KR20170101743A - A tractor auto spedd-control system using can comunication - Google Patents

Abstract

INDUSTRIAL APPLICABILITY The tractor automatic speed control and position control system of the present invention employs the CAN communication system to simplify the wiring between the worker (loader or bucket, etc.) directly exposed to the external work environment and to implement the communication for controlling the worker very efficiently Respectively. In addition, the tractor automatic speed control and position control system of the present invention detects whether the rotation range of the working machine such as the loader or the bucket is out of the allowable maximum point and the minimum point by using the CAN communication system and the stroke sensor of the working machine By stopping the machine while decelerating the speed of the machine in the case of deviating from the range of the rotation, the mechanical impact on the tractor compared to the conventional machine is minimized and the working efficiency is greatly improved.

Description

TECHNICAL FIELD [0001] The present invention relates to an automatic speed control and position control system for a tractor for agricultural machinery using CAN communication,

[0001] The present invention relates to a speed control system for a tractor for an agricultural machine, and more particularly, to a tractor for an agricultural machine, which employs CAN communication between a console controller of a driver's seat and a predetermined worker controller to improve the efficiency of wiring and communication, A system that automatically senses the operating range of the bucket and the upper and lower portions of the bucket, and automatically and variably controls the speed and position of the work machine at the minimum and maximum points based on the sensed result, thereby reducing the impact on the tractor .

Tractors for agricultural machines are equipped with additional working machines such as loaders and buckets to perform agricultural tasks for specific applications. At this time, the driver manipulates a predetermined operation machine by operating the console controller of the driver's seat, and the transmission and control of the force is usually performed by a hydraulic mechanism mechanism.

Korean Patent Publication No. 10-2009-0131085 (December 28, 2009)

Patent Document 1 discloses a system for calculating a position of a boom and a length of a bucket cylinder by means of a boom angle sensor and a bell link angle sensor and determining the position of a bucket cylinder accordingly, It is difficult to apply directly to a tractor of the present invention in that it is not suitable for a tractor and is not particularly applicable to a wheel loader system and that it employs complicated sensors, The present invention is different from the present invention in terms of application fields, purposes and effects, and still has a problem that its system configuration and control method are very inefficient and inconvenient.

In addition, since the conventional control method between the console controller and the work machine controller is only a hydraulic type, only the simple control can be performed. In order to control the posture of the work machine in the driver's seat by combining a controller with the work machine, .

In addition, in the prior art, the operator can not adjust the speed of the working machine according to the operation range of the working machine during the operation of the working machine such as the tractor loader or the bucket, so that the operation (rotation) range of the working machine reaches the upper limit or the lower limit, So that when the machine goes up to the top or goes down to the bottom, Tong! Or the bottom of the tractor is hit hardly, which causes a problem that the damage of the tractor machine and the working efficiency are rapidly deteriorated.

SUMMARY OF THE INVENTION An object of the present invention to solve all of the above problems is to automatically detect the operation (rotation) range of the tractor of the agricultural machine tractor to the upper part or the lower part using the CAN communication and the stroke sensor, And a system for reducing impact by variable control.

In order to achieve the above object, the tractor automatic speed control system of the present invention is a tractor for agricultural machinery having a working machine having a loader or a bucket, comprising: a console controller of a driver's seat; And a work machine controller attached to the work machine, wherein CAN communication is employed between the console controller and the work machine controller, and further, a predetermined stroke sensor attached to the loader is connected to the work machine controller, When the turning range of the loader is out of the reference range, the control unit issues an AUTO PARKING control command to the work machine controller so that the work machine can be stopped while decelerating the speed. And a maximum value and a minimum value of the rotation range can be variably set.

The tractor automatic speed control and position control system of the present invention employs the CAN communication method to simplify the wiring between the working machines directly exposed to the external working environment and realize the communication for controlling the working machine very efficiently.

In addition, the tractor automatic speed control and position control system of the present invention detects whether the turning range of a worker such as a loader or a bucket is out of a maximum point and a minimum point by using a CAN communication system and a stroke sensor of a working machine, By stopping the machine while decelerating the speed of the machine in the case of deviating from the pivot range, the mechanical impact on the tractor compared to the conventional machine is minimized and the working efficiency is greatly improved.

FIG. 1 is a diagram for conceptually explaining a general system to which an automatic speed control and position control system of a tractor for agricultural machinery according to the present invention is applied,
FIG. 2 is a schematic view showing an overall functional block of an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention,
FIG. 3 is a schematic functional block diagram of the console controller in the overall functional block diagram shown in FIG. 2, and FIG.
4 is a view for explaining the concept of CAN communication applied to the automatic speed control and position control system of the tractor for agricultural machinery according to the present invention,
5 is a view showing an embodiment for schematically showing a display state by a console controller of a driver's seat in an automatic speed control and position control system for a tractor for an agricultural machine according to the present invention,
6 is a view showing an embodiment of a joystick applied to a console controller of a driver's seat in an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention,
FIG. 7 is a view showing an embodiment in which a joystick and an LCD display unit incorporating a console controller of a driver's seat are combined in an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention,
8 is a view showing a state in which a stroke sensor is mounted on a tractor loader in an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the automatic speed control and position control system for a tractor for agricultural machinery according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a diagram for conceptually illustrating a general system to which an automatic speed control and position control system of a tractor for agricultural machinery according to the present invention is applied. 1, a loader is mounted on a front surface of a tractor, and a bucket is mounted on one end of the loader. A control console controller using a joystick is installed in the driver's seat of the tractor, and a loader controller mounted on the front portion of the tractor controls the operation of the bucket. Here, a CAN communication method is adopted between the console controller and the work machine controller.

2 is a schematic view showing an overall functional block of an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention. 2, a joystick and a panel LCD are mounted outside the operation console of the tractor driver's seat, a console controller is incorporated therein, and a loader mounted on the front of the tractor is provided with predetermined sensors, a sensor interface, A control controller board is installed. The CAN communication module of ISO11783 standard is installed between the tractor part and the loader part so that the measurement data and the control signal are communicated.

FIG. 3 is a schematic functional block diagram of the console controller in the overall functional block diagram shown in FIG. 2. FIG. Referring to FIG. 3, an LCD, a digital input, an analog input, a function key, a communication module, and a USB interface are organically arranged in the console controller of the driver's seat, centering on a CPU for overall control.

4 is a view for explaining the concept of CAN communication applied to the automatic speed control and position control system of the tractor for agricultural machinery according to the present invention. Referring to FIG. 4, CAN communication is a communication method capable of transmitting and receiving by two lines, and is a communication method used mainly in automobiles. In the present invention, CAN communication protocol of ISO11783 is used, and communication between the sensor board and the console board is used to simplify the cable processing, and to provide a noise-resistant and highly stable communication network.

5 is a view showing an embodiment for schematically showing a display state of a console controller of a driver's seat in an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention. Referring to FIG. 5, an LCD display for displaying various control and setting states and operating states thereof to the driver can be implemented on the console.

6 is a view showing an embodiment of a joystick applied to a console controller of a driver's seat in an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention. Referring to FIG. 6, a joystick, an LCD display, and function keys may be mounted on one side of the console.

FIG. 7 is a view showing an embodiment in which a joystick having a console controller of a driver's seat and an LCD display unit thereof are combined in an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention.

8 is a view showing a state in which a stroke sensor is mounted on a tractor loader in an automatic speed control and position control system for a tractor for agricultural machinery according to the present invention. 8, a stroke sensor is installed in a red solid line as shown in FIG. 8 on the two loaders mounted on the front of the tractor, and the measured values are transmitted to the actuator controller, To the console controller of the driver's seat.

Next, the operation of the automatic speed control and position control system of the tractor for agricultural machinery using the CAN communication according to the present invention will be described in general with reference to the configurations of FIGS. 1 to 8. FIG.

The present invention is intended to automatically prevent a mechanical impact from being directly transmitted to a tractor because the speed is not reduced when the pivot range of the tractor reaches a maximum point and a minimum point. Therefore, according to the present invention, when a stroke sensor is mounted on a loader on the front of a tractor and a ramp time (RAMP TIME) at a maximum point and a minimum point of rotation of the bucket is applied to deviate from the allowable rotation reference range, , It minimizes the mechanical impact on the tractor, thereby extending the service life and improving the operator's convenience and work efficiency.

More specifically, the boom and the bucket are moved to the parking position before the factory shipment or the driver uses the joystick to set the automatic parking position by pressing the AUTO PARKING key for two seconds, It is preferable to set the alarm sound to be generated when the setting is completed.

Next, press the AUTO PARKING key to enter AUTO PARKING mode and move the joystick to perform auto parking. The boom and parking are automatically set to the previously set position, and it is desirable to set the alarm to be displayed on the LCD display while the corresponding symbol is flashing. When autoparking is finished and no joystick signal is input for 30 seconds, autoparking mode is automatically canceled. It is preferable that the auto parking mode is canceled by pressing the auto parking key again while the auto parking operation is being performed, and set to enter the standby mode.

Then, when the driver operates the auto parking mode, the stroke sensor mounted on the loader transmits the measured value of the tilt range to the actuator (loader) controller, and the actuator (loader) To the console controller of the driver's seat. The console controller applies a speed deceleration and stop command to the actuator (loader) controller using the CAN communication when the received rotation range measurement value is out of the predetermined rotation allowance reference range, Control to stop the loader (including bucket and boom) decelerating. Thus, the system according to the present invention decelerates and stops before the bucket reaches the maximum rotation, and decelerates and stops the bucket before it reaches the bottom, which is the minimum rotation, thereby minimizing the mechanical impact and extending the life of the tractor and the mounting machine And greatly improved the fatigue and work efficiency of the workers. This control algorithm is composed of software and is built in the console controller of the driver's seat and operated by a central control unit (CPU), and the control logic of the terminal can be built and operated as firmware or embedded SW in the controller.

It will be apparent to those skilled in the art that many modifications and variations can be made in the present invention without departing from the spirit and scope of the present invention as defined by the appended claims. .

Claims (1)

In a tractor for agricultural machinery having a working machine having a predetermined loader or bucket,
Console console controller; And
And a work machine controller attached to the work machine,
A CAN communication is employed between the console controller and the work machine controller,
And a controller for controlling the operation of the robot controller, wherein the robot controller further includes a stroke sensor attached to the loader, wherein the console controller transmits an AUTO PARKING control command to the robot controller when the rotation range of the loader measured by the stroke sensor is out of a reference range So that the machine can be stopped while decelerating the speed,
Wherein the reference range is configured such that a maximum value and a minimum value of the turning range of the range can be variably set in the setting mode by the driver.

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