JPH078162B2 - Work traveling control structure for mobile agricultural machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention is based on a detection result of a sensor that detects a change in the working state of a working device such as a grounding posture and a gear shifting state of a traveling transmission. The present invention relates to a work traveling control structure for a mobile agricultural machine including control means for automatically maintaining a predetermined state for switching by an actuator.

[Conventional technology]

In the work traveling control structure of this type of mobile agricultural machine, it is an important factor for the accuracy of control that the sensor that detects the state change accurately captures and outputs the state of the working device. For example, in the rolling control of the working device, when the working device is in the rolling neutral device (horizontal position), the state detection sensor needs to output a signal corresponding to the neutral position. However, there are cases where the sensor cannot be mounted as designed when it is mounted. In such a case, conventionally, the working device was forcibly moved to a predetermined posture for adjustment (rolling neutral posture if rolling control was used). Then, in that state, adjustment was made for each sensor using a dedicated jig (trimmer) so that the sensor outputs a signal corresponding to the rolling neutral position.

[Problems to be Solved by the Invention]

However, the number of sensors that need
Since there are a large number of controls such as rolling control and traveling speed change control, if the adjustment work is performed correspondingly, the work load will be heavy.

It is an object of the present invention to provide an adjustment work which can be easily and surely performed by introducing a simple storage means.

[Means for Solving the Problems]

The characteristic configuration according to the present invention is that the control mode is set to the adjustment mode by repeating a predetermined operation for a specific operation tool a plurality of times within a predetermined time, and the working device is forcibly operated to the reference state. In this case, the difference between the output value output by the state quantity detection sensor and the output design value that the state quantity detection sensor should output in the reference state of the working device is stored as a correction value, and the output of the state quantity detection sensor is stored. There is a storage means for correcting the value, and the operation and effect are as follows.

[Work]

That is, when performing the adjustment operation, first, the control device is switched to the adjustment mode by operating the specific operation tool. Then, the working device is set to the reference state. In this reference state, the working device is positioned at the maximum raised position as a condition corresponding to the lifting control, at the same time, the working device is positioned at the rolling control neutral position, and the traveling transmission switching actuator is positioned at the minimum speed position. Say. Therefore, the error value between the output value of the state detection sensor indicated by the working device in the reference state and the output design value set to indicate the reference state is stored in the storage means as a correction value.

Therefore, at the time of actual work, the output value indicated by each state detection sensor is corrected by the correction value, and the corrected value is used for control.

〔The invention's effect〕

Therefore, all the sensors can be adjusted at once, and no manual adjustment work is required, so the adjustment work load can be significantly reduced and the adjustment can be easily done after the sensor is installed. Since it is not necessary to perform strict positioning and mounting work, manufacturing and assembling work can be performed easily.

Moreover, when switching to the adjustment mode, it is necessary to repeat a predetermined operation a plurality of times within a predetermined time when operating the specific operation tool, so that even if the specific operation tool is touched by mistake, the operation is switched to the adjustment mode. Without this, it is possible to switch to the adjustment mode only when the user intentionally makes adjustments.

Further, in particular, if a non-volatile memory is adopted as the storage means, adjustment work can be performed even on the side of the user, and a change in the mounting state due to a secular change in the working device can be dealt with by changing the correction value.

〔Example〕

As shown in FIG. 4, an engine (4) is provided at the front of a traveling vehicle body (3) equipped with front and rear wheels (1) and (2), and a belt type continuously variable transmission as the engine and the traveling transmission. A transmission case (6) that is transmission-coupled via a device (5), a control section (7) provided in the middle of the machine body, and a lift link mechanism driven by a lift cylinder (32) behind the control section (7). A riding-type rice transplanter, which is an example of a paddy working machine, is configured by including a seedling planting device (9) that is vertically movable via (8). Incidentally, (34) in FIG.
Is a cylinder for rolling the seedling planting device (9) with respect to the lifting link mechanism (8).

As shown in FIG. 1, the belt type continuously variable transmission (5) uses split pulleys (5a) and (5b) as input pulleys on the transmission case (6) side. )
By moving one (5a) with respect to the other (5b) in the perspective direction by the electric actuator (11), the wrapping angle of the belt can be changed to continuously change the speed. A main clutch (12) is provided for the output shaft of the engine (4), and the main clutch (12) is turned on and off by a foot pedal (13).
Further, as shown in FIG. 3, a gearshift lever (14) is provided below the operating portion (7), and the first forward speed used during planting traveling and the second forward speed used during road traveling, In addition, it is possible to switch to three speeds of the first reverse speed. Therefore, the number of stages of the continuously variable transmission (5) is superimposed at each shift position. The upper operation panel of the gear shift lever (14) has a planting lever (2) for forcibly raising and lowering the seedling planting device (9).
5) and plowing depth setting device (16) are provided.

Further, below the seedling planting device (9), there is provided a grounding sensor (15) which moves up and down due to fluctuations in grounding pressure.
The display panel of the operation section (7) is provided with an encoder-type plowing depth setting device (16). In order to maintain the set value of this plowing depth setting device (16), the detection result of the ground sensor (15) is displayed. Based on this, a raising / lowering control device for raising and lowering the seedling planting device (9) to maintain a constant planting depth is provided.

For the main clutch pedal (13), a limit switch type first clutch sensor (S ₁ ) for detecting the clutch engaged state and a limit switch type second clutch sensor (S ₂ ) for detecting the clutch disengaged state. When the clutch disengagement state is detected, the traveling gear shift position is forcibly switched to the lowest speed position (LOW) as the predetermined deceleration position regardless of the gear shift operation position of the shift operation lever (17).

Another operation mechanism will be described. A shift operation lever (17) for setting the shift position of the belt type continuously variable transmission (5) is provided, and a potentiometer type shift sensor (20) as a state quantity detection sensor for detecting the shift operation amount is provided. Therefore, the actuator (11) is actuated by the control signal from the control device (27) as a control means in response to the signal from the potentiometer, and the belt type continuously variable transmission (5) is switched to the predetermined shift position. To do.
A rotation detector (18) for detecting the rotation speed of the engine (4) is provided.
A signal from the potentiometer of the shift operation lever (17) is input to the control device (27) to control the actuator (11) and the like.

Based on the configuration described above, a mode in which the vehicle speed is controlled by the traveling load will be described based on the flowchart of FIG. When the engine is started, the control is not started unless the shift operation lever (17) for the continuously variable transmission is once set to the lowest speed position (LOW). Therefore, first, it is confirmed whether the operation lever (17) for the continuously variable transmission is once operated to the lowest speed position (LOW). And once operated,
Depending on the ON-OFF state of the main clutch (12), whether the position of the planting lever (25) is the "planting position" or the "up position", "neutral position" or "down position" of the seedling planting device. Look at. Then, the operation lever (17) for the continuously variable transmission, the main clutch (1
2), and when the operating lever (17) for the continuously variable transmission is not operated to the lowest speed position (LOW) among the three conditions of the position of the planting lever (25), or the main clutch (12) is In the off state, or when the planting lever (25) is in the "up position", "neutral position", or "down position" of the seedling planting device, the shift in the software for the continuously variable transmission (5) is performed. The target value (OBPBUF) is set to the lowest speed position (LOW), and if the current operating position (PRERO) of the continuously variable transmission (5) is not the lowest speed position (LOW), the actuator is moved to the lowest speed position (LOW). Switch by (11).

In other words, in other words, when the engine (4) is started, the main clutch (12) is in the engaged state, and the operation lever (17) for the continuously variable transmission is not yet operated to the lowest speed position (OBP), it is the lowest. The rice transplanter will start once if the speed is maintained.
Then, when the driver notices it and once switches the operation lever (17) for the continuously variable transmission to the lowest speed position (LOW) and further to the desired shift position, the main routine control such as speed control is started. However, even if the operation lever (17) for the continuously variable transmission is once moved to the lowest speed position (LOW), if the main clutch (12) is in the disengaged or half-clutch state, it is determined that the seedling is being replenished and the lowest speed is obtained. Keep it in the position (LOW),
If the planting lever (25) moves up, it is judged to be turning on the edge of the ridge, and it is turned slowly to the lowest speed position (LOW). In any of these cases, the setting is made independently of the shift instruction position (OBP) as the operation position of the continuously variable transmission operation lever (17).

Here, the position of the planting lever (25) is to be determined only when the main speed change lever (14) is set in the gear shift range corresponding to the planting position, that is, when planting work is performed.

When the operation lever (17) for the continuously variable transmission is once operated to the lowest speed position (LOW) and the main clutch (12) is in the engaged state, although not shown in the flow chart, the starting form is as described above. A method of rapidly shifting the continuously variable transmission (5) to the shift instruction position (OBP) of the operation lever (17) or gently shifting to the shift instruction position (OBP) or a predetermined deceleration value is adopted. When the main shift lever (14) is operated to the planting position, the planting work is in progress,
Looking at the position of the planting lever (25), when the planting lever (25) is in the "up position", it is determined that the vehicle is turning on the ridge, and the continuously variable transmission (5) is moved to the lowest speed position ( LOW), rotate slowly and move rapidly to the shift instruction position (OBP) of the operation lever (17) for the continuously variable transmission when the planting lever (25) is in the "up position" for performing planting work. Alternatively, a method of gradually shifting to the shift instruction position (OBP) or a predetermined deceleration value is adopted. Further, when the planting lever (25) is in the "neutral position" and the "down position", it is assumed that seedlings are being supplied, and the continuously variable transmission (5) is set to the lowest speed position (LOW).
To

As described above, depending on the gear position of the main gear shift lever (14), it is determined whether the planting operation is being performed or the vehicle is traveling on the road, and the process proceeds to the next vehicle speed control (step I).

Next, vehicle speed control will be described in which the actuator (11) is controlled to automatically shift gears regardless of the shift instruction position (OBP) of the continuously variable transmission operation lever (17) depending on the engine load. The vehicle speed control mode and the artificial vehicle speed control mode in which the vehicle speed is set based on the operation of the operation lever (17) for the continuously variable transmission are determined by whether the accelerator lever (24) is in the full accelerator position. , The vehicle speed control mode is set at the full accelerator position. In this embodiment, the vehicle speed control is performed with the full accelerator position as the reference position, but the reference position may be other than the full accelerator position.

First, a control reference is set before performing control. If the potentiometer (19) is provided as a sensor for detecting the accelerator position and the accelerator lever (24) is operated to the full accelerator position, first, the no-load engine speed corresponding to the full accelerator position is set as the reference engine speed. This is actually 3800 rpm. Then, as an engine speed as a reference for changing the shift position of the belt type continuously variable transmission (5) according to the running load, a first predetermined speed lower than the reference engine speed (3800 rpm) by a predetermined amount (for example, 3800 rpm) and a second predetermined rotation speed lower than the first predetermined rotation speed (for example, 3000 rpm). In the flow chart, the first predetermined rotation speed is HIGH LIMIT and the second predetermined rotation speed is LOW.
Abbreviated as LIMIT.

In vehicle speed control, the engine speed detector (1
The actual engine speed is detected by the output from 8),
This actual engine speed (ER) is the second predetermined speed (LO
If it is less than WLIMIT), the running load is larger than the engine output, so the belt type continuously variable transmission (5) is switched to the low speed side, and the actual engine speed (ER) is the second predetermined speed. If it is equal to or higher than (LOWLIMIT) and is equal to or lower than the first predetermined rotation speed (HIGHLIMIT), the running load is balanced with the engine output, so that the belt type continuously variable transmission (5) is maintained at the current shift position and the actual engine rotation speed is increased. If (ER) is a rotational speed exceeding the first predetermined rotational speed (HIGHLIMIT), the running load is smaller than the engine output, so the belt type continuously variable transmission (5) is switched to the high speed side. (Step II).

As described above, the vehicle speed can be controlled according to the traveling load.However, except for the full accelerator position, the speed change lever (1
It becomes the artificial vehicle speed control mode in which the actuator (11) is operated so as to reach the operation position of 7).

An adjustment mode different from the above-described vehicle speed control and the like will be described. At the rocking fulcrum position of the lifting link mechanism (8), a lifting sensor (21) for detecting a lifting amount of the seedling planting device (9) and a rolling operation amount of the seedling planting device (9) are set in a rolling cylinder (34). ) Rolling sensor (2
2), a rotation detector (23) that detects the amount of vertical swing of the ground sensor (15), and a shift position sensor that measures the amount of operation of the actuator (11) that shifts the belt type continuously variable transmission (5). (26) is provided.

In addition to this, a push button switch (28) as a specific operating tool for adjustment mode and a storage means (29) including a non-volatile memory (NVRAM) are provided as means for displaying the adjustment mode.

Here, when the push button switch (28) is pressed once, the seedling planting device (9) and the belt type continuously variable transmission (5) actuator (11) are automatically operated to the adjustment reference position (here. Then, there is also an effect that the deviation from the reference position can be visually judged. In addition, set the shift operation lever (17) etc. to the reference position.

When the push button switch (28) is pressed three times within a predetermined time (within 2 to 3 seconds), the actual output values indicated by the elevation sensor (21) and the rolling sensor (22) and the seedling planting device (9). ) In the reference state, the error value with respect to the set value output by each lift sensor (21), (22) is stored as a correction value in the storage means (29).
Is stored in.

At this time, if an old correction value is stored in the storage means (29), it is updated to a new correction value.

Therefore, these correction values are actually the lift sensor (21).
Is added to the output value, and the corrected value is used as a feedback value for control.

[Other Embodiments] The specific operating tool (28) may be operated a plurality of times. However, it is necessary that the number of times is different from the number of times the specific operation tool (28) is operated when the working device (9) or the like is forcibly driven to the reference position.

The specific operation tool (28) may be a dedicated operation tool, but may also be used as another operation tool. For example, a configuration may be adopted in which the plunge depth setting device (16) or the like is turned into an adjustment mode when it is rotated a plurality of times within a predetermined time.

The actuator (11) may be a hydraulic type and is not limited to an electric type.

As the traveling transmission, the main transmission in the mission (6) and the belt continuously variable transmission (5) are used, but either one may be used. A gear type transmission may be used instead of the belt continuously variable transmission (5).

The traveling clutch may be provided separately from the main clutch (12).

The thing of the said Example may be used for other mobile agricultural machines, such as a combine.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a work traveling control structure for a mobile agricultural machine according to the present invention. Fig. 1 is a control configuration diagram, Fig. 2 is a flow diagram, Fig. 3 is a plan view of a control section, and Fig. 4 is a riding type. It is a side view of a rice transplanter. (5) …… Traveling transmission, (9) …… Working device, (11)
...... Actuator, (21) …… State quantity detection sensor,
(28) …… Operating tool.

Claims (1)

[Claims] 1. An actuator (11) based on a detection result of a sensor (21) that detects a change in the working state of the working device (9) such as a rolling posture against the ground and the shift state of the traveling transmission (5). ) Is a work traveling control structure for a mobile agricultural machine, which is provided with a control means (27) for automatically maintaining a predetermined state for switching by means of), and performs a predetermined operation on a specific operation tool (28) a plurality of times within a predetermined time In the adjustment mode in which the control mode is switched to the adjustment state by repeating, the output value output by the state quantity detection sensor (21) when the working device (9) is forcibly operated to the reference state, and the working device (9) A storage means (29) is provided for storing an error from an output design value to be output by the state quantity detection sensor as a correction value in the reference state and correcting the output value of the state quantity detection sensor (21). Transfer Work travel control structure of agricultural equipment.