JP2012191957A - Rice planter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for controlling automatic transplanting vehicle suppressing a load to an operator to minimum associating with the operation of agricultural working devices after turning of the machine body to the turning operation, in a possible range for automatic processing.SOLUTION: The rice planter includes an association controller initiating the counting of rotation of a rear wheel driving shaft based on the handling operation at the start of turning, in the descending condition of a transplanting section, and making a planting clutch on when the transplanting section is descended and the count reaches a second predetermined value larger than a first predetermined value at the time, provided that the handling angle of the steering handle is less than the predetermined value and returned to running straight ahead condition, and finishes association control when the transplanting section is in a descending condition and the handling angle of the steering handle is over the predetermined value.

Description

  The present invention relates to a rice transplanter that automatically performs a rice transplanting operation while the vehicle is traveling.

  In a paddy field work vehicle that performs rice transplanting as well as machine traveling, the operation of the farm working apparatus is controlled in conjunction with the turning traveling operation of the machine as shown in Patent Document 1 by the farm working device provided in the machine capable of turning. Is known. This paddy field work vehicle is configured to include a farm work device that performs paddy field vegetation work such as rice planting so as to be capable of moving up and down, a float that is integrated with the farm work device, and the like. This float is a flat floating body that is attached so as to be able to detect an inclination in the front-rear direction, leveling the vegetation surface of the paddy field, and detecting the height position of the vegetation surface.

  In reciprocating operation traveling in a field such as rice planting, the farm work device performs planting work while leveling the vegetation board surface with a float. At this time, the planting depth is adjusted by adjusting the height of the farm work apparatus based on the inclination angle of the float. During the turning process of making a U-turn at the turning point from going back to returning, the planting operation of the farm work device is stopped and the farm work device and the float are held at the non-working height position above the vegetation board surface by the ascending operation. Then, when turning into the turning direction and the aircraft turns in the reverse direction, the farm work apparatus and the float are lowered and the planting is resumed by operating the farm work apparatus. By automatically processing this series of turning operations in conjunction with the turning operation of the airframe by the control device, the operation burden on the operator can be reduced.

However, the planting operation processing of the farm work device after turning the aircraft is limited to a rectangular field that can be reciprocated by standard turning operation, and when a reciprocating work is performed on a deformed field such as a triangle, the planting start position However, it could not be applied because of the mixed swivel motion under the special condition that fluctuates for each swivel motion. As a result, in the modified field, including turning the normal conditions, the planting operation of all post-turning farming equipment operator manually inevitable to operate the agricultural device, has been a major workload (JP 1).

JP 2002-335720 A

  The problem to be solved is for an automatic planting work vehicle that can minimize the load on the operator by automatically processing it in conjunction with the turning operation within the possible range of handling of the farm work equipment after turning the aircraft. The control device is provided.

In order to solve the above problems, the following technical measures were taken.
That is, the invention according to claim 1 includes a steering handle (4) and an operator seat (5), and is configured to be driven by four wheels of a turning wheel (2) and a rear wheel (3). 11) In the rice transplanter provided with the planting part (7) that can be moved up and down via 11), the counting of the drive shaft rotation of the rear wheel (3) is started based on the handle operation at the start of turning, and the planting part (7 ) in the lowered position, it on condition is an operation state in which the handle angle is returned to the straight state, not prescribed value (b) or subsequent steering wheel (4), further followed, the count is the planting unit (7 ), When the second predetermined value (n2) larger than the first predetermined value (n1) when lowered, is provided with interlocking control to turn on the planting clutch, the planting part (7) in lowered position, the handle angle specified value subsequent steering wheel (4) If b) above, as a control device (21) is provided with rice transplanter to end the interlocking control.

In the invention according to claim 2, in the interlock control, the adjustment value (n2) is adjusted to the second predetermined value when the detection angle of the steering angle sensor detects the steering on the opposite side to the turning direction. After β) is added and linked control is performed, the adjustment value (β) is reduced to return the second predetermined value (n2) to the original value . The rice transplanter according to claim 1, further comprising a switch that can be switched to an auto lift mode that is manually operated and a cut mode that is manually operated for all interlocking control .

According to the first aspect of the invention, the interlocking control starts counting the drive shaft rotation of the rear wheel (3) based on the steering operation at the start of turning, and the planting part (7) is in the lowered state, it on condition the handle angle of the steering wheel (4) is an operation state in which the return to the straight state, not prescribed value (b) above, further Thereafter, the of when the count is lowered planting unit (7) When the second predetermined value (n2) larger than the first predetermined value (n1) is reached, an interlock control for turning on the planting clutch is provided, and the subsequent steering handle is in a state where the planting part (7) is lowered. When the handle angle in (4) is not compatible with the specified value (b) or more, the interlock control can be terminated. Therefore, inappropriate turning control can be eliminated.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the detected angle of the steering angle sensor detects steering on the opposite side to the turning direction, the second predetermined value After adding the adjustment value (β) to (n2) and performing interlocking control, the adjustment value (β) is subtracted to return the second predetermined value (n2) to the original value, so that inappropriate turning control can be eliminated. it can. Further, it is possible to prevent uneven planting start positions in response to redoing by retreating the aircraft. Moreover , since it becomes possible to respond to the degree of deformation from a standard rectangular field to a special field, planting work can be performed efficiently.

It is a side view of the rice transplanter to which the control device of the present invention is applied. It is an input / output system diagram of a control device. Control selection switch. It is a flowchart of a control process. It is a detailed flowchart of turn control. It is a detailed flowchart of lift control. It is an example of the planting work in the reciprocating work process of a deformation | transformation field. It is a flowchart of back turning. It is a flowchart of the interlock control by the timing of a separate setting. A dial switch for switching between four modes.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
An example of the paddy field machine to which the control device of the present invention is applied will be described with respect to the rice transplanter shown in the side view of FIG. The rice transplanter 1 supports the vehicle body so that the four wheels can be driven by the turning wheels 2, 2 and the rear wheels 3, 3, in addition to the steering handle 4, the operator seat 5, the engine 6, the planting part (working part) 7, A control device (not shown) that controls various devices is provided.

  The planting part 7 is a farming device attached to the rear part of the machine body so as to be able to be lifted and lowered via the lifting part 11. In addition to the multi-planting operation according to the running of the machine body through a planting clutch (not shown), A feed unit 13 that sequentially feeds seedlings in conjunction with each other, a fertilizer unit 14 that discharges medicinal fertilizer, a leveling float unit 15... The float unit 15 is a flat floating body attached to the working unit so as to be able to detect the inclination, leveling the vegetation surface of the paddy field and detecting the height position of the vegetation surface.

  As shown in the system diagram of FIG. 2, the input / output configuration of the control device 21 receives various switch and sensor signals in addition to the operation signal of the control selection switch 22 for selecting a control pattern at the time of airframe turning. In addition, it controls the actuators of various devices for airframe travel and planting operation. As shown in FIG. 3, the control selection switch 22 performs “right turn only” and “left turn only” for the left and right aircraft turning directions in addition to “continuous” for controlling the operation of the planting unit 7 in conjunction with the aircraft turning. A dial switch for instructing a limited number.

  In addition, on the input side, a finger lever switch 23a for planting operation command, a planting part ascending mode switch 24 for automatic ascending selection of the planting part 7, an HST lever position sensor 25 for detecting a shift operation, a steering operation detection Steering angle sensor 26 for time adjustment, time lag adjustment dial 27 for time adjustment, brake pedal sensor 28 for brake operation detection, n1 setting dial 29a for determining the lowering timing of the working unit, and n2 setting dial for determining the clutch timing for operating the working unit 29b etc. are connected and a signal is input.

  On the output side, an electromagnetic hydraulic valve 11b for raising and lowering the planting unit 7 via a hydraulic cylinder 11a of the elevator unit 11, a planting clutch operating solenoid 31 for planting operation of the planting unit 7, and a fertilizing clutch operation for operating a fertilizer machine A solenoid 32, an HST motor 33 for tilting the HST lever, etc. are connected to control each device.

  The n1 setting dial 29a is a dial that can be adjusted within a predetermined range from “early” to “slow” with “standard” as the center, and the lowering position n1 depending on the rotation amount of the drive shaft corresponding to the instruction is the working portion. Set as the descent timing. Similarly to the n1 setting dial 29a, the n2 setting dial 29b is a dial that can be adjusted within a predetermined range from “early” to “slow” centering on “standard”, and the rotation amount of the drive shaft corresponding to the instruction Is set as the lowering timing of the working unit.

  As shown in the flowchart of FIG. 4, the control process by the control device 21 waits until the shift position reaches the planting speed (S2) after reading each sensor value (S1), and then responds to the control selection switch 22. Thus, the turning interlocking process is limited to “left turning” and “right turning” or switched to “continuous” without limitation (S3).

  When the control selection switch 22 is “left turn”, after waiting for the steering wheel operation (S21a), if it is left turn, normal rotation by left turn control (S23) by the left and right subroutine processing common to the drive shaft rotation start (S22). The interlocking process is performed, and if it is a right turn, the irregular shape is dealt with by lift control (S24) by a subroutine process. When the control selection switch 22 is “right turn”, conversely to the above, if the steering operation (S21b) is right turn, normal interlock processing by the drive shaft rotation start (S22) and the left turn control (S23). If the vehicle is turning counterclockwise, the irregular shape is dealt with by lift control (S24). When the control selection switch 22 is “continuous”, after waiting for the steering wheel operation (S21), normal interlocking processing is performed by the turn control (S23) corresponding to the start of rotation of the drive shaft (S22).

  For details of the left or right turn control process by the subroutine process, as shown in the flowchart of FIG. 5, the ascending mode switch 24 of the planting unit 7 is checked (S41). S42) waits until the predetermined lowering position n1 is reached, and commands the planting section "lower" on the condition that the handle angle is equal to or greater than a specified value a (for example, 90 degrees) for the determination of the turning operation (S44). . On the contrary, in the case of the ascending mode, the planting part “raising” is commanded (S41a). If the handle angle is not equal to or greater than the specified value a, the process is terminated after an alarm output (S43a).

  Next, the drive shaft rotation number check (S45) waits until a predetermined turning distance n2 ′ is reached, and the fertilizer clutch “ "On" is commanded (S47). If the handle angle is equal to or greater than the specified value b, the process is terminated after an alarm output (S43a) as described above.

  Subsequently, it waits until the predetermined clutch-on position n2 is reached by the drive shaft rotation number check (S49), and instructs the planting “ON” (S50) and performs the normal interlocking process by the drive shaft rotation count clear (S51). finish. By the left or right turn control processing, the planting unit 7 performs a corresponding operation in conjunction with the turning operation of the airframe, thereby performing leveling of the turning process and resuming the planting by going straight after the turning is completed.

  For details of the lift control by the subroutine processing, as shown in the flowchart of FIG. 6, after instructing the planting part “raising” (S61), waiting until the steering angle falls within a predetermined range (S62). The part "down" is commanded (S63). By this processing, it is possible to perform interlocking control with the turning of the body limited to the raising and lowering of the planting part. With this processing procedure, the interlocking contents are switched to the raising / lowering control of the planting unit for the turning direction that has not been selected. Therefore, the planting part 7 operates in conjunction with the selected turning direction by the rotation amount of the drive shaft and the handle operation, and the other turning directions are limited to the raising / lowering control of the planting part 7, and the operator By manually intervening the clutch command, it is possible to cope with the deformed field of the deformed field.

  For example, as in the example of planting work in the reciprocating work process of the modified field as shown in FIG. 7, when the control selection switch 22 is set to “left turn only”, in the left turn L, the planting unit 7 is moved up and down and the clutch is disconnected. In the right turn R, only the lifting and lowering operation of the planting unit 7 is controlled in conjunction with the turn of the aircraft and the clutch is disengaged to adjust the planting start position. The contact command is made by operator intervention. Therefore, the control unit configured as described above can cope with irregularities while minimizing operator operations in the modified farm field.

  In addition to the above, abnormal turning is determined when the traveling speed of the aircraft is slower than the reference speed, when the steering wheel operation is in the turning direction without reverse turning, or when the lifting / lowering position of the work implement during turning is in the non-working position, etc. Also, by configuring the control unit so as to restrict the interlocking control of the planting unit based on this determination, it is possible to make it possible to cope with the deformed farm field.

  That is, when it depends on the traveling speed, the speed of the airframe during the steering wheel turning operation is detected by the shift lever sensor perforated wheel speed sensor, and if the traveling speed is equal to or higher than a predetermined value, the normal turn control is performed and the traveling speed is controlled. If the speed is equal to or lower than a predetermined value, lift control is performed, or the planting clutch [ON] timing is delayed.

  When the steering wheel operation is performed, the detection angle of the steering wheel angle sensor immediately before is updated and stored, and when the steering wheel angle sensor immediately before the steering wheel turning operation is in a straight traveling state or steering on the same side as the turning direction is detected Normal turn control is performed, and lift control or the like is performed when the steering angle sensor immediately before the steering wheel turning operation is in a straight traveling state or when steering on the opposite side to the turning direction is detected.

  In the case of the lifting / lowering position of the work implement, it is assumed that the lifting / lowering command of the planting part is manually operated and only the planting clutch “ON” timing is controlled based on the rear wheel rotational speed sensor. The raising / lowering position of the attachment part is detected by the raising / lowering link sensor. When the position is higher than the predetermined position, the timing of the implantation clutch “ON” is controlled. When the position is lower than the predetermined position, the timing of the implantation clutch “ON” is controlled. Or delay the timing of "planting" the planting clutch.

  As described above, by determining the turning mode based on the traveling speed of the aircraft and changing the contents of the turning control, the operability is improved, and improper turning control can be eliminated by a manual operation error. it can.

Next, an example of interlocking control of the planting unit limited to back turning will be described.
In this case, as shown in the flowchart of FIG. 8, after each sensor value reading (S1), after waiting until the shift position reaches the planting speed (S2), the reverse side operation of the HST lever is checked (S71). Then, if applicable, the planting part "raising" is commanded (S72), and the drive shaft rotation is started (S73). An alarm is output (S74b) only when the drive shaft rotation is negative (S74a) above a predetermined value, and after repeating these in the HST lever reverse operation range (S74c), the steering wheel operation (S75) is waited for and the corresponding left or Right turn control (S75a, S75b) is performed. If the operation is not applicable to the reverse operation on the HST lever, the lift control (S77) described later is performed in correspondence with the steering wheel turning operation (S76).

  By the control process of the above procedure, the planting unit is controlled in conjunction with the back turning that moves forward to the heel, moves backward by a predetermined distance and turns, and the others correspond to the modified field by using the command of the planting unit as a manual operation. be able to. In this case, if the operator retreats excessively, the operator is notified by an alarm or the like, or the interlocking control of the planting part is canceled to prevent the planted seedling from being overturned, and the next planting start position is prevented from being uneven. can do. Further, by setting the backward movement to be the cumulative distance, it is possible to cope with the backward movement.

  Next, an example will be described in which deformation is handled by interlocking control based on separately set timing. As shown in the flowchart of FIG. 9, the processing procedure starts counting the drive shaft rotation (S81), adds the adjustment amount α to the lowered position of the planting portion, and adds the adjustment amount β to the clutch-on position. Then, using this as a new lowered position n1 and clutch-on position n2, turn control (S83) on the side corresponding to the irregular shape is performed, and adjustments α and β are reduced (S84) to return the lowered position n1 and clutch-on position n2 to their original positions. The adjustments α and β are separately set by the operator for dealing with the deformed field. For example, by performing a subroutine process instead of the lift control (S23) in FIG. 4 described above, it is possible to perform turn-linked control with timing adjustment on the deformed side of the deformed field.

  As described above, there are four modes of handling the planting part when turning the aircraft: (A) Timing change, (B) Auto lift, (C) Back lift, (D) Off mode, The dial switch shown in FIG. 10 is provided for switching. The “timing change” of (A) is applied as a variant corresponding to the remaining turning direction according to the instruction of the control selection switch 22 when the dial instruction is made in the range of “fast” to “slow” in a plurality of stages centering on the standard setting. Is done. In the “auto lift” of (B), the raising / lowering operation of the planting part is interlocked and controlled according to a predetermined condition including reverse, and the operator manually intervenes only the clutch command. In (C) “backlift”, the lifting and lowering operation of the planting part is controlled in conjunction only with backward turning, and the operator manually intervenes in other cases. In (D) “OFF”, the interlocking control of the planting unit is stopped and the operator manually intervenes. With these modes, from standard rectangular fields to special fields, it is possible to respond according to the degree of deformation, so the planting work can be carried out efficiently while minimizing the operator's load when deforming is required. be able to.

  1: Rice transplanter, 2: Turning wheel, 3: Rear wheel, 4: Steering handle, 5: Operator seat, 7: Planting part, 11: Lifting part, 21: Control device, b: Specified value, n2 ′: Predetermined Turning distance (first predetermined value), n2: clutch on position (second predetermined value), β: planting start position adjustment (adjustment value)

Claims (2)

It is equipped with a steering handle (4) and an operator seat (5) and is driven by four wheels, a turning wheel (2) and a rear wheel (3). In the rice transplanter provided with the part (7), counting of the drive shaft rotation of the rear wheel (3) is started based on the steering operation at the start of turning , and the subsequent steering handle is in the state where the planting part (7) is lowered. (4) on condition that steering wheel angle is an operation state in which the return to the straight state, not prescribed value (b) above, further followed, first when the count is lowered planting unit (7) When the second predetermined value (n2) larger than the predetermined value (n1) is reached, the interlocking control for turning on the planting clutch is provided, the planting part (7) is in the lowered state, and the subsequent steering handle (4 if the handle angle) of the specified value (b) above, the final interlocking control Controller rice transplanter provided with (21) to be. In the interlock control, when the detected angle of the steering angle sensor detects the steering on the opposite side to the turning direction, the adjustment value (β) is added to the second predetermined value (n2) and the interlock control is performed. The adjustment value (β) is reduced and the second predetermined value (n2) is restored, and the lifting and lowering of the planting part (7) is interlocked and controlled, but the planting clutch is operated manually. The rice transplanter according to claim 1, further comprising a switch capable of switching to a cutting mode in which all of the interlocking control is manually operated .

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