JPS62236403A - Automatic plowing depth controller - 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 provides a sensor for detecting the relative distance in the vertical direction between a rotary tilling device connected to a vehicle body so as to be able to rise and fall and the ground behind the rotary tilling device. An automatic l! is provided with a control means for raising and lowering the rotary tiller to maintain the detected value of the sensor at a set value. Regarding II deep control device &.

[Conventional technology]

Conventionally, an automatic plowing depth control device configured as described above uses a non-contact type sensor to control the relative position between the rotary tillage equipment and the plowed ground, as shown in Japanese Patent Application Laid-Open No. 55-99108. The rotary tiller is configured to detect the distance and to feedback-control the rotary tiller so that the detected relative distance can be maintained at a predetermined set value.

[Problem that the invention seeks to solve]

Generally, in plowing work using a rotary tiller, as shown in FIG. 8, the vehicle body (1) is driven while controlling so that the level of the rotary tiller is maintained at a predetermined plowing depth. Then, when the vehicle body +11 approaches the ridge (Ga), the rotary tilling device (5) is raised 7:l a″e, L, :O
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After setting the direction of the vehicle body (1) so that it is parallel to the ground, operate the rotary tiller t (6+) so that it descends.

In addition, as mentioned above, when the vehicle body approaches a ridge, the rotary tilling device is raised and lowered without changing the set plowing depth value. Normally, the control structure is configured so that the plowing depth before the turn can be maintained even after the vehicle body has turned.

However, considering the plowing depth control structure configured as described above, when the vehicle body is turned and then the rotary tiller is lowered, the sensor detects the plowed ground. , as shown in Fig. 8, a rotary tiller (5
) is set to a deep state based on the uncultivated ground (Gp), and the desired state is reached only when the vehicle body (凰) travels and reaches a state where it can detect the plowed ground (GH). The level of the rotary tiller (5) will be maintained at the tillage depth.

Therefore, immediately after the rotary tiller is lowered, not only does the rotary tiller become overloaded, but also the height of y [rise] over the entire field is not constant, and there is room for improvement.

An object of the present invention is to provide an automatic plowing depth control device that can prevent the plowing depth of a rotary tiller from becoming deeper when resuming plowing work by rational modification.

Means for solving the one-time period point] The feature of the present invention is that in the automatic plowing depth control device described above,
When the rotary tilling device is raised to turn the vehicle body during work under automatic control, a memory means is provided for storing the level of the rotary tilling device relative to the vehicle body at the time of the raising operation, and the level of the rotary tilling device relative to the vehicle body at the time of this raising operation is stored. Provided with a determination means for determining that the sensor has reached a state in which the plowed ground can be detected by the running of the vehicle body when resuming work on the ground;
When resuming work on uncultivated ground, the level of the rotary tillage device is maintained at the level relative to the vehicle body stored in the storage means until the sensor reaches a state where the vehicle body travels to detect the plowed ground; Thereafter, the control means, storage means, and discrimination means are linked to each other so that control is performed to maintain the detected value from the sensor at the set value, and the functions and effects thereof are as follows.

[For production]

The above characteristics are configured as shown in FIGS. 1 and 2, for example, and a system that constitutes the control means (C) is installed!
(Includes a 161K microprocessor (not shown),
If the microprocessor is configured to operate according to the flow chart shown in FIG. 7, as shown in FIG. 8, when the vehicle body +11 approaches the ridge (Ga) and the rotary tilling device (5) is raised , the forced rise switch 041 is turned ON, and at the same time as this operation, the control device [
(Memory for 15+ (15m) (Memory hand JR (R
) - example), the value from the lift arm sensor <121 is stored, and after this storage, the rotary tiller [f5
1 rises to a predetermined level ($1 in the flowchart
．． #2゜#8 step).

Next, after the turning operation is completed, press the forced rise switch (I4).
When the OFF operation is performed, the memo! J (15
Rotary tiller (5) to the level stored in ss)
descends and '#J! , a timer consisting of a program set in the microprocessor (example of determination means (J))
starts the kacunto, and the control switches to automatic mode as soon as the predetermined number of kakunts has been counted.

The value stored in the memory (15a) is the vehicle body level value of the rotary tiller maintained at the set plowing depth in the automatic mode.

〔Effect of the invention〕

Therefore, by modifying the conventional control structure by adding a memory means and a discriminating means, when the tillage operation is restarted, the sensor is in a position to detect the uncultivated ground, but the rotary tiller is not at the desired plowing depth. An automatic plowing depth control device that does not go deeper than the specified value was obtained.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 4 and 5, a pair of left and right lift arms f31, +31 are provided at the rear of the vehicle body fl), which are raised and lowered by the operation of a hydraulic cylinder f2+.
110 rear f@K) Link mechanism (4) consisting of a double link (4a) and a pair of left and right lower links (4b), (4b)
The rotary tilling device (5) is connected via the lower links (4b), (4b) and the lift arms (3i,
f31 through lift arms f61 and +61 to make the agricultural tractor capable of plowing.

As shown in the figure, the vehicle body (11) is provided with a driver's seat (7), and on the right side of the driver's seat (7) is a control box (8) that controls the elevation of the rotary tiller (5).
) and an operating lever (9), and the rotary tilling device (51) is equipped with a rotor (5a) for raising the #i square, and an upper cover (5b) and an upper cover (5
b) A rear cover (5c) is provided that is swingably connected to the left-right axis of the rear end edge, and the plowing depth of the rotary tiller (5) is detected from the swinging posture of the rear cover (5c). Sen? 1101 is provided.

The agricultural tractor is equipped with a control means (C) for adjusting the ground level of the rotary tiller fil in order to maintain the plowing depth of the rotary tiller (5) at a set value.

As shown in FIG. 2, the control means (C) is a lift arm sensor which is operated in accordance with the amount of swing of the toe arm (3). Similarly, the control box (8) is equipped with a tilling depth setting device 0311 operated by the dial (13a), and the control box (8) is also equipped with a forced rise switch (14L, the sensor (101), these It consists of a control device (15) into which signals from sensors are input, and a solenoid valve Oη to which signals from the control device IJFA are transmitted via a drive circuit Q61, and the hydraulic cylinder (2) is activated by the operation of the solenoid valve Oη. Driven.

In addition, the control device Q6i is a microprocessor (not shown).
It operates according to the flowchart shown in FIG.

In other words, as shown in Fig. 2, when the operating lever (9) is operated to the automatic mode position (4) and the manual mode position (b), the rotary tiller (61) is moved to the vehicle body level corresponding to the operating position. is set, and when the automatic mode position (4) is operated, the sensor (10) is used to set the ground level of the rotary tiller 5) to the setting value of the 4!# depth setting device 03. operates to maintain the feedback signal at a predetermined value (#l step).

When the automatic mode is set, the control flow includes processing to determine the state of the forced rise switch (14+), and the forced rise switch (14+) is OFF and the error is returned (#2
step).

When the forced lift switch 04J is ON in the second step, the value from the 7th arm sensor RO2I is stored in the memory (15m) provided in the control device Q-, and after 9 seconds, the rotary tiller (5) is raised to a predetermined level. (Step #8).

The operation of forcibly raising the rotary tilling device +fi+ in this way is performed when the vehicle body ill approaches the ridge (Ga) as shown in FIG. This is to enable the driver to make turns.

Next, the rotation of the vehicle body 11) is completed and the rotary tilling device (
5) To lower the machine, turn the forced rise switch 0 to OFF.

In addition, when the rotary tilling device (5) is allowed to descend in this way, the rotary tilling device rMt+51 does not descend below the vehicle body level stored in the memory (15a) as described above (#4 step). Furthermore, after the elapse of a predetermined time is detected by an example timer (not shown) of the determining means (J), the flow of control is returned to restore the automatic mode (step #5). .

In order to restore the automatic mode after a predetermined period of time has elapsed, as shown in FIG.
Regardless of whether flol is in a position to detect the uncultivated ground (Gp), the tilling depth of the rotary tiller f6+ is maintained at the desired value, and when the automatic mode is restored, the plowing depth is maintained below the rear cover (5c). The cultivated land (GH) will be located in the area.

Note that the agricultural tractor is configured so that rolling control for maintaining the horizontal inclination of the rotary tillage device □'i [16+ at a predetermined value can be performed simultaneously with the above-mentioned elevation control,
As shown in FIG. 6(a), the lift ronds 16+, +6 are arranged to drive and roll the rotary tiller (5) when the vehicle body (1) is tilted in the left-right direction, for example.
One of the lift ronds (5) is configured to be extendable and retractable by hydraulic pressure, and a stroke sensor θη for detecting the amount of extension and retraction of the lift rond (5) is provided.

Also, Strokesen? (As shown in Figure 6 (port 1), Iη consists of a resistor (17m) and a sliding contact (17b), as well as a rond (17c) for moving the sliding contact (17b) and a sensor case (17d). Since the sensor is in a cylindrical state, a pressure regulating chamber α8+ in which a piston-like member (18a) is installed is provided in communication with the sensor case (17d) to prevent moisture from being sucked into the sensor case (17d). It is configured as follows.

Incidentally, although numbers are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the accompanying drawings by such entry.

[Another example]

In addition to the above-mentioned embodiments, the present invention may use, for example, a sensor f (+01) having a structure that measures distance by ultrasonic waves, and also detects the rotation of the traveling wheel as the discrimination means (J), and detects the rotation speed of the traveling wheel. The control means (C) may be configured to detect that the vehicle body has traveled a predetermined distance, or the control means (C) may be configured as a hardware structure using a combination of logic gates.

[Brief explanation of drawings]

The drawings show an embodiment of the automatic plowing depth control device according to the present invention,
Figure vI1 is a block diagram showing the basic configuration of the control device, Figure 2 is a block diagram showing the configuration of the control device, Figure 8 is a plan view showing the state of plowing in the field, Figures 4 and Fifth
Figure 6 is a side view of the vehicle body showing the state in which the rotary tiller is lowered onto the untextured ground and the state in the initial stage of plowing work.
Figures (a) and (l) are a schematic rear view of the vehicle body and a vT side view showing the structure of the stroke sensor, Figure 7 is a flowchart showing the operation pattern of the control device, and Figure 8 shows the conventional working state. It is a side view of a single unit shown. (11... Vehicle body, f6+... Rotary tiller 1i, device, (101... Sensor, (C)
...control means, (J) ...discrimination means, (
R)... Memory means, (GH)... Cultivated ground, (GP)...'... Untextured ground, (5c)...
...Rear cover.

Claims (1)

[Scope of Claims] [1] A sensor ( 10) is provided, and the rotary tiller (5) is raised and lowered to detect the sensor (
10) is an automatic plowing depth control device provided with a control means (C) for maintaining the detected value at a set value, and the rotary plowing device (5) is equipped with a control means (C) for maintaining the detected value of 10) at a set value, and the rotary tillage device (5) is used to turn the vehicle body (1) during work under automatic control. Storage means (R) for storing the level of the rotary tiller (5) relative to the vehicle body at the time of the raising operation when the raising operation is performed.
In addition, when restarting work on the uncultivated ground (G_P) after turning the vehicle body (1), a state is reached where the sensor (10) can detect the plowed ground (G_H) by running the single unit (1). A determination means (J) is provided to determine what has been done.
When resuming work on uncultivated ground (G_P), the vehicle body (1)
The level of the rotary tillage device (5) is maintained at the vehicle body level stored in the storage means (R) until the sensor (10) reaches a state where it detects the plowed ground (G_H) due to the running of the rotary tillage device (5). (10) An automatic plowing depth control device in which a control means (C), a storage means (R), and a determination means (J) are linked together so that control is performed to maintain the detected value from the set value. [2] Claim No. 1, wherein the sensor (10) is configured to detect the ground level from the swinging posture of a rear cover (5c) of a swinging structure provided in the rotary tilling device (5). The automatic plowing depth control device described in . [3] The automatic plowing depth control device according to claim [1], wherein the determining means (J) is constituted by a timer.