JPH083219Y2 - Steering control device for mobile agricultural machinery - Google Patents

Description

[Detailed Description of the Invention] "Industrial application field" The present invention is directed to a steering sensor for steering an aircraft along a guide wire laid on a road surface, and traveling for increasing or decreasing the traveling speed of the aircraft based on an engine load. The present invention relates to a steering control device for a mobile agricultural machine such as a speed sprayer having a load control mechanism.

"Prior Art" In a vehicle equipped with this type of running load control mechanism, shift control of running speed was also performed based on only changes in engine load regardless of running conditions.

"Problems to be solved by the device" However, in the case of such conventional means, accidents such as engine stalling due to overload can be prevented, but when the aircraft runs on a down slope, the load of the engine is small. Therefore, if there is a danger that the traveling speed will be shifted up to a higher speed and the steering limit will be exceeded, and if a separate spraying engine is always spraying a uniform amount per hour, it is per unit area because of the high speed. However, there is a problem that the amount of sprayed chemical liquid is reduced and proper spraying of chemical liquid is not performed. In addition, when the engine is loaded due to meandering of the aircraft, traveling speed is downshifted even under the condition that the engine function is not adversely affected, and the chemical spray amount per unit area increases, resulting in chemical damage. was there.

[Means for Solving Problems] Therefore, the present invention is directed to a steering sensor for steering a vehicle body along a guide wire laid on a road surface, and a traveling speed change mechanism for increasing or decreasing the traveling speed of the vehicle body based on an engine load. In a structure including a traveling load control mechanism, a tilt sensor for detecting a change in the traveling attitude of the airframe is linked to the load control mechanism, and the load is detected when the change in the traveling attitude of the airframe based on the inclination sensor is detected. It is configured to stop the control operation in the control mechanism.

[Operation] Therefore, according to the present invention, when the engine is under a low load such as when the vehicle is traveling on a down slope, or when the engine is under a temporary high load such as a meandering traveling, the traveling transmission is provided each time. It is intended to prevent a decrease or an increase in the amount of chemical liquid per unit area by unnecessarily increasing or decreasing the traveling speed by shifting up or down, and it is possible to always spray a substantially constant amount of chemical liquid. Even on a downhill slope, it is possible to carry out safe and accurate steering without excessively increasing the traveling speed.

[Embodiment] An embodiment of the present invention will be described below in detail with reference to the drawings.
FIG. 1 is a control circuit diagram, FIG. 2 is an overall side view of a speed sprayer, and FIG. 3 is a plan view of the speed sprayer. In FIG. 1, (1) is a speed farmer that is a mobile agricultural machine, (2) is a driver's seat,
(3) is a chemical solution tank, (4) is a spray nozzle, (5) is a blower fan for spraying, (6) and (6) are left and right front wheels, and (7).
(7) is left and right rear wheels, (8) is a running engine, (9) is a transmission that is a transmission, (10) and (11) are front and rear propulsion shafts, and (12) and (13) are front and rear wheel cases. The front and rear wheels (6) and (7) are driven by the output of the engine (8) to drive the airframe.

Further, a steering handle (17) having front and rear electromagnetic solenoids (14) (15) or front and rear steering connection and switching devices (16).
A front and rear steering valve (18) (19) which is switched by the following, and a front and rear steering cylinder (20) (21) for steering control, that is, steering the front and rear wheels (6) (7), and a hydraulic pump (which operates in conjunction with the engine (8) ( 22) hydraulically connects the cylinders (20) (21) to the steering valves (18) (19) and manually operates the handle (17) or the solenoids (14) (1).
The steering control is performed by the excitation operation of 5).

As shown in FIG. 4, front and rear magnetic sensors (23a) (23b) and (24a) which are a pair of left and right steering sensors on the left and right sides at the lower front and rear ends of the speed sprayer (1).
(24b) and guide wire (2
5) is detected, and each sensor (23a) (23b) (24a) (24
b) is attached, and the detection surface faces the guide wire (25) laid on the road surface equidistantly on the left and right sides, and a direct current or alternating current from the power supply (27) connected to the wire (25). Is applied to generate a magnetic field on the wire (25), the strength of this magnetic field is measured by the sensors (23a) (23b) and (24).
a) (24b) is used for detection.

By the way, the front and rear steering amount sensors (28, 29) for detecting the steering amounts of the front and rear wheels (6), (7) are installed in the cylinder (20).
A travel speed sensor (30) for detecting the travel speed, a control electric cylinder (31) that is a travel speed change mechanism for changing the travel speed, and a travel speed change position for detecting the travel speed change position in addition to being provided in (21). Sensor (32) and traveling clutch control electric cylinder (33) for on / off operation of traveling clutch
A brake control electric cylinder (34) for controlling the traveling brake and releasing the brake, an engine stop motor (35) for driving a stop valve for stopping the fuel supplied to the engine (8), and the engine ( Engine speed sensor (36) that detects the load condition from the speed of 8)
And a front and rear inclination sensor (37) for detecting the front and rear inclination posture of the aircraft
And a traveling position setter (38) for setting a traveling position which is a steering reference line of the airframe with respect to the wire (25), and input states of the magnetic sensors (23a) (23b) (24a) (24b). A magnetic detection monitor (39) that displays a monitor, and an automatic / manual display lamp (40) that displays the automatic and manual control states.
Empty state of the chemical liquid tank (3) and each sensor (23a) (2)
3b) (24a) and (24b) are provided with an alarm buzzer (41) that sounds when a setting input cannot be obtained.

The control circuit (42), which is a load control mechanism composed of a microcomputer, has an automatic / manual switch (43) for switching between automatic and manual steering, and left and right front wheels (6) (6) during manual steering. Alternatively, steering control by front and rear two wheels only for rear wheels (7) and (7) and front and rear wheels (6) (6)
(7) (7) Steering selection switch (44) for selecting one of four steering systems of front-rear in-phase or opposite-phase steering control by four wheels, and each sensor (23a) (23b) (24a) )
(24b) (28) (29) (30) (32) (36) (37) and the traveling position setter (38) are connected for input, and the valves (18) (19) and the electric cylinders are connected. (31) (33)
(34), stop motor (35) and magnetic detection monitor (39)
By connecting the control circuit (42) to the display lamp (40) and the alarm buzzer (41), the front and rear left / right magnetic sensors (23a) (23b) (24a) (24b) )
Based on the magnetic field strength of the wire (25) detected by, each solenoid valve (18) (19) is excited and the front and rear steering cylinders (20) (21) are appropriately operated to move along the wire (25). In addition to carrying out the steering operation of the body of the vehicle, the traveling speed is controlled to a high speed based on the increase / decrease in the rotational load of the engine (8) during the normal horizontal straight traveling to maintain the rotational load of the engine (8) constant. Is configured as follows.

This embodiment is constructed as described above, and the fifth embodiment will be described below.
The steering control will be described with reference to the flowchart in the figure.

The difference of the left and right sensors are read into the control circuit (42) (23a) detected value of _{(23b) (F L) (} F R) (| F L -F
Large value (F _L ) or (F _R ) when _R | is above the dead zone
The left or right steering of the front wheels (6) is performed with the body approaching to the side, and the detection values (R _L ) (R _R ) of the left and right sensors (24a) (24b) are also detected on the rear wheels (6) side. Difference (| R _L −R _R
Similarly, when the | is above the dead zone, the rear wheel (6) is steered leftward or rightward, and these sensors (23a) (23b) (24a)
Detection value difference _{(24b) (| F L -F} R |) (| R L -R R |) along the wire (25) of the kept within the dead zone width following steering is performed.

The steering amount sensor (28) (29) during automatic steering to cut
When the airframe is turning or meandering such that the steering amount value (t) above a certain level is detected, traveling load control is performed to shift the traveling speed based on the change in the rotational load of the engine (8). While the vehicle is traveling straight while the vehicle is running straight, the tilt sensor (37) detects an aircraft tilt value (θ) above a certain level, and the aircraft climbs up. Alternatively, when traveling on a downhill road surface or the like, the traveling load control is similarly stopped and traveling is performed with the traveling speed change position maintained at the current position. The steering amount value (t) at the sensors (28) and (29) and the sensor (37)
In the horizontal straight traveling within which the vehicle body inclination value (θ) is within the set value, the engine value (V) detected by the speed sensor (36) is equal to or less than the set value (V). When the rotational speed of 8) is below or above a certain level, the electric cylinder (31) is drive-controlled and the traveling transmission, that is, the mission (9) is downshifted or upshifted. Is adjusted to a low speed or a high speed, and the rotation speed of the engine (8), that is, the rotation load is maintained constant.

In this way, when the vehicle is meandering or turning, or when a load is applied to the traveling engine (8), such as when traveling on an uphill road surface, the speed control of the traveling speed is automatically stopped to make the vehicle larger. This is to prevent an increase in the amount of chemical liquid sprayed per unit area due to the deceleration and eliminate the occurrence of chemical damage. Further, even when the traveling engine (8) such as the aircraft traveling on a downhill road is not loaded, the speed change control of the traveling speed is automatically stopped and the high speed control is performed, whereby the chemical liquid per unit area is controlled. It is intended to prevent the spray amount from decreasing and prevent the danger from exceeding the steering limit.

"Effects of the Invention" As is apparent from the above embodiments, the present invention is a steering sensor (23a) (23b) (24a) (24b) for steering the aircraft along a guide wire (25) laid on the road surface. And a structure that includes a traveling load control mechanism (42) provided with a traveling transmission mechanism (31) that accelerates and decelerates the traveling speed of the aircraft based on the load of the engine (8), the inclination for detecting a change in the traveling attitude of the aircraft. A sensor (37) is linked to the load control mechanism (42) to stop the control operation of the load control mechanism (42) when a change in the running posture of the aircraft based on the tilt sensor (37) is detected. Therefore, when the engine (8) has a low load such that the aircraft runs on a down slope, or when the engine (8) has a temporary high load such as meandering traveling, the traveling transmission (9) is shifted each time. Speed up or down It is possible to prevent a decrease or increase in the amount of chemical liquid sprayed per unit area by unnecessarily increasing or decreasing the speed, and it is possible to always spray a substantially constant amount of chemical liquid, and the traveling speed even on a down slope. It has remarkable effects such as safe operation and accurate steering without excessive acceleration.

[Brief description of drawings]

FIG. 1 is a control circuit diagram, FIG. 2 is a side view of a speed sprayer, FIG. 3 is a plan view of the same, FIG. 4 is a rear view of a magnetic sensor unit, and FIGS. 5 to 6 are flowcharts. . (8) …… Engine (23a) (23b) (24a) (24b) …… Magnetic sensor (steering sensor) (25) …… Induction wire (37) …… Inclination sensor (42) …… Control circuit (control) mechanism)

Claims (1)

[Scope of utility model registration request] Claims: 1. A steering sensor (23a) (23b) (24a) (2) for steering an airframe along a guide wire (25) laid on a road surface.
4b) and a traveling load control mechanism (42) provided with a traveling speed change mechanism (31) that accelerates and decelerates the traveling speed of the aircraft based on the load of the engine (8), and detects a change in the traveling attitude of the aircraft. The tilt sensor (37) is linked to the load control mechanism (42) so that the control operation of the load control mechanism (42) is stopped when a change in the running posture of the aircraft based on the tilt sensor (37) is detected. A steering control device for a mobile agricultural machine, which is configured as described above.