 210 is raised to raise the work machine 480 connected to the hitch 210. When the hitch request of the work machine 480 is received, the hitch controller 420 is raised. By lowering 210, the work machine 480 connected to the hitch 210 is lowered.

In particular, the hitch controller 420 according to the present invention is to adjust the ascending or descending speed of the hitch 210 according to the weight of the work machine 480. In this case, the hitch controller 420 may adjust the rising speed or the falling speed of the hitch 210 by adjusting the amount of hydraulic oil introduced into the hydraulic cylinder 218.

Specifically, the hitch controller 420 according to the present invention first raises the hitch 210 according to a predetermined reference speed profile. At this time, since the reference velocity profile is composed of the constant velocity section T, as shown in FIG. 5, the hitch controller 420 raises the hitch 210 to the first velocity V ₁ , which is the reference velocity. do.

When the hitch controller 420 is lifted by the work machine 480 according to the first rise of the hitch 210 and the calculation of the weight of the work machine 480 by the weight calculating unit 430 is completed, the hitch controller 420 may be configured according to the weight of the work machine 480. Create an update profile and apply the created update rate profile.

In one embodiment, the hitch controller 420 consists of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tool sections c1 and c2, as shown in FIG. 5 (b). Create an update rate profile. At this time, the hitch controller 420, according to the weight of the work machine 480, the size of the acceleration tool (a1, a2), the constant speed section (b1, b2), and the deceleration tool (c1, c2) the entire section (T). Can be changed within

For example, as shown in FIG. 5B, when the weight W ₁ of the first work machine is smaller than the weight W ₂ of the second work machine, the hitch controller 420 is updated to raise the first work machine. The acceleration tool interval a1 and the speed reduction tool c1 of the speed profile are smaller than the acceleration tool interval a2 and the speed reduction tool c2 of the speed profile, and are updated to raise the first work machine. The constant velocity section b1 of the velocity profile may generate the update velocity profile to be larger than the constant velocity section b2 of the update velocity profile for raising the second work machine.

Accordingly, the hitch controller 420 controls the hitch 210 such that the second work machine ascends more slowly than the first work machine when the work machine starts to rise or the work machine ends to rise, so that the impact generated by the work machine rises. Can be reduced.

Meanwhile, when the update rate profile is generated, the hitch controller 420 generates the acceleration tool sections a1 and a2, the constant velocity sections b1 and b2, and the deceleration tool sections c1 and b on the update rate profile as shown in FIG. The update rate profile can be generated such that the sum of the areas of c2) is equal to the area of the constant velocity section T on the reference speed profile. That is, the hitch controller 420 generates the update rate profile, but the hitch 210 moving according to the update rate profile may rise to the target position at the same time as compared to the hitch 210 moving according to the reference speed profile. You can do that.

In one embodiment, if the ascending speed of the hitch 210 is maintained at the first speed V ₁ during the constant speed section T of the reference speed profile, the hitch controller 420 is configured to accelerate the tool interval a1 of the update speed profile. , the ascending speed of the hitch 210 is increased to a second speed (V ₂ , V ₂ ') greater than the first speed (V ₁ ) during a2), and the hitch 210 of the hitch 210 during the constant velocity section (b1, b2) The ascending speed is maintained at the second speed (V ₂ , V ₂ '), and the ascending speed of the hitch 210 is reduced to 0 at the second speed (V ₂ , V ₂ ') in the deceleration tool (c1, c2). You can create an update rate profile whenever possible.

According to this embodiment, the hitch controller 420 may generate an update rate profile such that the value of the second speeds V ₂ , V ₂ ′ increases as the weight of the work machine 480 increases. For example, the weight of the second work machine (W ₂₎ a second speed in the updated speed profile for lifting the second working machine because of the size than the weight (W ₁₎ of the first operating mechanism as shown in Figure 5 (V ₂ It can be seen that the value of ') is set to be larger than the value of the second speed V ₂ in the update rate profile for raising the first work machine.

When the generation of the update rate profile is completed, the hitch controller 420 raises the hitch 210 secondly according to the update rate profile so that the work machine 480 is raised to the target position.

In addition, the hitch controller 420 lowers the hitch 210 having reached the target position according to the update rate profile so that the work machine 480 is lowered to the initial position. At this time, the speed in the update rate profile shown in Figure 5 is the falling speed of the hitch 210.

As described above, the present invention can reduce the impact generated when the hitch 210 is raised or lowered by applying the update rate profile of the hitch 210 generated according to the weight of the work machine 480, and the fatigue of the driver And while reducing the psychological anxiety it is possible to improve the durability of the hitch 210.

In the above-described embodiment, the hitch controller 420 first raises the hitch 210 according to the reference speed profile, the weight calculation unit 430 calculates the weight of the work machine 480, and the hitch controller 420 It has been described that the hitch 210 is secondly raised and lowered according to the update rate profile by generating the update rate profile. However, the present invention is not limited thereto, and the weight of the work machine 480 mounted on the hitch 210 is determined in advance through various methods such as an operator's input, and the like. The update rate profile may be generated according to the weight of 480, and the hitch 210 may be raised or lowered according to the update rate profile.

Referring again to FIG. 4, the weight calculation unit 430 calculates the weight of the work machine 480 connected to the hitch 210. In detail, when the work machine 480 rises according to the first rise of the hitch 210, the weight calculation unit 430 may operate the work machine based on the engine output information and the traction force information generated by the work machine 480. 480) is calculated.

In one embodiment, the weight calculation unit 440 is the engine output information provided from the engine controller 410, the angle between the lifting arm 216 and the horizontal plane of the hitch 210 provided from the angle sensor 440, The weight of the work machine 480 may be calculated using the speed of the hydraulic cylinder 218 for driving the hitch 210 provided from the displacement sensor 450 and the traction force information provided from the traction force sensor 460. .

Hereinafter, the weight calculation unit 440 according to the present invention will be described in more detail with reference to FIGS. 3 and 6A to 6C.

FIG. 6A illustrates a free body diagram for calculating a force acting on the lifting arm 216 of the hitch 210, and FIG. 6B illustrates a force applied to the lower link 214 of the hitch 210. 6 is a view showing a free body diagram, Figure 6c is a view showing a free body diagram for calculating the weight of the work machine (480).

First, referring to the free object diagram shown in FIG. 6A, the equilibrium of the force may be defined as in Equation 1, and the force Fr acting on the lifting arm 216 according to the equilibrium of the force described in Equation 1. May be defined as in Equation 2.

In Equations 1 and 2, F _r represents the force acting as the lower link 214 in the lifting arm 216, l ₂ represents the length of the lifting arm 216, l ₁ of the lifting arm 216 Represents the length from the starting point (P _u ) to the point (P ₁ ) to which the joint of the hydraulic cylinder 218 is connected to the lifting arm (216), F _a represents the operating force of the hydraulic cylinder 218, θ ₁ is the lifting The angle between the arm 216 and the horizontal plane is shown. In this case, θ ₁ may be calculated by a value measured by the angle sensor 440.

The force F _LOW acting in the Y-axis direction on the lower link 214 from FIG. 6B is defined as in Equation 3 below, and the equilibrium of moments applied to the lower link 214 is expressed by Equation 4 Can be defined as: Since the force F ₁ acting on the lower link 214 by Equation 4 can be summarized as in Equation 5, substituting Equation 5 into Equation 3 acts on the lower link 214 in the Y-axis direction. The force F _LOW is summarized as in Equation 6.

In Equations 3 to 6, F _LOW represents the force acting in the Y-axis direction on the lower link 214, θ ₂ represents the angle between the lower link 214 and the horizontal plane, l ₄ is the lower link 214 L ₃ represents the length from the starting point P ₁ of the lower link 214 to the joint point P ₂ where the lifting arm 216 and the lower link 214 are connected to the lower link 214. Indicates.

Here, the starting point P _u of the lifting arm 216 and the starting point P _l of the lower link 214 are fixed, the length l ₂ of the lifting arm 216, and the starting point of the lower link 214 ( P _l ) from the lower link 214 to the joint point P ₂ to which the lifting arm 216 and the lower link 214 are connected, the length l ₃ , and the lifting arm 216 and the lower link 214. When the length of the link 220 is determined, the angle θ ₂ between the lower link 214 and the horizontal plane may be expressed as an equation for the angle θ ₁ between the lifting arm 216 and the horizontal plane. That is, θ ₂ can be calculated from θ ₁ .

In addition, according to the free body diagram shown in FIG. 6C, the force balance in the Y-axis direction is as shown in Equation 7 below, and the force balance in the X-axis direction is as in Equation 8 below. Equation 9 is derived, and according to the relation of the trigonometric function as shown in Equation 10, Equation 9 is arranged as in Equation 11.

In Equations 7 to 11, F _U represents a force acting on the upper link 212 of the hitch 210, θ ₄ represents the angle between the upper link 212 and the horizontal plane, W _i is a working machine ( denotes the weight of 480), θ ₃ represents the angle between the force (F _l) and the horizontal plane acting on the lower link (214).

Here, the starting point of the upper link (212) and the starting point (P _l ) of the lower link (214) is fixed, the connection point of the work machine 480 and the upper link (212) and of the work machine 480 and the lower link (214) When the distance between the connection points is fixed and the length l ₂ of the lifting arm 216 and the length l ₄ of the lower link 214 are determined, the angle θ ₄ between the upper link 212 and the horizontal plane May be expressed as an equation for the angle θ ₂ between the lower link 214 and the horizontal plane. That is, θ ₄ can be calculated from θ ₂ . At this time, since θ ₂ can be calculated from θ ₁ as described above, θ ₄ can be calculated from θ ₁ .

6B and 6C, as described in Equation 12, F _l sinθ ₃ is equal to the force F _LOW acting in the Y-axis direction on the lower link 214, and is described in Equation 13. As described above, since F _U cos θ ₄ is equal to the traction force F _D , which is a reaction force acting on the upper link 212 in response to the weight of the work machine, Equation 11 is arranged as in Equation 14 below.

Substituting Equations 2 and 6 into Equation 14, the weight W _i of the work machine 480 is summarized as in Equation 15 below.

On the other hand, the agricultural work vehicle 200 is stopped, and the engine output _Pe of the agricultural work vehicle 200 described in Equation 16 below is the hydraulic power P _h of the hitch 210 described in Equation 17 below. When both are used as), the operating force F _a of the hydraulic cylinder 218 of the hitch 210 may be defined as in Equation 18 below.

In Equations 16 to 18, P _e represents the engine output of the agricultural work vehicle 200, T _e represents the torque of the engine, N _e represents the rotational speed (RPM) of the engine, and P _h represents the hitch 210 ) denotes a hydraulic power of a, V _c represents the speed of the hydraulic cylinder (218), a represents the area of the hydraulic cylinder (218), k represents a proportional constant. In this case, V _c may be calculated through a value measured by the angle sensor 440 or may be calculated through a value measured by the displacement sensor 450.

Thus, by substituting the operating force (Fa) of the hydraulic cylinder 218 according to equation (18) in equation (15) can be summarized as shown in equation (19) below the weight (W _i) of the operating mechanism 480, the lifting arm ( 216 and the length (l ₁ , l ₂ , l ₃ , l ₄ ) related to the length of the lower link 214 can all be treated as a constant, so the weight of the work machine 480 (W _i ) is It is calculated as shown in Equation 20.

Meanwhile, as described above, in Equation 20, the angle θ ₄ between the upper link 212 and the horizontal plane and the angle θ ₂ between the lower link 214 and the horizontal plane are equal to each other between the lifting arm 216 and the horizontal plane. It can be calculated from the angle θ ₁ .

As described above, in the present invention, the weight calculation unit 430 includes the engine output information (eg, the torque of the engine and the rotational speed of the engine), the traction force information, and the lifting arm 216 of the hitch 210. Since the weight of the work machine 480 may be calculated based on the angle between the and the horizontal plane, the accuracy of the work machine 480 weight calculation may be improved, and additional configuration is not required for the weight calculation of the work machine 480. Therefore, the configuration of the agricultural work vehicle 200 can be prevented from becoming complicated.

Referring back to FIG. 4, the angle sensor 440 detects the position of the lifting arm 216 and calculates an angle between the lifting arm 216 of the hitch 210 and the horizontal plane. The weight calculation unit 430 is provided. The displacement sensor 450 detects the displacement of the hydraulic cylinder 218 and provides the detected value to the weight calculation unit 430 so as to calculate the speed of the hydraulic cylinder 218. In one embodiment, the angle sensor 440 provides the position of the detected lifting arm 216 to the weight calculation unit 430, the displacement sensor 450 is to detect the displacement of the detected hydraulic cylinder 218 Provided to the weight calculation unit 430, the weight calculation unit 430 using the position of the lifting arm 216 and the displacement of the hydraulic cylinder 218 the angle between the lifting arm 216 and the horizontal plane and the hydraulic cylinder 218 Can be calculated.

In addition, in the modified embodiment, the angle sensor 440 provides the position of the sense of lifting 216 to the weight calculation unit 430, the weight calculation unit 430 is the position of the lifting arm 216 The angle between the lifting arm 216 and the horizontal plane and the speed of the hydraulic cylinder 218 may be calculated using only the bay. The position of the lifting arm 216 is determined by the displacement of the hydraulic cylinder 218, and the displacement of the hydraulic cylinder 218 may be calculated by the position of the lifting arm 216. According to this modified embodiment, the displacement detection sensor 450 is not required.

Traction detection sensor 460 detects the traction of the agricultural work vehicle 200 and provides the traction information to the weight calculation unit 430. In one embodiment, the traction force sensor 460 is connected to the hitch 210 via the traction force link 470, as shown in FIG. When the work machine 480 is raised, the force F _{D in the} direction opposite to the traction force is acted on by the weight W _i of the work machine 480, and the traction force sensor 460 detects the traction force information and thus the weight. By providing the calculation unit 430, the weight calculation unit 430 can calculate the force acting on the upper link 212 based on the traction information.

Hereinafter, a hitch control method for an agricultural work vehicle according to an exemplary embodiment of the present invention will be described with reference to FIG. 8.

8 is a flowchart showing a hitch control method for an agricultural work vehicle according to an exemplary embodiment of the present invention.

As shown in FIG. 8, the hitch controller 420 determines whether the work machine 480 is mounted on the hitch 212 (S700).

As a result of determination, when the work machine 480 is mounted on the hitch 212, the hitch controller 420 determines whether the agricultural work vehicle 200 is in a work mode (S710).

As a result of the determination, when the agricultural work vehicle 200 is not in the working mode, the hitch controller 420 determines whether the rising command of the work machine 480 is received (S720), and when the rising command of the work machine 480 is received, The work machine 480 is first raised by first raising the hitch 210 according to the reference speed profile configured as the tool (S730). The reference velocity profile is as shown in FIG.

Thereafter, when the work machine 480 is raised, the weight calculation unit 430 calculates the weight of the work machine 480 (S740). In one embodiment, the weight calculation unit 430 is the engine output information of the agricultural work vehicle 200, the traction force information of the agricultural work vehicle 200, and the angle between the lifting arm 216 and the horizontal plane of the hitch 210 Using the weight of the working machine 480 can be calculated. At this time, the engine output information includes the torque of the engine and the engine speed (RPM).

More specifically, the weight calculation unit 430 may calculate the weight of the work machine by using Equation 20 described above. Since the derivation process of Equation 20 is described in the description of the configuration of the weight calculation unit 430, a detailed description thereof will be omitted.

When the weight calculation of the work machine 480 by the weight calculation unit 430 is completed, the hitch controller 420 generates an update rate profile according to the calculated weight of the work machine 480 (S750). The update rate profile is as shown in FIG.

In one embodiment, the update rate profile generated by the hitch controller 420 is accelerated intervals (a1, a2), constant velocity interval (b1) to raise the hitch 210 to the target position as shown in FIG. , b2), and deceleration tool sections c1 and c2, and the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the deceleration tool section on the update rate profile as shown in FIG. The sum of the widths of (c1, c2) is set equal to the width of the constant velocity section T on the reference velocity profile.

According to this embodiment, the hitch controller 420 is the acceleration tool interval (a1, a2), constant velocity interval within the same section size as the constant velocity section (T) of the reference speed profile according to the weight of the work machine 480 calculated The sizes of (b1, b2) and the reduction gears (c1, c2) can be varied.

For example, as shown in FIG. 5, when the weight W ₁ of the first work machine is smaller than the weight W ₂ of the second work machine, the hitch controller 420 may be configured to generate an update rate profile for raising the first work machine. Acceleration tool section a1 and deceleration tool section c1 are smaller than the acceleration tool section a2 and the deceleration tool section c2 of the update speed profile for raising the second work machine, and the acceleration rate profile for raising the first work machine The constant velocity section b1 may generate the update rate profile to be larger than the constant velocity section b2 of the update rate profile for raising the second work machine.

Meanwhile, when the update rate profile is generated, the hitch controller 420 generates the acceleration tool sections a1 and a2, the constant velocity sections b1 and b2, and the deceleration tool sections c1 and b on the update rate profile as shown in FIG. The update rate profile is generated such that the sum of the areas of c2) is equal to the area of the constant velocity section T on the reference speed profile. That is, the hitch controller 420 generates the update rate profile, but the hitch 210 moving according to the update rate profile may rise to the target position within the same time as compared with the hitch 210 moving according to the reference speed profile. Make sure

The hitch 210 moving according to the update rate profile can rise to the target position within the same time as compared with the hitch 210 moving according to the reference speed profile, as shown in FIG. 5 (b). The update speed such that the sum of the areas of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tools sections c1 and c2 is equal to the width of the constant speed section T on the reference speed profile. By generating the profile, even if the ascending speed or descending speed of the work machine 480 is changed according to the update rate profile, the arrival time T = from the initial ascent start time t1 of the work machine 480 to the final ascent completion time t2 t2-t1) can always be kept the same.

In this way, despite the adaptive adjustment of the speed profile of the hitch 212 according to the weight of the work machine 480, the arrival time T is kept the same, so that the hitch is generated without delay for the user's work time of the work machine 480. There is an effect that can be applied to the velocity profile of (210).

Further, if the ascending speed of the hitch 210 is maintained at the first speed V ₁ during the constant speed section T of the reference speed profile, the hitch controller 420 is used during the acceleration tools a1 and a2 of the update speed profile. The ascending speed of the hitch 210 is increased to the second speeds V ₂ and V ₂ ′ which are greater than the first speed V ₁ , and the ascending speed of the hitch 210 is equal to zero during the constant speed sections b1 and b2. 2 speed (V ₂ , V ₂ ') is maintained, the update rate profile so that the ascending speed of the hitch 210 is reduced to 0 at the second speed (V ₂ , V ₂ ') in the deceleration tool (c1, c2) Can be generated.

According to this embodiment, the hitch controller 420 may generate an update rate profile such that the value of the second speeds V ₂ , V ₂ ′ increases as the weight of the work machine 480 increases. For example, the weight of the second work machine (W ₂₎ a second speed in the updated speed profile for lifting the second working machine because of the size than the weight (W ₁₎ of the first operating mechanism as shown in Figure 5 (V ₂ It can be seen that the value of ') is set to be larger than the value of the second speed V ₂ in the update rate profile for raising the first work machine.

Thereafter, the hitch controller 420 raises the work machine 480 secondly by secondly raising the hitch 210 according to the update rate profile (S760), and determines whether the hitch 210 has reached the target position (S760). S770), if not reached, repeats S760 until the hitch 210 reaches the target position.

Although not shown in FIG. 8, the hitch controller 420 may cause the work machine 480 to be lowered to the initial position by lowering the hitch 210 having reached the target position to the initial position according to the update speed profile.

The hitch control method of the agricultural work vehicle described above may also be implemented in the form of a program that can be executed using various computer means. At this time, the program for performing the hitch control method of the agricultural work vehicle is stored in a computer-readable recording medium, such as smart devices, hard disks, CD-ROM, DVD, ROM (RAM), or flash memory, It can also be stored on a server that provides download functionality.

Those skilled in the art to which the present invention pertains will understand that the above-described present invention can be implemented in other specific forms without changing the technical spirit or essential features.

For example, in the above-described embodiment, the hitch controller 420 and the weight calculation unit 430 are described as being separated, but in the modified embodiment, the hitch controller 420 and the weight calculation unit 430 may be a single configuration. It may be implemented in a configuration.

In addition, in the above-described embodiment, although the agricultural work vehicle calculates the weight of the work machine, it is described as generating the update rate profile according to the calculated weight. In the modified embodiment, the agricultural work vehicle uses the external weight of the work machine. It may be received from or stored in advance, and accordingly, the agricultural work vehicle receives the movement command of the work machine 480 mounted on the hitch 210, the update speed profile consisting of the acceleration tool, the constant speed section, and the deceleration tool. By generating the size of the acceleration tool, the constant speed section, and the speed reduction tool in the update rate profile according to the weight of the work machine within a predetermined time interval, the work machine by moving the hitch 210 according to the update speed profile 480 may be moved.

Therefore, it is to be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention. do.

Claims (20)

1. A hitch 210 on which the work machine 480 is mounted;

   A weight calculation unit 430 for calculating a weight of the work machine 480 when the work machine 480 is raised according to the first rise of the hitch 210; And

   The hitch 210 is first raised in accordance with the reference velocity profile composed of the constant velocity section T, and when the weight of the work machine 480 is completed, the acceleration tool sections a1 and a2 according to the weight of the work machine 480. Hitch controller 420 generates an update speed profile consisting of a constant velocity section b1, b2, and a deceleration tool section c1, c2, and raises the hitch 210 secondly according to the update rate profile. Agricultural work vehicle comprising a.
2. The method of claim 1,

   In the hitch controller 420, as the weight of the work machine 480 increases, the sizes of the acceleration tool sections a1 and a2 and the reduction tool sections c1 and c2 increase, and the constant velocity sections b1 and b2 of the hitch controller 420 increase. An agricultural work vehicle for generating the update rate profile such that the size is reduced.
3. The method of claim 1,

   The hitch controller 420,

   The sum of the widths of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tools c1 and c2 on the update speed profile is the same as that of the constant speed section T on the reference speed profile. And an agricultural work vehicle for generating said update rate profile so as to remain equal to its width.
4. The method of claim 1,

   The hitch controller 420,

   Regardless of the rising speed of the work machine 480, the arrival time T = t2-t1 from the initial rising start time t1 of the hitch to the final rising completion time t2 on the update speed profile is the reference speed profile. And said update rate profile is generated so as to remain equal to the arrival time (T = t2-t1) from said initial ascending start time (t1) of said hitch to a final ascent completion time (t2).
5. The method of claim 1,

   The hitch controller 420,

   The rising speed of the hitch 210 is maintained at the first speed V ₁ during the constant speed section T of the reference speed profile,

   The ascending speed of the hitch 210 is increased to the second speeds V _{2 and} V ₂ ′ greater than the first speed V ₁ during the acceleration tool intervals a1 and a2 of the update speed profile _, and the constant velocity The rising speed of the hitch 210 is maintained at the second speeds V _{2 and} V ₂ ′ between the tools b1 and b2, and the hitch 210 is raised at the speed reduction tools c1 and c2. Reduce the speed to zero at the second speed (V _2, V ₂ ′),

   Agricultural work vehicle for generating the update rate profile so that the value of the second speed (V _2, V ₂ ') increases as the weight of the work machine (480) increases.
6. The method of claim 1,

   The weight calculation unit 430,

   An agricultural work vehicle for calculating the weight of the work machine 480 using engine output information of the agricultural work vehicle, traction information of the agricultural work vehicle, and an angle between the lifting arm 216 and the horizontal surface of the hitch 210. .
7. The method of claim 6,

   The engine output information, the agricultural work vehicle including the torque of the engine and the engine speed (RPM).
8. The method of claim 1,

   The weight calculation unit 430,

   Equation

   

   To calculate the weight of the working machine 480,

   In the above equation, Wi represents the weight of the work machine 480, C represents the proportional constant, Te represents the torque of the engine, Ne represents the rotational speed (RPM) of the engine, and Vc represents the hitch 210. Represents the speed of the hydraulic cylinder 218 to drive, θ ₁ represents the angle between the lifting arm 216 and the horizontal plane, θ ₂ represents the angle between the lower link 214 and the horizontal plane constituting the hitch 210 Θ ₄ represents an angle between the upper link 212 constituting the hitch 210 and the horizontal plane, and F _D represents the traction information.
9. The method of claim 1,

   An engine controller 410 for controlling the engine of the agricultural work vehicle and providing engine output information to the weight calculation unit 430;

   A traction force sensor 460 for measuring the traction force of the agricultural work vehicle and providing the traction force information to the weight calculation unit 430; And

   Agricultural work vehicle further comprises an angle detecting sensor (440) for measuring the angle between the lifting 216 and the horizontal plane of the hitch 210 to provide to the weight calculation unit (430).
10. When the rising command of the work machine 480 mounted on the hitch 210 is received, firstly raising the hitch 210 according to the reference speed profile configured as the constant speed section T;

    Calculating a weight of the work machine (480);

    Generating an update speed profile consisting of an acceleration tool section (a1, a2), an equal speed section (b1, b2), and a reduction tool section (c1, c2) according to the weight of the work machine (480); And

    The hitch control method of the agricultural work vehicle comprising the step of raising the hitch 210 in accordance with the update rate profile.
11. The method of claim 10,

    In generating the update rate profile,

    As the weight of the work machine 480 increases, the size of the acceleration tools a1 and a2 and the speed reduction tools c1 and c2 increases and the size of the constant speed sections b1 and b2 decreases. Hitch control method of agricultural work vehicle to produce a.
12. The method of claim 10,

    In generating the update rate profile,

    The sum of the widths of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tools c1 and c2 on the update speed profile is the same as that of the constant speed section T on the reference speed profile. A hitch control method for an agricultural work vehicle for generating the update rate profile so as to remain the same as the width.
13. The method of claim 10,

    In generating the update rate profile,

    Regardless of the rising speed of the work machine 480, the arrival time T = t2-t1 from the initial rising start time t1 of the hitch to the final rising completion time t2 on the update speed profile is the reference speed profile. And generating the update speed profile so as to remain equal to the arrival time (T = t2-t1) from the initial ascent start time (t1) of the hitch to the final ascent completion time (t2).
14. The method of claim 10,

    In calculating the weight of the work machine 480,

    An agricultural work vehicle for calculating the weight of the work machine 480 using engine output information of the agricultural work vehicle, traction information of the agricultural work vehicle, and an angle between the lifting arm 216 and the horizontal surface of the hitch 210. Hitch control method.
15. The method of claim 14,

    The engine output information, the hitch control method of the agricultural work vehicle including the torque of the engine and the engine speed (RPM).
16. The method of claim 10,

    In calculating the weight of the work machine 480,

    Equation

    

    To calculate the weight of the working machine 480,

    In the above equation, Wi represents the weight of the work machine 480, C represents the proportional constant, Te represents the torque of the engine, Ne represents the rotational speed (RPM) of the engine, and Vc represents the hitch 210. Represents the speed of the hydraulic cylinder 218 to drive, θ ₁ represents the angle between the lifting arm 216 and the horizontal plane, θ ₂ represents the angle between the lower link 214 and the horizontal plane constituting the hitch 210 Θ ₄ represents the angle between the upper link (212) constituting the hitch 210 and the horizontal plane, F _D is a hitch control method for an agricultural work vehicle that represents the traction information.
17. Generating an update speed profile consisting of acceleration tool sections a1 and a2, constant velocity sections b1 and b2, and deceleration tools sections c1 and c2; And

    Including raising or lowering the work machine 480 by raising or lowering the hitch 210 according to the update rate profile.

    The hitch of the agricultural work vehicle in which the size of the acceleration tools a1, a2, the constant speed sections b1, b2, and the speed reduction tools c1, c2 on the update speed profile changes according to the weight of the work machine 480. Control method.
18. The method of claim 17,

    In generating the update rate profile,

    As the weight of the work machine 480 increases, the size of the acceleration tools a1 and a2 and the speed reduction tools c1 and c2 increases and the size of the constant speed sections b1 and b2 decreases. Hitch control method of agricultural work vehicle to produce a.
19. The method of claim 17,

    In generating the update rate profile,

    The agricultural work vehicle generating the update rate profile such that the sum of the widths of the acceleration tools a1 and a2, the constant speed sections b1 and b2, and the speed reduction tools c1 and c2 on the update speed profile is kept constant. Hitch control method.
20. The method of claim 17,

    In generating the update rate profile,

    Hitch control of an agricultural work vehicle generating the update rate profile so that the arrival time T = t2-t1 from the initial start time t1 of the hitch to the final completion time t2 on the update rate profile is kept constant. Way.

Images