JPS58141702A - Work vehicle - 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 The present invention relates to a working vehicle which has a liftable Kll and has a function of automatically controlling the height above the ground of nine working devices, and more specifically, a working vehicle having a liftable Kll and a function of automatically controlling the height above the ground of a working device. And this send*I! and a receiver for receiving reflected waves of the ultrasonic waves sent out by the ultrasonic sensor, which transmits the ultrasonic waves.

The work vehicle is equipped with a work vehicle that is automatically controlled to raise and lower based on the height above the ground detected by the IIO time interval measurement.

Conventionally, in this type of work vehicle, the distance (height above the ground) t# to the object is determined using an ultrasonic sensor, and the work equipment is automatically raised and lowered in response to the measured value, which is numbered a predetermined number of times and converted into tsFM8. A method has been adopted to do so.

However, based on the single measured value itself by such means (averaging increases the influence of abnormal values due to butterflies, measurement errors, etc., in some cases, the unresponsive IIK cropping device t! There was a drawback that high control could not be performed stably.The present invention aims to solve this conventional drawback.

In order to achieve this object, the present invention is characterized in that the working device is configured to average a predetermined number of the sampled values and automatically control the lifting and lowering of the working device based on the 'fi-value. shall be.

Because of this characteristic structure, according to the present invention, the measurement value measured by the sensor is divided into multiple parts, and the representative values sampled as values corresponding to the fC predetermined height range of the headboard are averaged, so an abnormality can be detected. Stable, including the response of the hydraulic circuit as a means of lifting and lowering! I
# Lowering control is possible, making it possible to reliably prevent malfunctions such as unnecessary lifting and lowering of the working equipment.

Furthermore, unlike conventional methods, the measured values themselves are not averaged over all, but are averaged based on specified representative values, so what is the calculation for that averaging? 16 is simplified, and also has the effect of significantly reducing the storage capacity of the arithmetic unit required for sampling a predetermined number of times.

Next, embodiments of the present invention will be described in detail based on illustrative drawings.

As shown in Figure 1, a pulling device f for pulling up the planted culm.
11) Reaping to harvest the raised culm * [121, and modified from the conveying device (4) which changes the attitude of the harvested culm while transporting it to the sideways IA position and transfers it to the eye chain (1). Mower 1y, e4If11 as an example of a working device,
A threshing device (@) that threshes and processes the harvested husk while holding and conveying it with a tweed chain iml is mounted on a traveling vehicle body equipped with a one-clock traveling device (1) and a control section (not shown). This is an example of a car made up of a funpine.

1) Rotate the frame (8) of the Karutaribu sono to the left and right axis of the aircraft (I)
The frame +
81 and the traveling vehicle body, and the reaping Is is performed by extending the cylinder (-).
As shown in FIG. 2, the frame Ill K is erected and the nine pillars are driven to swing up and down to transmit ultrasonic waves! An ultrasonic sensor I is installed from +II) and I9 which receives ultrasonic waves, and transmits ultrasonic waves from transmitter-5 (6) toward the tjIk surface, and blocks the reception of the ultrasonic waves reflected from the ground. , the K11 section is designed to detect the ground height ulcer of the harvesting section ti+ based on the time difference between the time of transmission and the time of reception.

Ru.

Below, 4! ! Based on Figure 18 and 4th FiIi, the mechanism for detecting the height above the ground of the reaping section will be explained.

The arithmetic unit (microcomputer) is started by Fist 4) and synchronized with the timer (by I@) at a certain period, the ultrasonic signal (Pri) is intermittently oscillated, and the
Amplify! ! After the vehicle reaches a predetermined level K11l1 width, the transducer V'' sends a multilayer sound wave to the target object.
'n* do it.

10,000, the receiver α is transmitted from the transmitter 1I (IO) and receives the sound waves reflected on the ground by the transducer 1-Sakaki (1 Sakaki), and the 9th round liquid interval selects the noise tlKjl. * By amplifying the signal to a constant level, the received M signal (Ps
) is output.

Next, this received signal (De3) #'i comparator (2)
Therefore, the comparator (2) outputs a received pulse (D4) by shaping the received signal (I) which is larger than the above-mentioned I value (ie, the reference voltage (Vrvf)).

Next, 7 lip 7 4 tub (hereinafter referred to as Fl) (2) is,
The received pulse (r4) is input to the input terminal (CLK), and the timing pulse (PI) is reset to the terminal -
When the data input terminal @9 is fixed at HIGH level, the timing pulse (?1) is inputted into the data input terminal @9 and the period is 41.
The output (b) generates a sound of p111Gil level.

After that, the receiver I/@) receives the ultrasonic waves reflected from the ground, and the comparator (transfer) receives the ultrasonic waves reflected from the ground.
When Cps is input, this pulse Cps).

To increase the fall responsibility, the output #, which is at the HIGH level, is changed to the LOW level. (See Figure 4 (P,)).

Here, the #buchi pulse (P5
) is at the 1ilGH level (TD) is the transmitting/receiving
IIa (II) , (l Since this is the time for the ultrasonic wave to travel back and forth between the smell and the ground, the output @ is input to the CPUfMK via the I10 boat r23t of the calculation unit 4, and the measurement pulse (1's) O will rise (T1), fall (Tl) K 14114 and start and stop in the above section (TD) t-
Calculate as distance 1l (TI).

Next, as shown in FIG. 5, the distance (TH) is
is the normal height above the ground @1111・wtral area (0), and if there is a distance (TH) in this range, the above-mentioned reaping part (it is necessary to control the pieces downward, so D@Wll K area) Similarly, the lower IC range is defined as the UpfR range (+1) in the sense of upward control, and the distance (TH
) was divided into 8 parts, (-1), (0).

(+l)O Replaced with representative value, sequentially #t#Il data ($
1D(1)) (i is O≦straight≦lce, so j e ic
is stored in memory as an arbitrary electric switch.

After that, the measurement is repeated for each IC, and then the 1c data is integrated, and the integrated value corresponding to the numerical range divided into 8 (
SD) result (SD<-4, -4<5D (4゜4≦SD
), from the I10 boat (2) to the driver circuit @ , (27 via the electromagnetic pulse IIKD @
Send wm output car N@wtral output sUp output,
The hydraulic cylinder (S) is driven to raise and lower the reaping capital side.

Next, the IC data (SD) stored in the memory (to) are replaced with the data at the address 1'' later (8D (0) 4-SD (1), SD (
1)←SD l! +-・・・SD (1g -1)
←! ID (1c)) After step 7, perform the above-mentioned height above ground measurement.

Also, the integration of # measurement data (8D(i)) from the Sth time onwards is performed every l- measurement since (lc-1) pieces of data have already been prepared according to the theory IJiK mentioned above. .

By the way, when measuring the height above the ground, see Figure 4 C.
Ps) ノK al(TRI') K 15 K
, If a normal reception value '90Ps) cannot be obtained due to some reason and there is a crisis, the comparator @ does not output the reception pulse (P4), so the FF@ is not triggered.
The output (b) becomes 1ilGH level and is in danger of LO.
It does not change to W level.

In this case, the timing pulse (
Since the -period time of Pl) is minutely observed, the CPU @ detects the time act, forcibly sets the FF (Pl), and changes its output to LOW level.

However, since the measurement pulse (?S) of the interval (TI') obtained from the output (to) is measurement error data, the data (SD (?S)) of straight 1i7 which is normal measurement data is -1)) tlf-measurement data (SD (1)
)) is stored in the memory 3GK to correspond.

After that, if a normal measurement pulse (section (pulse CPd indicated by Tit)) is obtained, the data is stored by the above-mentioned normal processing.

Note that the data stored at the first address of the memory (to)
SD(0)) Fi is set as (0) in advance to deal with the case where there is a measurement error during the first measurement.

In the drawing, @ is a hydraulic pump, and Fig. 6 #i calculation section (14)
3 is a flowchart showing the operation of FIG.

[Brief explanation of the drawing]

The drawings illustrate the implementation of the work vehicle according to the present invention, IJIWJt;j partially omitted, the entire figure is 1IilrkJ, FIG. 2 is an enlarged view of the main parts, FIG. 8 is a block diagram of the control device, and FIG. FIG. 4 is a waveform diagram of the main part, FIG. 5 is a conceptual diagram of the averaging process, and FIG. 6 is a flowchart.

Claims (1)

[Claims] It has an ultrasonic sensor I consisting of a transmitter (11) whose oscillation is controlled intermittently at every predetermined period, and a reception mow that receives reflected waves of the ultrasonic waves transmitted by the transmitter (10), In a work vehicle equipped with a work device (I)' that is automatically controlled to raise and lower based on the detection result of the height above the ground measured by measuring the time interval between transmission and reception of ultrasonic waves, the detected height above the ground is adjusted to a predetermined value. A work vehicle characterized in that the work vehicle is placed horizontally so as to perform automatic lifting/lowering control based on the average value of the number of work vehicles.