JPH0799810A - Posture controller of farm working machine - Google Patents

Abstract

PURPOSE:To enable to highly accurately control the posture of a farm working machine in good responsibility. CONSTITUTION:A forward state detector (37) for detecting the forward travel road surface state of a farm working machine (1) and a posture control mechanism for controlling the posture of the farm working machine (1) are disposed. Basic constants related to the posture control are changed on the basis of the detection results of the forward state detector (37).

Description

Detailed Description of the Invention

[0001]

The present invention relates to a rice transplanter, agricultural tractor,
The present invention relates to an attitude control device for agricultural working machines such as combine harvesters.

[0002]

2. Description of the Related Art In this type of posture control, the control is always performed under a fixed condition regardless of the field condition.

[0003]

Therefore, in the case of a rugged land with many irregularities in the field, or a wasteland with many stones and clods, there are drawbacks such as lack of responsiveness and hunting in control.

[0004]

SUMMARY OF THE INVENTION Therefore, the present invention is provided with a front situation detecting device for detecting the forward traveling road surface condition of an agricultural work machine, and an attitude control mechanism for controlling the attitude of the agricultural work machine.
Based on the detection of the front situation detection device, to select and change the basic constants in posture control, the front situation detection device detects the traveling road surface state such as the front field state in advance, and the basic condition corresponding to the road surface state is detected. By making it possible to perform proper attitude control under a constant, the responsiveness and accuracy in this control are improved.

[0005]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is an explanatory view showing a running state of the passenger rice transplanter, FIG.
Is a side view of the riding rice transplanter, and FIG. 3 is a plan view thereof. In the figure, (1) is a traveling vehicle that is an agricultural work machine on which an operator rides, and the engine (2) is mounted on the vehicle body frame (3). ,
The front wheel (6) for traveling paddy fields is supported in front of the mission case (4) through the front axle case (5), and the rear wheels for traveling paddy fields are disposed behind the mission case (4) through the rear axle case (7). Support (8). The spare seedling mounts (10) are attached to both sides of the hood (9) that covers the engine (2) and the like, and the mission case (4) is provided by the vehicle body cover (12) on which an operator rides through the step (11). Etc., a driver's seat (13) is attached to the upper portion of the vehicle body cover (12), and a steering handle (14) is provided in front of the driver's seat (13) at the rear of the hood (9).

Further, (15) in the figure is a planting section equipped with a seedling table (16) for planting 6 rows, a plurality of planting claws (17), etc. A rotary case (21) for supporting the seedling placing table (16) on the planting case (20) via the lower rail (18) and the guide rail (19) so as to be slidable left and right, and rotating at a constant speed in one direction.
The planting case (20) to support the case (2
The planting claws (17) and (17) are attached to the tips of the pair of claw cases (22) and (22) which are arranged symmetrically with respect to the axis of rotation of 1).

Further, the hitch bracket (26) of the planting part (15) is connected to the rear side of the traveling vehicle (1) through the elevating link mechanism (25) including the top link (23) and the lower link (24). An elevator cylinder (27) that raises and lowers the planting part (15) through the link mechanism (25) is connected to the lower link (24), and the front and rear wheels (6) and (8) are driven and moved at the same time. The seedlings for one plant are taken out from the seedling placing table (16) which is slidably moved to the left and right by the planting claws (17), and the seedling planting work is continuously performed.

FIG. 1 shows a vehicle body structure in which a traveling vehicle body (1) equipped with a planting portion (15) is of an all-wheel independent suspension type and is of an all-wheel independent lifting type. The vehicle body (1) side Left and right hydraulic lift cylinders (28a) fixed to the front and rear wheels
(28b) (28c) (28d) piston rod (2
9) and the guide rod (30) through the lift (31)
And the front and rear wheels (6) via the vertical movement rod (32) and the compression spring (33) to the lifting table (31).
(8) Traveling hydraulic continuously variable transmission mechanism (H
The hydraulic motor (34) of (ST) is vertically movably supported integrally with the front and rear wheels (6) and (8). Further, a tilt angle sensor (35) for detecting a front-back tilt of the vehicle body (1), and a vehicle body (1)
Acceleration sensor (36) that detects the acceleration when tilting forward and backward
Are installed in the rear part of the vehicle body (1), and an ultrasonic preview sensor (37), which is a front situation detection device for detecting a traveling road surface condition in front of the vehicle body (1), is installed in the front part of the vehicle body (1). .

The front and rear wheels (6) and (8) are raised and lowered separately from the raising and lowering of the planting portion (15) to horizontally control the vehicle body (1), as shown in FIG. Left and right lifting cylinders (28a) (28b) for the left and right front wheels (6) and left and right lifting cylinders (28c) (28d) for the left and right rear wheels (8)
The sensor (35) (36) (3) is connected to the controller (38) which is an attitude control mechanism for driving and controlling
7) are connected for input, and these sensors (35) (3
6) The vehicle body (1) is horizontally controlled based on the detection value of (37).

This embodiment is constructed as described above, and the preview sensor (3) provided on the front part of the traveling vehicle body (1) is used.
7) Thus, the running road surface condition in the forward direction of travel is detected in advance, and this horizontal control is performed under control conditions that appropriately correspond to the road surface condition. This action will be described below with reference to the flowchart of FIG. Will be explained.

During traveling work, the preview sensor (3
When 7) detects the suitability of the normal condition in the front field,
The dead band of control, which is the dead band width of the operation of each cylinder (28a) to (28d), is set to the set value, and each cylinder (28
While the control speeds of a) to (28d) are also maintained at a predetermined set speed, when the sensor (37) detects an appropriate level or more such as unevenness of the front field, the dead zone of control is expanded,
In addition, when the control speed is increased and the sensor (37) detects an unsuitable state such as a small amount of unevenness in the front field, the dead zone of the control is reduced and the control speed is reduced to obtain the basic constant in this horizontal control. Automatically change settings of.

When the output values from the tilt angle sensor (35) and the acceleration sensor (36) are input to the controller (38), the horizontal control amount is calculated from the tilt angle and the acceleration by fuzzy inference using a fuzzy rule. When the control amount value is below or above the set dead band, the horizontal control of the vehicle body (1) is performed by appropriately slowing down the control speed of the cylinders (28a) to (28d) to maintain the vehicle body (1) horizontal. Is planned.

In the case of this construction, therefore, the basic constants of control are selected for the dead zone and the cylinder speed according to the field condition ahead of which the vehicle is going to travel, and when the field is reached, the responsiveness is good and hunting, etc. It is possible to keep the vehicle body (1) horizontal by suppressing it and maintaining good stability. Therefore, this horizontal control can be made extremely highly accurate.

6 to 7 show threshold values of the inclination angle sensor (35) and the acceleration sensor (36) which can be set and changed, and the thresholds of these sensors (35) and (36) in normal times are set. When the values are set to A and B and the preview sensor (37) detects unevenness of a proper value or more, each sensor (35)
The threshold value of (36) is smaller than A and B, a and b
These sensors (35) to improve the response by lowering to
By performing the horizontal control by fuzzy inference based on the detected value of (36), it is possible to prevent the control delay and to maintain the horizontal posture of the vehicle body (1) in a stable and good condition.

In the above-mentioned embodiment, the ultrasonic sensor is used as the preview sensor (37), but any sensor such as an optical sensor may be used, and any agricultural working machine such as a combine tractor other than the rice transplanter may be used. Further, in the vertical control of the front and rear wheels (6) (8), as shown in FIG. 8, the left and right lifting cylinders (28a) (28b) of the left and right front wheels (6) and the left and right lifting cylinders (28c) of the left and right rear wheels (8). ) (28
d) with front and rear axle cases (5)
(7) may be vertically swung to vertically control the front and rear wheels (6) and (8).

[0016]

As is apparent from the embodiments described above, the present invention provides a front situation detecting device (37) for detecting the forward traveling road surface condition of the farm work machine (1) and a posture for carrying out posture control of the farm work machine (1). Since the control mechanism (38) is provided to change and select the basic constants in the posture control based on the detection of the front situation detection device (37), the responsiveness to the road surface condition to be run is improved. In addition, it is possible to accurately control the posture of the farm work machine (1) that is appropriately adapted, and therefore, the farm work machine (1) is always affected without being affected by the road surface condition.
There is a remarkable effect such that the work can be performed while maintaining the optimum posture.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a running state of a riding rice transplanter.

FIG. 2 is an overall side view of a riding rice transplanter.

FIG. 3 is an overall plan view of a riding rice transplanter.

FIG. 4 is a control circuit diagram.

FIG. 5 is a flowchart.

FIG. 6 is a flowchart.

FIG. 7 is an output diagram of a sensor.

FIG. 8 is an explanatory diagram of another agricultural working machine.

[Explanation of symbols]

 (1) Traveling vehicle (agricultural work machine) (37) Preview sensor (front situation detection device) (38) Controller (posture control mechanism)

Claims (1)

[Claims] 1. A front condition detecting device for detecting a front traveling road surface condition of an agricultural work machine, and a posture control mechanism for controlling the posture of the agricultural work machine are provided, and a basic posture control is performed based on the detection of the front situation detecting device. An attitude control device for an agricultural work machine, characterized in that it is configured to change and select a constant.