JPH01240102A - Straight direction control device for mobile agricultural machinery - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a straight direction control device for mobile agricultural machinery, and can be used in seedling planting machines, combine harvesters, and other tractor working machines.

Prior Art and Problems to be Solved by the Invention Automatic straight-line direction control, which uses a direction sensor to control the straight-line direction of the vehicle body, is only necessary when the work equipment is in the working state, and is not required when driving on a general road. If the vehicle is simply traveling during non-working hours, automatic straight-ahead direction control is dangerous. Therefore, the present invention attempts to execute automatic straight direction control only when the working device is reliably in the working posture position.

Means for Solving the Problems The present invention includes a ground sensor (2) for detecting that a working device (1) is in a working posture close to the soil surface, and a ground sensor (2) for detecting that a working device (1) is in a working posture position, and a vehicle body (3) for connecting the working device (1) to a vehicle body (3). An automatic straight-ahead switch (6) is provided which controls the straight-ahead direction of the vehicle body (3) by means of a direction sensor (5) upon detection with a lift sensor (4) that detects that the vehicle body (3) has been lowered to a working position. It is assumed that the straight direction control device of agricultural machinery was stolen.

Functions and Effects of the Invention The work is carried out with the working device (1) brought close to the soil surface and placed in the working position by moving the vehicle body (3).

In the automatic straight-ahead direction control, the straight-ahead direction is detected by a direction sensor (5) and the steering output is controlled to maintain straight-ahead travel. This automatic straight-ahead direction control is controlled by an automatic straight-ahead switch (6
) is executed by turning on the automatic straight-ahead switch (6), the ground sensor (2),
Or, it is not executed when the lift sensor (4) is not turned on.

When the working device (1) is lowered relative to the vehicle body (3), the ground sensor (2) detects that it is in the working posture position, and the lift sensor (4) detects the lowering relative to the vehicle body (3). Therefore, when the automatic straight-ahead switch (6) is turned on, automatic straight-ahead direction control is executed, and the vehicle body (3)
Then, the working device (1) is moved straight in a predetermined direction to perform the work.

In this way, in this invention, the automatic straight-line direction control by the automatic straight-line switch (6) is executed by detecting the working posture position of both the ground sensor (2) and the lift sensor (,1), so that accurate straight-line direction control can be achieved. Detection of the working posture position and start of straight-line control are performed to prevent control malfunctions.

Example When turning a seedling planter as an example of a mobile agricultural machine, it has a four-car body (3) with a steering wheel (a front wheel (7) that can be freely steered by I force), and a rear wheel (7). (8), the engine (I (support)) under the cockpit (9) transmits power to these 11 wheels (71fil), and a working device (1 ).The automatic straight forward switch (6) is installed on the control handle (i).

The lifting device that connects the seedling planting device (1) is a lift link (
11) and a hydraulic cylinder (11) that raises and lowers the lift link (11), which moves the lift link (11) up and down by the expansion and contraction of this hydraulic cylinder (1) to raise the seedling planting device to a non-working position. The control structure is configured to lower the seedling planting device to a working posture position.The lift sensor (4) detects the vertical angle of the lift link (11) with respect to the vehicle body (3) to detect the working posture position of the seedling planting device. It is said that

The seedling planting device includes a seedling tank (1) that accommodates and supplies seedlings to a seedling planting machine f131 connected to the rear end of the lift link (11).
41, this seedling tank (seedling planting device (19) that separates and transplants the seedlings supplied from Ilo, and a plurality of vertically swingable flows 1 to 19 that support these and slide on the soil surface)
The floats (161) at both left and right ends are ground sensors (2).This ground sensor (2) is pivoted so that its front end can swing vertically relative to the seedling planting machine (13). It is assumed that the grounding state, that is, the working posture position is detected when the robot is within a certain angle (α) downward from the horizontal plane.

A direction sensor (5) that controls the straight direction, a lift sensor (
4), left and right ground sensors (2), etc., and turn on the automatic straight-ahead switch (6) to control the automatic straight-ahead control table r! with a microcomputer. The left and right steering output systems (L) and (R), which operate the steering wheel (i) or steering clutch, etc., are configured to output operation through the CPU 1 (CPU). For example, a solenoid valve or the like is used for R).

Control in the straight-ahead direction uses the azimuth angle of the direction sensor (5) as a reference, and outputs the steering output system (L) or (R) so that the detection of this direction sensor (5) is within the reference area. Te, I
Controls the straight direction of the IL body (3).

Automatic straight-ahead direction control using the automatic straight-ahead switch (6) starts when the lift sensor (4) is lowered when the seedling planting device is lowered.
) detects the working posture position, and the process starts on the condition that both the left and right ground sensors (2) detect the working posture position (FIG. 4).

In addition, a working clutch (1G
It is also possible to provide a configuration in which automatic straight direction control is started in the same manner as described above on the condition that this working clutch (11) is engaged.

In addition, the direction sensor (5) is configured to detect the relative azimuth angle by calculating the integral value of the angular velocity of the sensor and perform automatic straight-ahead direction control. When the switch (6) is turned on, an alarm may be output (one alarm is output), or a monitor lamp for the automatic straight-ahead control load may be turned on for a certain period of time (FIG. 5).

As shown in Fig. 6, in the relationship between the angular velocity output voltage (V) and output time (T) of the direction sensor (5), when stopped is the reference level (C), when the rotation is constant to the left, the reference level is reached. Output a (V) for (C), and in the case of the reverse, b
(v) Output. If the integrated areas (A) and (B) obtained from this voltage (V) and time (T) are equal, the point (Pl) and the point (P2) become the same point.

When using angular velocity as the direction sensor (5), when calculating the integral value in this way, there is a risk that a small output voltage difference will result in a large relative azimuth difference, so
5) When performing control until the system itself stabilizes, output an alarm (19, etc.) to reduce the possibility of performing control with large errors.

Control can be stabilized.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a side view, Fig. 2 is a side view of a part thereof, Fig. 3 is a control block diagram, Figs. 4 and 5 are flowcharts, and Fig. 5 is a flowchart. Figure 6 shows the output graph of the direction sensor. In the figure, code (1) is the working device, (2) is the ground sensor, (
3) is the vehicle body, (4) is the lift sensor, (5) is the direction sensor, and [6] is the automatic straight-ahead switch.

Claims (1)

[Claims] A ground sensor (2) that detects that the work device (1) is in a working posture close to the soil surface, and the work device (1)
an automatic straight-ahead switch that executes straight-line direction control of the vehicle body (3) by a direction sensor (5) upon detection with a lift sensor (4) that detects that the vehicle body (3) has been lowered to a working posture position; (6) A straight direction control device for a mobile agricultural machine.