JP2001095340A - Controller for lifting and lowering of working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a ground height in a state of the least possible time lag in a nonconvergent state while avoiding disadvantages such as a sudden change, in the computed ground height caused by unevenness of a field surface in a target convergent state. SOLUTION: This controller for lifting and lowering of a working vehicle is composed by installing a ground height sensing means 100 capable of repetitively detecting the ground height of a working device with a ground height sensor S1, carrying out a balancing processing of plural detected ground heights detected during the travel through a set distance and repetitively performing the computing processing of the height for determining the computed ground height, and a controlling means 102 for controlling a hydraulic cylinder CY so as to regulate the computed ground height to a target ground height. Thereby, the computing processing of the height is carried out in the case of the target convergent state in which the deviation between the computed ground height and the target ground height is kept within a set tolerance by prolonging the set distance as compared with that of a nonconvergent state in which the deviation is beyond the set tolerance and increased.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ascending / descending operation means for elevating and lowering a working device, and repeatedly detecting a height of the working device with respect to the ground with a ground height sensor, and for every set distance or for a set time. Ground height detecting means for averaging a plurality of detected ground heights detected every time the height elapses and repeatedly executing a height calculation process of calculating the calculated ground height of the working device; and And a control means for performing a lifting control for controlling the lifting / lowering operation means so that the height of the vehicle reaches a target height above the ground.

[0002]

2. Description of the Related Art A conventional work vehicle elevating and lowering control device has a structure as disclosed in Japanese Patent Application Laid-Open No. 8-37865. In other words, the harvesting processing unit as a working device that can move up and down with respect to the traveling machine body of the combine which is an example of the work vehicle is configured to be able to move up and down with a hydraulic cylinder as lifting and lowering operation means, and is equipped with an ultrasonic sensor. The operation of the hydraulic cylinder is controlled so that the ground height of the reaping unit detected by the ground height detecting means is equal to the target ground height. Then, as a detection process by the ground height detecting means after a lapse of a set time (4 seconds) from the start of the work in the work process, the detection value of the ground height of the work device by the ultrasonic sensor is obtained every 20 ms. Each time the traveling distance of the traveling body reaches 5 cm, an average value of a plurality of detection values detected during the traveling is obtained, and further, a plurality of average values for each 5 cm during the past 30 cm traveling from that time point are obtained. Are averaged, and the average value is obtained as the ground height. Such ground height detection processing is the same until the work state detecting means detects that the work is completed. It was configured to execute repeatedly with the processing contents of That is, every time the vehicle travels the set distance (30 cm), a plurality of detected ground heights repeatedly detected by the ground height sensor during the travel are averaged to calculate the calculated ground height of the reaping unit (working device). It was a required configuration.

As described above, the ground height is determined based on the average processing of a plurality of detection values. In a field where work is performed by this type of work vehicle, the ground height is not detected. There is a possibility that small fields may have fine irregularities, or there may be straw debris or weeds. This is to prevent it.

[0004]

In a field or the like where the above-mentioned work is performed, for example, a field scene which is a surface to be detected of the ground height is, for example, a work on a ridge or a headland. In the vicinity of the work start position in the stroke, the field is often rough due to the turning movement of the aircraft, etc., but after performing the work travel to some extent beyond such a work start position, It is considered that the field scene is relatively horizontal and flat. If such a relatively horizontal and flat state continues, the height of the working device detected by the ground height detecting means and the target The target convergence state in which the ground height falls within the set allowable range is likely to continue. In the field scene, there may be small irregularities and irregularities such as, for example, human footprints, but it is not necessary to control the vertical movement by following the working device to such fine irregularities. It is.

[0005] Therefore, when detecting the height above the ground, the processing interval (distance or time) in performing the averaging process is made as long as possible, so that the variation in the detected value due to the above-mentioned unevenness is minimized. be able to. However, when the processing interval (distance or time) when performing the averaging processing is lengthened in this way, it is possible to avoid the possibility that a detection error occurs in the ground height due to the above-described unevenness, but If there is a large undulation that requires the working device to be raised and lowered in the middle of the field scene, if the working device is to be raised and lowered along such undulation, the above-described averaging is performed. According to the detection of the ground height by the processing, there is a disadvantage that a time delay occurs until the detected value of the ground height with respect to the undulation is reflected on the calculated ground height.

[0006] However, in the above-mentioned conventional configuration, when the field scene continues to be relatively horizontal and flat after performing the work traveling to some extent beyond the work start position, and In any case where there is a large undulation that needs to be raised and lowered, a plurality of detected ground heights are averaged every time the vehicle travels a fixed set distance (30 cm), and ground processing is performed. Since the height is determined, if the field scene is relatively horizontal and flat, the calculated height of the ground may vary due to the unevenness of the field scene. In addition, if there is a large undulation that requires the working device to be raised and lowered, the response delay may occur until the detected value of the ground height for the undulation is reflected in the calculated ground height. But There is Jill fear.

The present invention has been made in view of such a point, and an object thereof is that, when the target convergence state is continued, the variation in the calculation ground height due to the unevenness of the field scene. When it is necessary to raise and lower the working device in a non-converged state while avoiding disadvantages such as increase in the number of points, it is possible to detect the ground height with as little time delay as possible. Another object of the present invention is to provide a lift control device for a working vehicle.

[0008]

According to the first aspect of the present invention, there is provided an elevating operation means for elevating and lowering the working device;
While repeatedly detecting the ground height of the working device with a ground height sensor, averaging a plurality of detected ground heights detected during traveling a set distance or during a lapse of a set time, thereby performing the work. Ground height detecting means for repeatedly executing a height calculation process for calculating the calculated ground height of the apparatus, and control for executing elevation control for controlling the lifting / lowering operation means such that the calculated ground height becomes a target ground height Means for lifting and lowering the work vehicle provided with the means, wherein the ground height detecting means is provided when a deviation between the calculated ground height and the target ground height is in a target convergence state within a set allowable range. The configuration is such that the set distance is longer or the set time is longer and the height calculation process is executed than in a non-convergence state in which the deviation is larger than the set allowable range and larger. Has been

A ground height sensor repeatedly detects the ground height of the working device, and a plurality of detected ground heights repeatedly detected by the ground height sensor while traveling a set distance or while a set time has elapsed. In this case, the height is calculated by increasing the set distance or the set time longer in the target convergence state than in the non-convergence state. Perform the processing. That is, in the target convergence state, since a plurality of ground height detection values detected during a longer travel distance or a longer time than in the non-convergence state are averaged, for example, in the body traveling direction. Even if there are relatively large irregularities along the width, the averaging process over a long distance or a long time can suppress a sudden change in the ground height due to such irregularities. . As a result, in the target convergence state, disadvantages such as a sudden change in the detected value of the ground height due to partial unevenness can be avoided.

In the non-convergence state in which the deviation is out of the set allowable range and becomes large, the averaging process is performed as much as possible at every set distance or every set time shorter than in the target convergence state. Since the calculated ground height is obtained at short intervals, for example, even when there is a large undulation that requires the working device to be raised and lowered in the middle of a field scene, the ground height with respect to the undulation is obtained. It is possible to reduce a time lag until the detected value of the height is reflected on the calculated ground height.

As a result, when the target convergence state continues, it is possible to avoid a disadvantage such as a sudden change in the calculation ground height due to the unevenness of the field scene and to avoid the disadvantages. Thus, when it is necessary to raise and lower the working device, it is possible to provide a lifting and lowering control device for a working vehicle that can detect the ground height with as little time delay as possible.

According to a second aspect of the present invention, in the first aspect, the ground height detecting means can change and set the set distance within a set distance range or set the set time to a set time. It is configured to be changeable within a range, and in the target convergence state, the set distance or the set time becomes longer as the state continues, so that the set distance is gradually increased to the upper limit, or The set time is gradually increased to the upper limit value, a gradual increase process is performed, and as the non-convergence state is established, the set distance is set to a lower limit value of the set distance range, or the set time is set to It is configured to execute a rapid decrease process for setting the lower limit value of the set time range.

Accordingly, the longer the above-mentioned target convergence state continues, the longer the set distance or the set time becomes. Therefore, if the control state is stable and the target convergence state continues for a long time, it is compared with the field scene. Even if there is an extremely large unevenness, it is possible to effectively suppress a sudden change in the ground height due to such unevenness by the averaging process for a long distance or a long time. Further, in the non-convergence state, the set distance or the set time is sharply reduced to the lower limit, so that disadvantages such as the ground height greatly deviating from the target ground height can be avoided as much as possible.

According to a third aspect of the present invention, in the first or second aspect, the ground height detecting means sets the set distance as a plurality of set unit distances,
Alternatively, the set time is set as a time corresponding to a plurality of set unit times, and each time the set unit distance is traveled or every time the set unit time elapses, while the set unit distance is running or during the setting. While performing a tentative averaging process for obtaining an average value of a plurality of detected ground heights detected by the ground height sensor during a unit time, the vehicle travels the set unit distance as the height calculation process. Every time or every time the set unit time elapses, while traveling the set distance before the time, or while the set time past the time elapses, in the provisional averaging process The plurality of average values thus obtained are averaged to obtain the calculated ground height.

Therefore, every time the vehicle travels the set unit distance or every time the set unit time elapses, the provisional averaging process is executed and the height calculating process is executed. In other words, a tentative averaging process for calculating an average value of a plurality of detected ground heights detected while traveling the set unit distance or while the set unit time elapses is performed, and the past averaging process is performed in the past from the time. While traveling the set distance, or while the set time in the past is lapsed, the average value obtained by averaging a plurality of average values obtained in the tentative averaging process is calculated. Ask for.

In short, as a process of averaging the detected values, a plurality of detected ground heights detected while the vehicle travels for a plurality of set unit distances or a plurality of set unit times have elapsed. The averaging process is performed. The averaging process is performed every time the vehicle travels a set unit distance or every time the set unit time elapses. It is possible to obtain the value at short intervals while using the average value at an extremely long interval, and thus it is possible to execute appropriate lifting control with little time delay.

According to a fourth aspect of the present invention, in the second or third aspect, the ground height detecting means is provided before the work device starts work in a work process, and Between the start of work in the work process and the elapse of the set time or the travel of the set distance, the set distance is set to the lower limit of the set distance range, or the set time is set to the set time. It is configured to set to the lower limit of the range.

In a headland or the like in a field, the field scene is often rough due to turning the machine body or the like, but when the work is started in the next work process after turning in such a headland, Before the work device starts work in the work process, and before the work device starts work in the work process and the set time elapses or the set device travels, the field scene is rough. There may be many irregularities. Therefore, in such a work start state, regardless of whether the state is the target convergence state or not, by setting the set distance or the set time to the lower limit value, the detection of the ground height with respect to the unevenness of the field as described above. The time delay until the value is reflected on the calculated ground height can be reduced.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the lifting / lowering operation means is configured to vertically move the working device with respect to a traveling machine body. Anti-aircraft height detecting means for detecting the height of the apparatus with respect to the traveling airframe is provided, and the control means includes:
When there is a deviation between the calculated ground height detected by the ground height detecting means and the target ground height, the traveling body is required to set the calculated ground height to the target ground height. A lifting / lowering amount calculation process for obtaining a required lifting / lowering amount or a target lifting / lowering position for lifting / lowering the working device, and raising / lowering the working device from the current height by the required lifting / lowering amount, or moving the working device to the target lifting / lowering position. In order to ascend and descend, the anti-aircraft elevating process of operating the elevating operation means based on the detection information of the anti-aircraft height detecting means is repeatedly executed.

Therefore, if there is a deviation between the ground height of the working device detected by the ground height detecting means and the target ground height, the control means sets the detected ground height to the target ground height. For this purpose, a required amount of vertical movement of the working device with respect to the traveling machine or a target elevation position of the working device with respect to the traveling machine for setting the detected ground height to the target ground height is determined.
Next, based on the detection information of the anti-aircraft height detecting means, the operating device is operated to raise or lower the required lifting amount from the current height, or the operating device is raised or lowered to the target lifting position. An anti-aircraft elevating process for operating the elevating operation means is performed to execute the operation. In other words, using the detection information of the anti-aircraft height detection means as feedback information, it is determined whether the actual anti-aircraft height of the working device is at a height corresponding to the required elevating amount or the target elevating position. while doing,
The lifting operation means is controlled. Then, the above-mentioned vertical movement amount calculation processing and the anti-aircraft vertical movement processing are repeatedly executed.

As a result, the ground height detecting means for detecting the ground height every time the set time elapses or every time the vehicle travels the set distance, causes fine irregularities or straw chips on the running surface to be detected. While properly detecting the actual ground height of the working equipment while minimizing variations in ground height caused by weeds, etc., time delays, etc. compared to such ground height information By using the information of the height of the airframe which is easy to detect in the state where it is unlikely to occur as feedback information, and executing the control of the elevating operation means, as before, it is detected like the height detection means above the ground There is no time delay, and the lifting / lowering operation means performs the lifting / lowering control in a stable state in which there is little possibility that the lifting / lowering operation means overshoots due to such a time delay and the lifting / lowering operation of the working device is frequently repeated. It has become possible.

According to the characteristic configuration of the sixth aspect, in any one of the first to fifth aspects, the ground height sensor is:
It is constituted by an ultrasonic type ground height sensor which repeatedly outputs the detected value of the ground height at a set sampling cycle.

The ground height sensor may be provided with, for example, a grounding-type sensor having a contact piece that moves up and down while following the ground and that detects the amount of vertical movement of the contact piece with a potentiometer. Although it is conceivable, there is a possibility that straw debris and weeds may be present in the field where the ground height is to be detected. Then, there are disadvantages such as being unable to use in a short period of time, but by using an ultrasonic type ground height sensor,
It is possible to detect the ground height satisfactorily for a long time without causing such disadvantages.

[0024]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a work vehicle lift control device according to the present invention. FIG. 1 shows the front of a combine as a working vehicle. This combine is a working device that cuts planted grain culms and transports the harvested grain culms rearward to the front of a traveling machine body V that is configured to run with a pair of left and right crawler traveling devices 1L and 1R. A mowing processing unit 2 is provided so as to be able to move up and down, and a threshing device 3 for threshing the harvested grain culm, a Glen tank 4 for storing threshed grains, and a boarding operation unit 5 are provided on the rear side of the traveling machine V.
And so on.

The cutting processing unit 2 includes a weeding tool 6 for sorting and planting the planted cereal culm of the target crop, a raising device 7 for raising the planted cereal culm in an upright position, and a root of the raised cereal culm. A clipper-type cutting device 8 that cuts the side, a vertical conveying device 9 that conveys the mown cereal stems rearward while gradually changing the culm to a laterally inclined posture, and the like. It is pivoted up and down freely. The mowing unit 2 is configured to be driven up and down by an expansion and contraction operation of a hydraulic cylinder CY serving as a lifting operation means.

At the transport entrance of the vertical transport device 9, it is detected whether or not there is a cut culm.
Is provided with a stock sensor S0 for determining whether or not is in a harvesting operation state. In addition, an ultrasonic sensor S1 that detects the height of the ground is provided at a location on the rear side of the weeding implement 6. This ultrasonic sensor S1, as shown in FIG.
A transmitter 10 that is mounted on a cutting frame 12 extending from the traveling machine side to support the weeding tool 6 and the raising device 7 and the like, and that transmits ultrasonic waves downward, and is reflected by the ground. And a receiver 11 for receiving the ultrasonic waves, and is configured in a non-contact manner so as to detect a height to ground by measuring a time from transmission to reception. In addition, the reception of the ultrasonic wave is determined to be “reception” on condition that the reception intensity is greater than the set intensity (threshold), and the receiver 11 transmits the ultrasonic wave. For the purpose of avoiding erroneous detection by receiving a direct wave from the device 10, the set intensity is set to a large value close to the maximum value until a predetermined time immediately after transmission has elapsed, It is configured to gradually decrease with the lapse of time thereafter. Therefore, the ultrasonic sensor S1 has a configuration in which it is not determined to be “receiving” when an ultrasonic reflector is very far or extremely close. The ultrasonic sensor is configured to repeatedly output the detected value of the ground height of the reaper 2 every 20 ms as a set sampling period.

As shown in FIG. 2, the hydraulic cylinder CY
Is composed of a single-acting cylinder, and is a three-position switching type electromagnetic switch that switches the supply state of hydraulic oil to the hydraulic cylinder CY to an ascending position by the supply of pressure oil, a neutral stop position, and a supply position to a hydraulic device for others. Operated lift control valve V
1 from the hydraulic pump P to the hydraulic cylinder CY
A pair of drain oil passages 19 branching in parallel from the middle of the pressure oil supply passage 18 to an orifice 20 for passing the pressure oil, a discharge position for discharging the pressure oil, and a stop position for stopping the discharge of the pressure oil. A two-position switching type lowering control valve V2 is provided. And the rising control valve V1
Each of the lowering control valve V2 and the lowering control valve V2 is configured to be switched by a control device 14 as an example of a control unit including a microcomputer.

The hydraulic cylinder CY is configured so that the operation speed can be changed and adjusted. That is, in a state where the ascending control valve V1 is switched to the ascending position,
Switching the lowering control valve V2 to the stop position results in a high ascending speed, and switching the lowering control valve V2 to the discharging position results in a low speed ascending speed. The driving state of the lowering control valve V2 is switched between the discharging position and the stopping position. The state is repeated every short time, that is, so-called duty control is executed, and the duty ratio is changed and adjusted, so that the change can be appropriately changed and adjusted at an intermediate rising speed. When the descending control valve V2 is switched to the stop position while the ascending control valve V1 is switched to the neutral stop position, the ascending and descending stop state is achieved. By performing the above-described duty control and changing and adjusting the duty ratio, V2 can be appropriately changed and adjusted at an intermediate descending speed. Therefore, the operating speed of the hydraulic cylinder CY can be changed and adjusted in each of the raising operation and the lowering operation.

The boarding operation unit 5 includes an automatic on / off switch SW3 that can be switched between an on state in which the raising and lowering control of the reaping processing unit, which will be described later, is executed, and an off state, in which the control is not executed, 2, a cutting height setting device 15 for setting the setting height, a lifting lever 16 for raising and lowering the mowing unit 2 based on manual operation, and turned on when the lifting lever 16 is operated from the neutral position to the raised position. There are provided an ascending switch SW1, an ascending switch SW2 which is turned on when the elevating lever 16 is operated to the descending position, and an automatic ascending and descending switch SW4 which is located above the grip portion 16a of the elevating lever 16 and is pushed by the thumb, and is shown in FIG. As shown in the figure, each of the switches SW1, SW2, SW3, SW
The detection information of No. 4 and the information of the cutting height setting device 15 are configured to be input to the control device 14. The detection result of the stock switch S0 is also input to the control device 14.

A pivoting unit for the body of the reaper 2 is provided with a potentiometer type body height sensor S3 as body height detecting means for detecting the height of the reaper 2 relative to the body. The detection information of the height sensor S3 is also input to the control device 14. or,
The traveling drive system for the crawler traveling devices 1L and 1R is provided with a rotation speed sensor S2 for detecting the rotation speed of the traveling output shaft,
The controller 14 is configured to calculate the current traveling vehicle speed and traveling distance based on the rotation speed information. Therefore, the rotation speed sensor S2 constitutes a vehicle speed detecting means of the vehicle body.

The control device 14 includes an automatic on / off switch S
In accordance with the ON operation of W3, the hydraulic pressure is set so that the ground height of the cutting processing unit 2 becomes the target ground height set by the cutting height setting unit 15 based on the detection information of the ultrasonic sensor described above. It is configured to be switched to an ON state in which elevating control for controlling the cylinder CY can be executed. At the start and end of the reaping operation, the reaping unit 2 is moved up and down by the lifting lever 16.
Lift lever 1 to raise and lower with priority based on the instruction of
6, the manual elevating operation based on the instruction of the elevating lever 16 is configured to be performed prior to the automatic elevating operation. Further, by pressing the automatic elevating switch SW4, the reaping process is performed. The section 2 can be raised and lowered alternately between a low position for the reaping operation and a high position near the maximum ascent position. That is,
When the reaper 2 is detected to be at a lower position for reaping work by the detection value of the anti-machine height sensor S3, the automatic lifting switch SW4 is pressed (an upward command is issued).
Then, it is detected that the mowing processing unit 2 is automatically raised to a height close to the maximum ascending position, and that the mowing processing unit 2 is located at a high position based on the detection value of the anti-aircraft height sensor S3. When the automatic raising / lowering switch SW4 is pressed (a lowering command is issued) during the operation, the cutting unit 2 is lowered to a lower position for the cutting operation.
Further, when the lowering command is issued in a state where the automatic on / off switch SW3 is set to ON, the control is shifted to the raising / lowering control based on the detection information of the ultrasonic sensor S1.

Next, the raising / lowering control of the reaper 2 will be described. The control device 14 controls the travel distance of the airframe to 5 cm.
Every time (set unit distance) is reached, provisional averaging processing is performed to find the average value (first average value) of a plurality of detection values of ground heights output from the ultrasonic sensor S1 while traveling for 5 cm. In addition, a plurality of average values obtained during traveling in a signal processing section Li (an example of a set distance) set as described later are averaged, and a section average value as a second average value (computed ground) Height) is repeatedly executed. Then, when there is a deviation between the section average value and the target ground height set by the cutting height setting device 15, the traveling machine V is moved to the calculated ground height to the target ground height. Amount calculation processing for obtaining a target elevating position for raising and lowering the mowing processing unit 2 and operating the hydraulic cylinder CY to elevate the mowing processing unit to the target elevating position based on the detection information of the anti-machine height sensor S3. The anti-aircraft elevating process is configured to be repeatedly executed.

Further, when the anti-aircraft elevating process is executed, the operating speed is increased as the current position of the mowing unit 2 is farther from the target elevating position, and the mowing is started. The hydraulic cylinder CY is controlled in a state where the operation speed is increased when the amount of movement from the target elevating position is the same as during the mowing work in which the mowing start state has been completed. The above-mentioned mowing start state means that before the mowing processing unit 2 starts work in one work process, and when the set time has elapsed or the set distance traveled since the mowing process unit 2 started work in the work process. It is a state until it does. More specifically, when the stock sensor S0 is in the OFF state (non-working state) when it is detected that the stock sensor is at a low position for the reaping work based on the detection information of the ground height, and Set time (several seconds) from the point when it is detected that the state has been switched to the ON state (working state)
Is the state during the passage of. Accordingly, the work start state determination means 101 is configured by the determination processing procedure by the stock sensor S0 and the control device 14, and the like.

Hereinafter, the elevation control operation of the control device 14 will be described in detail with reference to the control flowcharts shown in FIGS. 4, 5 and 6. As described above, the automatic on / off switch S
While the W3 is ON, the automatic lifting switch SW
When the descending command is issued by the command No. 4, the elevation control is executed. When the control is started, the detection operation by the ultrasonic sensor S1 is started. The ultrasonic sensor S1 emits an ultrasonic wave every 20 msec, receives a reflected wave reflected on the ground, converts the time from transmission to reception into ground height data, and converts the time from the transmission to the ground height data. Output to

The control device 14 receives the signal from the ultrasonic sensor S1, determines that the detected ground height data is an abnormal value if the value is 200 mm or less, executes an error process, and executes an error process. If so, the data is stored in the memory (steps 1 to 3). At this time, if the abnormality is abnormal, the count value α of the counter is counted up. If the count value α exceeds the set number α0 while the traveling body travels 1 m (distance for abnormality determination), the detection operation of the ultrasonic sensor S1 is performed. Is notified by the notification lamp 21 provided in the boarding driving unit 5 as abnormal.
7).

As described above, the detected ground height data is 200 m.
If the value is equal to or less than m, the ultrasonic sensor S1 determines that the value is an abnormal value because the weeding tool frame 17 connected to the cutting frame 12 in the cutting processing unit 2 as shown in FIG.
The cutting frame 1 is positioned above the lower end position by a predetermined height H (a value slightly larger than 200 mm) above.
2 and supported. Therefore, when the cutting processing unit 2 is lowered to a state where the lower end position of the weeding tool frame 17 contacts the ground, the detected value of the ground height is 200.
mm, but since the mowing unit 2 does not fall downward, the detected ground height is 20 mm.
If the value is 0 mm or less, it is determined to be an abnormal value.

Thereafter, every time the traveling distance reaches 5 cm, an averaging process of the detected values is executed. Until the traveling distance reaches 5 cm, the hydraulic cylinder CY to be described later is applied to the hydraulic cylinder CY. If control information for elevating is being output, without performing such averaging processing,
Priority is given to the output of the control information for raising and lowering to the hydraulic cylinder CY (steps 8 and 9). When the traveling distance becomes 5 cm, averaging processing is performed on a plurality of detection values detected during the traveling distance. When
When it is determined that the mowing is started, 5
cm of the plurality of detection values detected during traveling, the ground height is averaged using a large number of other detection values excluding some of the data that is the maximum height, in the cutting start state When it is not determined that there is a part of the plurality of detection values, the ground height is the maximum side, and,
The averaging process is performed using a small number of other detection values excluding some of the data having the minimum ground height.

Explaining using specific numerical values, when the mowing is started, for example, when the vehicle speed is 0.25 m / s or less, the maximum number of data during the 5 cm running is 10;
Excluding one of the data of the maximum ground height among the data 9
(90%) of the averaging process, and when the mowing is not started, for example, if the vehicle speed is 0.5 m / s,
The number of data during the 5 cm run is five.
Averaging processing is performed on the remaining three data (60%) after removing the data (steps 10 and 10).
11, 12). It should be noted that the number of data n becomes 10 in the low-speed running state at the beginning of cutting because the number of memory buffers n0 (1
0).

In such a pruning initial state, the signal processing section Li for obtaining the section average value as described above is initialized to a minimum value (20 cm) (step 13). In the cutting start state, the field is often rough, and the height of the ground is sensitively detected at short intervals to control the ascent and descent, so as to avoid disadvantages such as the cutting processing unit 2 plunging into the soil. ing. In addition, when the state is not the cutting start state, the signal processing section Li for obtaining the section average value is changed and set according to the target convergence state and the non-convergence state as described later (step 14). The processing for changing the section length will be described later in detail.

Next, a plurality of average values obtained while the traveling body travels in the signal processing section Li are averaged to obtain a section average as a calculated ground height (steps 15, 1).
6). This averaging process is an average value during the signal processing section Li running past the time point every time the vehicle travels for 5 cm, and is executed as a process for obtaining a moving average every time the vehicle travels for 5 cm. That is, the calculated ground height is obtained every time the vehicle travels 5 cm. This processing corresponds to the height calculation processing.

Next, a deviation between the calculated ground height and the target ground height set by the cutting height setting device 15 (height deviation Δ
h) is obtained (step 17). Next, this height deviation Δ
h is converted into a positional deviation Δr as information on the body height of the reaping processing unit 2 (step 18), and the harvesting process is performed on the traveling body V in order to make the detected ground height the target ground height. A target position for raising and lowering the unit 2 is determined (step 19).

If there is a deviation based on the position deviation Δr (information on the target elevation position) determined in this way, the anti-aircraft lifting process for operating the hydraulic cylinder CY is executed. As the current position of the processing unit 2 is farther from the target elevating position, the operation speed is increased,
And the operation speed when the amount of separation from the target elevating position is the same, when the cutting start state is determined,
The hydraulic cylinder CY is configured to be controlled in a larger state than when the cutting start state is not determined.

That is, as shown in FIG. 7, the control output corresponding to the magnitude of the position deviation Δr, specifically, the position deviation Δ
The control output changes linearly with respect to the magnitude of r, and two types of inclined states different from each other are prepared in advance. When the above-described cutting start state is determined, the control output from the target elevation position is determined. The characteristic line Q1 whose operation speed is high when the amount of separation is the same is selected, and when the cutting start state has not been determined, the characteristic line Q2 whose operation speed is low is selected (step). 20, 21, 2
2).

Then, while detecting the current position of the mowing unit 2 based on the detection value of the ground height sensor S3, the control output is determined based on the information of the position deviation Δr and the selected control characteristic (characteristic line), Until the mowing unit 2 reaches the target position, the hydraulic cylinder CY moves the mowing unit 2 up and down (steps 23, 24, 25). At this time, as is clear from the characteristics of FIG. 7, the closer the position of the mowing unit 2 is to the target elevating position, the more the hydraulic cylinder CY
, The operation speed changes linearly to be small, so that the shock at the time of stoppage is small. Moreover, after the position of the mowing unit 2 reaches the target elevating position and the anti-aircraft elevating process is finished, the elevating amount calculating process is executed, and during the elevating operation,
By executing the lifting amount calculation processing, frequent lifting operations are avoided. When the current position of the mowing unit 2 reaches the target position based on the detection value of the ground height sensor S3, the lifting operation is stopped (step 26).

As the mowing operation is continued, the above-described elevation control is performed, and as a result, the deviation between the detected ground height of the mowing processor 2 and the target ground height falls within the set allowable range (dead zone). Although the convergence state occurs, the control device 14
Executes the height calculation process by making the signal processing section Li longer in such a target convergence state than in a non-convergence state in which the deviation is larger than a set allowable range and larger. It is configured as follows. Specifically, the signal processing section Li is configured to be changeable within the set distance range, and in the target convergence state, the signal processing section Li is set so that the signal processing section Li becomes longer as the state continues. It is configured to execute a gradual increase process for gradually increasing the distance to the upper limit value within the distance range, and to execute a rapid decrease process for setting the signal processing section Li to the lower limit value of the set distance range with the non-convergence state. I have.

This section change processing is executed in step 14, and more specifically, control is executed as shown in FIG. That is, when the deviation is within the set allowable range (dead zone) at the time of executing the next elevating amount calculating process after the end of the anti-aircraft elevating process, it is determined that the deviation has converged to the target position, and the signal processing is performed. Set the section Li more than the current value by the set amount (5 cm)
(Steps 140 and 141). If the deviation is within the set allowable range (dead zone) a plurality of times in a row when the above-mentioned vertical movement amount calculation processing is executed, that is, if the target convergence state is continued, the processing is extended by the set amount (5 cm). Is repeatedly executed, and the signal processing section Li gradually increases. Therefore, such processing corresponds to the gradual increase processing. However, if the signal processing section Li exceeds 60 cm, the signal processing section Li is set to 60 cm (steps 142 and 143). That is, the maximum value is 60 cm.
When it is determined that the deviation is out of the set allowable range (dead zone) and does not converge to the target position, the signal processing section Li is immediately set to 20 cm (step 144).
This processing corresponds to the sudden decrease processing. Therefore, if the target convergence state continues, the signal processing section Li is 5 cm between 20 cm (minimum value) and 60 cm (maximum value) (set distance range).
The change is adjusted so as to gradually increase by cm, and when a deviation occurs, the change is immediately changed to the minimum value (20 cm).

In the above configuration, the ultrasonic sensor S1 and the control unit 14 detect the height of the ground,
The ground height detecting means 100 which outputs the detected value of the ground height of the reaping processing unit every time the set time elapses or the vehicle travels the set distance is configured. Further, the control device 14 constitutes the control means 102 for controlling the hydraulic cylinder CY (elevation operation means) so that the ground height of the mowing unit 2 (working device) becomes the target ground height.

[Another Embodiment] Next, another embodiment will be described.

(1) In the above embodiment, every time the vehicle travels the set unit distance (5 cm), an average value of a plurality of detected ground heights detected by the ground height sensor while traveling the set unit distance is obtained. Perform the tentative averaging process,
Every time the vehicle travels the set unit distance, the vehicle averages a plurality of average values obtained by the tentative averaging process during a signal processing section Li (set distance) that is earlier than the current point in time, and calculates the ground height. However, instead of such a configuration, the present invention may be implemented in the following embodiments. Performing the tentative averaging process is the same,
Each time the vehicle travels in the signal processing section Li (set distance), a plurality of average values obtained by the tentative averaging process up to that time may be averaged to obtain a calculated ground height. In addition, instead of the set unit distance (5 cm), a provisional averaging process for calculating an average value of a plurality of detected ground heights detected by the ground height sensor is performed each time the set unit time elapses. Is also good. Instead of the set distance (signal processing section Li), a plurality of detected ground heights detected during the elapse of the set time may be averaged. A configuration in which a plurality of detected ground heights detected during traveling a set distance or during a set time are simply averaged as they are without performing the provisional averaging process to obtain a calculated ground height It may be. A configuration in which two or more of the above items are combined may be employed.

(2) In the above-described embodiment, in the target convergence state, the gradual increase processing is performed in which the set distance (the signal processing section Li) is gradually increased to the upper limit so that the set distance (the signal processing section Li) becomes longer as the state continues. However, the set distance may be set as a constant value longer than that in the non-convergence state. Further, as in the embodiment (1), the set time may be set as a constant value longer than that in the non-convergence state.

(3) In the above embodiment, before the working device starts work in the work process and before the set time elapses after the work device starts work in the work process, Although the configuration is such that the set distance (signal processing section Li) is set to the lower limit value of the set distance range, instead of such a configuration, before the work device starts work in the work process, and when the work device performs the work process. In the period from the start of the operation at the time till the vehicle travels the set distance, the set distance (signal processing section Li) may be set to the lower limit value of the set distance range. Also, regardless of whether the work is in the work start state or not, the height calculation processing is always executed by setting the set distance longer in the target convergence state than in the non-convergence state. May be.

(4) In the above embodiment, the operation speed is increased as the position of the working device (cutting processing unit) is farther from the target elevating / lowering position. The change characteristic of the control output with respect to the lifting / lowering operation means changes linearly. However, the present invention is not limited to this. For example, the characteristic line Q shown in FIG.
As indicated by 1 ′ and Q2 ′, as the control output changes in a curve with respect to the magnitude of the position deviation Δr, and as the magnitude of the position deviation Δr increases, the control deviation with respect to the unit change amount of the position deviation Δr increases. A change characteristic in which the amount of change in the control output, that is, the inclination angle of the change characteristic becomes large, may be used.

(5) In the above embodiment, even if the anti-aircraft elevating process has not been completed, the elevating amount calculating process is executed every time the averaging process timing is reached. Although the configuration has been described in which the anti-aircraft elevating process is executed, the present invention is not limited to such a configuration, and the anti-aircraft elevating process may be performed after the anti-aircraft elevating process is completed. That is, as shown in FIG. 9, after step 17 in the control flowchart of the above-described embodiment, a process (step 17a) for determining whether or not control information for raising and lowering the hydraulic cylinder CY is output is added. If it is in the state, the process proceeds to step 23, and the output of the control information for lifting / lowering to the hydraulic cylinder CY (anti-body lifting / lowering process) is executed prior to the lifting / lowering amount calculation process. After the anti-aircraft elevating process is completed, the elevating amount calculating process may be executed.

(6) In the above-described embodiment, as the ascent / descent amount calculation processing, a target ascent / descent position for raising / lowering the reaping unit with respect to the traveling machine body in order to set the detected height to ground to the target ground height is obtained. As the anti-aircraft elevating process, the elevating operation means is operated to elevate the mowing processing unit to the target elevating position. Instead of such a configuration, the detected altitude is set to the target altitude. For this purpose, a configuration may be employed in which a required lifting amount for raising and lowering the cutting processing unit with respect to the traveling machine body is obtained, and the lifting operation means may be operated so as to raise and lower the required lifting amount of the cutting processing unit from the current height. .

(7) In the above-mentioned embodiment, the ground height detecting means is provided with an ultrasonic ground height sensor which outputs a detected value of the ground height of the reaping unit every set sampling cycle (20 ms). However, the present invention is not limited to such a configuration, and detects the ground height of the reaping processing unit at each set sampling cycle, and every time a set time elapses or every time a set distance is traveled, It may be configured with a ground height sensor that executes the averaging process of the detected values and outputs the average value to the control device. Also, instead of such an ultrasonic sensor as the ground height detecting means, a contact piece that can move up and down with respect to the working device while following the ground, and an elevation amount that detects the amount of vertical movement of the contact piece Detecting means for detecting a ground height based on the amount of vertical movement, and averaging the detection values detected during each time a set time elapses or every time the vehicle travels a set distance. Processing may be performed so as to output a detected value of the ground height.

(8) In the above embodiment, the combine vehicle is exemplified as the work vehicle. However, the present invention is not limited to the combine vehicle.
For example, the present invention can be applied to various work vehicles equipped with a work device that can be moved up and down, such as a rush harvester, a seedling transplanter, and a tractor with a work machine other than the combine.

[Brief description of the drawings]

FIG. 1 is a side view of the front part of the combine.

FIG. 2 is a side view of an ultrasonic sensor mounting portion.

FIG. 3 is a control block diagram.

FIG. 4 is a control flowchart.

FIG. 5 is a control flowchart.

FIG. 6 is a control flowchart.

FIG. 7 is an output characteristic diagram.

FIG. 8 is an output characteristic diagram of another embodiment.

FIG. 9 is a control flowchart of another embodiment.

[Explanation of symbols]

 2 Working device 100 Ground height detecting means 102 Control means CY Elevating operation means S1 Ground height sensor S3 Vehicle height detecting means V Traveling body

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Tetsuya Nakajima 64 Ishizukitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Plant (72) Inventor Toshio Tominaga 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Manufacturing Co., Ltd. (72) Inventor Makoto Oshitani 64 Ishizu-Kitacho, Sakai-shi, Osaka F-term in Kubota Sakai Works (Reference) 2B304 KA13 LA02 LA12 LA13 LB02 MA02 MB02 MC02 MC08 MD01 QA11 QA22 QB05 QB14 QB28 2B382 GA03 GA09 GC03 GD02 HF02 HF22 LA12 LA22 LB06 LD03 LD10 MA05

Claims (6)

[Claims] 1. A lifting operation means for lifting and lowering a working device, and repeatedly detecting a ground height of the working device by a ground height sensor, and detecting while traveling a set distance or while a set time has elapsed. Averaging the plurality of detected ground heights, and ground height detecting means for repeatedly executing a height calculation process for calculating the arithmetic ground height of the working device, and calculating the arithmetic ground height to a target ground height. And a control means for performing a lifting control for controlling the lifting operation means, wherein the ground height detecting means comprises: the calculated ground height and the target ground height. When the difference between the target convergence state is within the set allowable range, when the deviation is larger than the non-convergence state outside the set allowable range, the set distance is longer, or, The set time Comb the work vehicle that is configured to execute the height calculation processing elevation control unit. 2. The ground height detecting means is configured to be able to change and set the set distance within a set distance range or to be able to change and set the set time within a set time range. As the state continues, the set distance or the set time becomes longer, so that the set distance is gradually increased to the upper limit value, or the set time is gradually increased to the upper limit value, Executing, as the non-convergence state is set, the set distance is set to a lower limit value of the set distance range, or a sudden decrease process of setting the set time to a lower limit value of the set time range is executed. The lifting and lowering control device for a work vehicle according to claim 1, wherein 3. The ground height detection means sets the set distance as a plurality of set unit times, or sets the set time as a plurality of set unit times. Each time the vehicle travels the set unit distance or every time the set unit time elapses, a plurality of detected grounds detected by the ground height sensor while traveling the set unit distance or while the set unit time elapses In addition to executing a tentative averaging process for calculating an average value of the height, the height calculation process includes, every time the vehicle travels the set unit distance or every time a set unit time elapses, the setting being past in time. While traveling a distance, or while the set time in the past is lapsed, the average value obtained by the tentative averaging process is averaged to obtain the calculated ground height. Is configured as Work vehicle elevation control apparatus according to claim 1 or 2, wherein there. 4. The apparatus according to claim 1, wherein the ground height detecting means is configured to execute a set time before or before the work device starts work in a work process, and after a set time has elapsed since the work device started work in the work process. Until traveling a distance, the set distance is set to a lower limit value of the set distance range,
4. The work vehicle lift control device according to claim 2, wherein the set time is set to a lower limit value of the set time range. 5. The lifting / lowering operation means is configured to perform lifting / lowering operation of the working device with respect to a traveling machine body, and is provided with a body height detecting means for detecting a height of the working device with respect to the traveling machine body. The control unit sets the calculated ground height to the target ground height when there is a deviation between the calculated ground height obtained by the ground height detection unit and the target ground height. A lifting / lowering amount calculation process for obtaining a required lifting / lowering amount or a target lifting / lowering position for lifting / lowering the working device with respect to the traveling machine body, and raising / lowering the required lifting / lowering amount of the working device from a current height, or The apparatus is configured to repeatedly execute an anti-aircraft elevating process of operating the elevating operation means based on the detection information of the anti-aircraft height detecting means to elevate the apparatus to the target elevating position. The lifting / lowering control device for a working vehicle according to any one of claims 1 to 4. 6. The ground height sensor according to claim 1, wherein the ground height sensor is an ultrasonic type ground height sensor that repeatedly outputs a detected value of the ground height at a set sampling cycle.
The lifting and lowering control device for a working vehicle according to any one of claims 1 to 4.