JPH02135002A - Control device of working depth of working car - Google Patents

Abstract

PURPOSE:To accurately change depth by providing an insensitive zone-changing means driving an insensitive zone-contracting means for detected state of a change-detecting means of set value. CONSTITUTION:A change of set depth is detected by a change-detecting means of set value 18 and an insensitive zone-contracting means 16 is driven by an insensitive zone-changing means 19, then a result of the insensitive zone-changing means is outputted to a comparing and distinguishing means 10. An usual insensitive zone A by first insensitive zone-setting means 14 is changed to a usual insensitive zone (a) by second insensitive zone-setting means 15 and a lift cylinder 1 is driven according to detected depth by potentiometer 5 and set depth by tilling depth-setting device 6. Accompanying to rising or lowering of tilling device, detected depth approaches to objective controlling depth and enters into the insensitive zone (a), then driving operation of the cylinder 1 is stopped and an insensitive zone-resetting means 17 is driven by the insensitive zone- changing means 19, thus the insensitive zone A is set.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention provides a drive mechanism for raising and lowering a working device with respect to a traveling machine body, a sensor for detecting the working depth by the working device, and A depth setter is provided so that the setting can be changed freely, and an elevation control means is provided for automatically operating the drive mechanism so that the depth detected by the sensor is equal to or approximately equal to the depth set by the working depth setter. The present invention relates to a working depth control device for a working vehicle.

[Conventional technology]

Conventionally, in the above-mentioned work vehicle, normal control is performed in which the work device is raised and lowered based on changes in the depth detected by the sensor.
In addition, both of the setting change control in which the working device is raised and lowered based on the change in the set depth by the working depth setter are performed based on the setting of a dead zone of the same width.

[Problem to be solved by the invention]

Conventionally, Figure 6 (a) shows the relationship between the set depth (X), dead zone (8), and detection depth (Z) before changing the set depth, and Figure 6 (b) shows the relationship after changing the set depth. Setting depth (Y
), dead zone (8), and detection depth (Z), even though the setting depth has been changed, the setting change width (
D), the dead zone (Δ) is large and the detection depth (Z) is within the dead zone (8) after changing the set depth, and the elevation control based on the change in set depth is immediately triggered by the change in set depth. Inconveniences were likely to occur due to non-responsive actions.

An object of the present invention is to prevent notching from occurring during normal elevation control, while also enabling elevation control to be executed even when the setting depth is changed by a relatively small range. The goal is to be able to make changes with high precision.

[Means to solve the problem]

Characteristic configurations of the present invention include, in the above-mentioned working depth control device for a working vehicle, dead zone reducing means for narrowing a dead zone for automatic operation of the drive mechanism by the elevation control means, and the working depth. A setting change detecting means is provided for detecting that the set depth by the depth setting device has been changed, and when the setting change detecting means enters the detection state, from the time of this detection, the elevation control means detects the change in the set depth. The present invention is further provided with dead zone changing means for automatically operating the dead zone reducing means until the operation of the drive mechanism is stopped. The functions and effects thereof are as follows.

[For production]

Even if a wide normal dead zone is normally set and the elevation is controlled to prevent hunting from occurring, if the set depth is changed, the dead zone will be changed based on information from the setting change detection means. The dead zone reduction means is automatically activated by the means, and control is performed based on the setting change dead zone, which is narrower than the normal dead zone, set as the dead zone for the new set depth. Therefore, depending on the size of the setting change range, even if the setting change range is relatively small and lift control would not be executed under conventional control,
Elevation control will continue until the depth detected by the sensor approaches the new set depth and enters the dead zone for setting changes.

Furthermore, control is performed in accordance with changes in the set depth so that the detected depth approaches or matches the control target height as much as possible.

〔Effect of the invention〕

Because of the dead zone reducing means and the dead zone changing means that automatically operates the dead zone reducing means based on information from the setting change detecting means, even if a relatively small setting change is made, the system can immediately respond to the setting change. Elevation control has started to be executed, and the actual working depth has come to match the set depth as much as possible, and the setting has been changed because the work equipment does not move up and down regardless of the setting change, making it impossible to confirm the setting change. In addition, the actual working depth changes immediately from the time the setting is changed, and the actual working depth matches the set depth as much as possible, so that the working depth changes as much as desired. A more accurate finish can now be obtained.

〔Example〕

Next, examples will be shown.

As shown in FIG. 5, a rotary tiller (2) is installed at the rear of the wheeled traveling body, and is operated by a lift cylinder (1), which is an example of a drive mechanism, to be raised and lowered via a link mechanism (2) that can freely swing up and down. 3) are connected to each other, and power is transmitted from the traveling machine body to the tilling device (3) via the rotating shaft (4), thereby forming a riding type cultivator.

The tilling device (3) is equipped so as to swing up and down around the axis (P), and so that the free end side contacts the tilling mark of the tiller (3a) for downward biasing due to its own weight, etc. A rotary potentiometer (5) is connected to the rotary rear cover (3b), so that the working depth of the tilling device (3) is detected by the potentiometer (5). As shown in FIG. 1, the control valve (8) of the lift cylinder (1) is connected to the potentiometer (5) and the tillage depth setter (6), which can be freely changed in setting, via the elevation control means (7). The lift control means (7) is connected to the drive circuit (9>) and the potentiometer (5)
) and the drive circuit (
By outputting a predetermined valve operation signal to 9), the depth detected by the potentiometer <5) is adjusted to the plowing depth setting device (6).
) is configured to automatically operate the lift cylinder (1) so that the working depth is equal to or approximately equal to the set depth, thereby making the working depth equal to or approximately equal to the set depth regardless of the longitudinal inclination of the traveling machine. This allows you to work while working.

That is, the lift control means (7) includes a comparison determination means (10).
), ascent control means (11), neutral control means (12) and descent control means (13). Then, as shown in FIG. 2, the comparison and determination means (10) sets the depth set by the plowing depth setter (6) as the control target depth, and sets the normal dead zone (A) with this control target depth in the middle. 1. The detection depth is set by the dead zone setting means (14), and the detected depth is determined based on the detected depth by the potentiometer (5), the set depth by the plowing depth setting device (6), and the normal dead zone (A). (A), and if so, determine the direction of the deviation.

When it is determined that the detected depth is not outside the normal dead zone (8), the neutral control means (12) automatically sends a signal to the drive circuit (9) to operate the control valve (8) to the neutral position. and when it is determined that the detected depth is out of the normal dead zone (A), the lift control means (11) outputs a signal to operate the control valve (8) to the tilling device rise side, or , descending control hand!
(13) automatically outputs a signal for operating the control valve (8) to the lowering side of the tiller to the drive circuit (9).

A comparison determination means (10) sets a setting change dead zone (a) such as a second pattern 0) which is narrower than the normal dead zone (A) with respect to the depth set by the plowing depth setting device (6). The second dead zone setting means (15) for comparing and determining means (
10) is attached. And comparison discrimination means (10)
dead zone reducing means (16) and dead zone resetting means (1
7) and a setting change detection means (18) configured to detect that the setting depth by the tilling depth setting device (6) has been changed based on information from the tilling depth setting device (6).
, the dead zone reducing means (
16) and dead zone reset means (17),
In spite of the large normal dead zone (8) when the lift control means (7) automatically operates the lift cylinder (1) under normal conditions,
In addition, even if the set depth is being changed relatively small, the elevation control means (7) is executed based on the set depth change, and the actual working depth matches the set depth as much as possible. It is configured as follows.

That is, as shown in FIGS. 2(a) and 2(b), the setting depth (X) by the plowing depth setting device (6) is changed to (Y), and the setting change detection means ( 18), the dead zone changing means (19) automatically outputs a signal to the dead zone reducing means <16) to operate it, and the dead zone reducing means (16) is activated.
16) outputs a dead zone change signal to the comparing and determining means (10) and sets the normal dead zone (A) as the dead zone for the new set depth (Y) as shown in FIG. The normal dead zone (a) according to (15) is changed and set. Simultaneously with this dead zone change setting, the elevation control means (
7) is the detection depth by the potentiometer (5), and
The lift cylinder (1) is automatically operated based on the set depth (Y) by the plowing depth setting device (6), and the setting change dead zone (a) is used as the dead zone for automatic lift cylinder operation. . As the tilling device (3) rises or falls, the detected depth (Z) approaches the control target depth (Y) and enters the setting change dead zone (a) as shown in Figure 2 (c). , the lift control means (7) stops the operation of the lift cylinder (1) and stops the raising or lowering of the tilling device (3). At the same time as this tilling device is stopped, the dead zone changing means (
19) automatically outputs a signal to the dead zone resetting means (17) based on the information from the neutral control means (12) to activate it, and the dead zone resetting means (17)
) to reset the normal dead zone (A) as the dead zone for the set depth (Y) as shown in FIG. 2(d). After resetting this dead zone, the elevation control means (7) remains until the set depth is changed next time.
) is based on the detected depth by the potentiometer (5) and the set depth (Y) by the plowing depth setting device (6), and
The lift cylinder (1) is automatically operated using the normal dead zone (A) as a dead zone for lift cylinder operation.

The setting change direction detecting means (20) detects the direction of setting depth change by the tilling depth setting device (6) based on information from the tilling depth setting device (6), and the lifting control means (
7) is configured to perform the automatic operation at the time of changing the set depth based on the direction detected by the setting change direction detection means (20), and when the set depth is changed, the automatic operation is performed in the direction opposite to the direction of the set depth change. This is to prevent the tilling device (3) from being operated in the direction.

That is, for example, when there is a relationship among the set depth (X), dead zone (A), and detection depth (Z) in the state shown in FIG. 3 (a), the set depth ( Y), and for the operation of the dead zone reduction means (19), the setting depth is changed from the normal dead zone (8) to the setting change dead zone (a).
) When the dead zone reduction means (16) is applied to the dead zone for dead zone reduction setting change (a), the difference between the old set depth (X) before the change and the new set depth (Y) after the change, the normal dead zone (A)
Depending on the difference between the dead zone for setting change (a) and the detection depth (Z) when changing the setting depth, the detection depth (Z) may vary depending on the difference between Dead band (
There may be a situation where the level deviates from a) to the lower level side. In this case, the elevation control means (
When 7) operates the lift cylinder based on the information from the potentiometer (5) and tillage depth setting device (6),
The tilling device (3) operates upward even though the set depth has been changed to a deeper side. That is, the direction of changing the set depth and the direction of actual tilling device operation are reversed. in this case,
Even if reverse operation control is not performed, the dead zone reset means (I7
), the original detection depth (Z) enters the normal dead zone (A) as shown in Figure 3 (8), and the reverse operation makes the operator feel uneasy. Therefore, the comparison and discrimination means (10) is the plowing depth setting device (6),
Potentiometer (5) and setting change direction detection means (2)
When it is determined that the information from 0), etc. meets the conditions for reverse operation, the control target is only changed in accordance with the change in plowing depth setting, and the lift cylinder (1) is not operated. At the same time, the dead zone is reset by the dead zone reset means (17), and automatic operation using the normal dead zone (A) is started.

The elevation control means (7), the setting change detection means (18), the dead zone change means (19), etc. are constituted by micro combinators, and are configured to operate based on the flowchart shown in FIG.

[Another example]

An ultrasonic sensor or the like may be used instead of the potentiometer (5), and these are collectively referred to as the sensor (5).

The present invention can also be applied to various work vehicles connected with a trencher, a seedling planting device, etc. in place of the tilling device (3). Furthermore, the present invention can also be applied to lifting and lowering control of a pre-reaping processing section in a combine harvester. Therefore, the tilling device (3) is referred to as a working device (3), and the tilling depth setting device (6) is referred to as a working depth setting device (
6).

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

4. Brief description of the drawings ゛゛Drawings An embodiment of the working depth control device for a working vehicle according to the present invention is shown. Fig. 1 is a block diagram of the control system, Figs. 2 and 3 are explanatory diagrams of the dead zone, and Figs. FIG. 4 is a flowchart, and FIG. 5 is a side view of the rear part of the tiller.

FIG. 6 is an explanatory diagram of a conventional dead zone.

(1)... Drive mechanism, (3)... Working device, (5)... Sensor (6)...
・Working depth setting device, (7)...Elevation control means, (16)...Dead zone reduction means, (18)...Setting change detection means, (1! ])・ ・・・Method for changing the fuwa belt.

Claims (1)

[Claims] A drive mechanism (1) for raising and lowering the working device (3) with respect to the traveling machine body, a sensor (5) for detecting the working depth by the working device (3), and a working depth setting device (6) are provided. ) is provided so that the settings can be changed freely, and the sensor (
5) of a work vehicle provided with a lifting control means (7) for automatically operating the drive mechanism (1) so that the depth detected by the working depth setting device (6) is equal to or approximately equal to the depth set by the working depth setting device (6). The working depth control device includes a dead zone reducing means (16) for narrowing a dead zone for automatic operation of the drive mechanism (1) by the lifting control means (7) compared to normal times, and the working depth setting. A setting change detection means (18) is provided for detecting that the set depth by the device (6) has been changed, and when the setting change detection means (18) enters the detection state, from the time of this detection, the elevation control means ( 7) is provided with a dead zone changing means (19) that automatically operates the dead zone reducing means (16) until the operation of the drive mechanism (1) due to the change in the set depth is stopped. Work depth control device for work vehicles.