JPH0565123B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides automatic plowing depth control means for controlling elevation so as to maintain the relative distance between a ground working device and the rear ground of the ground working device at a target setting value; The present invention relates to a plowing depth control device for a ground working device, which is equipped with a forced lifting device that forcibly raises the ground working device in priority to control by the automatic plowing depth control device.

[Conventional technology]

For example, when considering tillage work using a rotary tiller, when plowing a field using a rotary tiller, in order to maintain the tillage depth of the rotary tiller at a constant level, automatic tillage depth control as mentioned above is used. Activate the means. Furthermore, when a vehicle body such as a tractor equipped with the rotary tillage device reaches a headland during the work of cultivating a field in this way, the forcible lifting means as described above is activated to turn the vehicle body and the rotary tiller is turned. The tillage device is being raised (references not listed).

[Problem that the invention seeks to solve]

Here, considering the case where the rotary tiller, which has been raised by the operation of the forced raising means as described above, is lowered after the vehicle body has turned, this lowering operation is performed by stopping the operation of the forced raising means. However, when the operation of the forced raising means is stopped in this way, the rotary tillage device performs automatic plowing depth control in a direction that attempts to maintain the relative distance between the uncultivated ground and the rotary tillage device at the target set value. Since the device starts operating, the plowing depth on the uncultivated ground becomes deeper compared to the plowing depth before the vehicle turns, which may overload the engine.

In other words, when plowing a field using a rotary tiller, automatic plowing depth control is performed based on the field that has been raised by plowing, so automatic plowing on uncultivated ground is not possible. When starting depth control, the plowing depth will become deeper if the target value before the vehicle turns is maintained.

In addition, headlands often have deep track marks left by tractor wheels, so if you try to perform automatic plowing depth control on fields with large unevenness such as headlands, the plowing depth will be too low. This causes a problem where the values are not constant.

An object of the present invention is to prevent the plowing depth from being set too deep when restarting automatic plowing depth control on uncultivated ground, such as when restarting automatic plowing depth control on headland. The object of the present invention is to provide a tillage depth control device that can keep the tillage depth as constant as possible even when automatic tillage depth control is restarted in a field with a large difference in unevenness, such as in a field with a large difference in unevenness.

[Means for solving problems]

A feature of the present invention is that in the plowing depth control device having the above configuration, the control target of the automatic plowing depth control device is set at the target set value from the time when the ground working device is lowered by canceling the control of the forced raising device until a predetermined condition is satisfied. The present invention is characterized in that it is provided with a correction means that outputs a shallow plowing depth state instead of the correction means, and a check means that stops only the lifting control of the ground working device during control using the output signal from the correction means as a control target. The actions and effects are as follows.

[Effect]

If the above characteristics are configured as shown in FIG. 1, for example, when the operation of the forced lifting means C is canceled in order to resume work after turning the vehicle body 1 on a headland, the flowchart shown in FIG. As shown, the target plowing depth is changed to a shallow state by the correction means D consisting of step #9, and after the target plowing depth is changed in this way, the check means E consisting of steps #11 and 12
This prevents the ground working device 6 from operating in the upward direction.

〔Effect of the invention〕

Therefore, even when plowing work is resumed on the headland, the plowing depth will not be increased, and even in fields with large differences in unevenness, lifting of the ground working device due to lift control is prevented. Therefore, a plowing depth control device that rarely causes insufficient plowing depth was obtained.

In particular, in the present invention, by changing the value of the correction amount in proportion to the set plowing depth value (target set value), an appropriate plowing depth can be obtained whenever plowing work is restarted on the headland. It is possible.

〔Example〕

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

As shown in FIG. 4, a lift arm 3 that is raised and lowered by the operation of a hydraulic cylinder 2 is provided at the rear of a vehicle body 1 of an agricultural tractor. A rotary tiller 6 is connected as an example of the device.

As shown in the figure, a driver's seat 5 provided in the vehicle body 1
The right side of the rotary tiller 6 is equipped with a position lever 7 for arbitrarily setting the level of the rotary tiller 6 relative to the vehicle body, and a control box 8 for automatically controlling the plowing depth of the rotary tiller 6. 6 is equipped with a plowing depth sensor 9 that electrically detects the swing angle of the swing cover 6a in order to measure the relative distance between the rotary tillage device 6 and the ground behind the rotary tillage device 6.

As shown in FIG. 1, the control box 8 includes a tillage depth setter 10 operated by a dial (not shown) and a lift switch 11 operated.
Each is provided on the top surface of the box, and a plowing depth control device A is installed inside.

As shown in the figure, the plowing depth control device A includes automatic plowing depth control means B, forced raising means C, correction means D, checking means E, slow return means F, electromagnetic valve drive circuit G,
It consists of a timer H, and these five means B, C,
D, E, F and timer H are configured by a program set in a microprocessor (not shown), and the hydraulic cylinder 2 is operated according to this program.
The electromagnetic valve 12 is configured to be driven.

The tilling depth control device A uses the set tilling depth value (target set value) set by the tilling depth setting device 10 and the tilling depth sensor 9.
There is an automatic tillage depth control mode in which the rotary tiller 6 is raised and lowered by comparing the signal value from the
When the ON operation is performed, it is possible to switch to a forced raising mode in which the rotary tilling depth 6 is raised to a set position where it is separated from the ground, giving priority to automatic tilling depth control.
Its operation follows the flowchart shown in FIG.

In other words, when tillage depth control device A starts operating,
A set plowing depth value is input (#1 step), and a correction value d is determined based on this set plowing depth value (#2 step).

Incidentally, the correction value d obtained in this way is based on the raised ground 1 that has risen due to plowing, as shown in Figure 4.
It corresponds to the value obtained by subtracting the value K of the difference between the uncultivated ground 14 and the raised ground 13 from the plowing depth value J based on 3, and this correction value d increases proportionally as the plowing depth increases. Set.

Next, the state of the lift switch 11 is determined (step #3), and if it is in the OFF state, a flag to be described later is determined (step #4).

Since the plowing depth control device A is set to the OFF state in the initial control state, the flow of control from step #4 reaches automatic plowing depth control in step #5.

In normal tillage work, the control mode is set to automatic plowing depth control mode by this #5 step.
In this control mode, the lift switch 1
1 is turned ON, the flag is set to ON state, and the rotary tiller 6 is forcibly raised to the set position (steps #6 and #7).

This raising operation is performed when the vehicle body 1 reaches a headland during plowing work, and when the vehicle body 1 is turned on the headland and the rotary tiller 6 is lowered, the third
As shown in the figure, the phenomenon in which the plowing depth becomes deeper due to the contact of the swing cover 6a with the uncultivated ground 14 is avoided, and the plowing depth of the rotary tiller 6 is reduced due to the unevenness of the headland. In order to prevent the plowing depth from becoming too shallow, the plowing depth control device A operates as follows.

Incidentally, the control mode carried out in step #7 is the forced rise mode, and in this control mode, when the rise switch 11 is operated OFF, the flag is set to the ON state, so the process branches at the fourth step. to start the timer (#8 step).

After the processing in step #8, the control target of automatic tilling depth control is changed to the correction value d obtained in step #2 (step #9), and this correction value d and the signal value of the tillage depth sensor 9 are Compare (#10 step) and determine the control direction (#11 step).

In this judgment, if the direction of the vertical tillage control of the rotary tiller 6 is downward, automatic tilling depth control is performed as is (step #12), and if the direction of the vertical tillage control is upward, no control is performed, and in step #8 It is determined whether the elapse of the set time T has been measured by the timer that has started its operation (step #13).

The set time T of step #13 is approximately 2 seconds, and this set time T substantially coincides with the timing at which the rocking cover 6a swells up and detects the ground 13 as the vehicle body 1 moves forward. Then, in step #13, when the set time T has elapsed, a flag is set.
OFF state (#14 step), set the timer to OFF state (#15 step), calculate the difference between the set plowing depth value and the signal value from the plowing depth sensor 9 (#15 step), and calculate the difference between the set plowing depth value and the signal value from the plowing depth sensor 9 (#15 step). Compare the difference value and a predetermined value (#17 step).

If the difference value in step #17 is less than the predetermined value, the control target is returned to the set plowing depth value input in step #1 (step #18), and
The step enters automatic plowing depth control mode.

Also, if it is determined in step #17 that the difference value is greater than the predetermined value, the difference value is divided by the set number N (step #1), and the control target is temporarily set to the signal value from the plowing depth sensor 9. After substituting , the divided values are added or subtracted at regular time intervals until they reach N times, and at the same time, the automatic plowing depth control device 6 is slowly returned to the original plowing depth.

Incidentally, FIG. 1 is a diagram illustrating the control flow described above in block terms.

Further, step #5 of the flowchart is controlled by automatic plowing depth control means B, step #7 is controlled by forced raising means C,
Step #9 is called correction means D, steps #11 and #12 are called check means E, and steps #19 and #20 are called slow return means F, respectively.

[Another example]

In addition to the above-mentioned embodiments, the present invention can also be implemented by configuring each means as a hard circuit made of logic gates, etc., or by configuring the plowing depth sensor as a non-contact type, or by satisfying predetermined conditions. Instead of using a timer as a means for determining, it may be configured to measure when the amount of rotation of the wheels reaches a set amount.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the plowing depth control device for a ground working device according to the present invention, FIG. 1 is a block diagram showing the configuration of the plowing depth control device, and FIG. 2 is a flowchart showing the operation of the plowing depth control device. FIG. 3 is a side view showing the state at the start of plowing work, and FIG. 4 is a side view showing the state of plowing work. 6...Ground work device, B...Automatic plowing depth control means, C...Forced raising means, D...Correction means, E...
...a means of restraint.

Claims (1)

[Claims] 1 Automatic plowing depth control means B that performs elevation control to maintain the relative distance between the ground work device 6 and the rear ground of the ground work device 6 at a target setting value, and an automatic plowing depth control means B that takes priority over control by this automatic plowing depth control means B. Ground work equipment 6
This is a plowing depth control device for a ground working device that is equipped with a forced lifting means C that forcibly raises the ground working device 6, and the plowing depth control device is a plowing depth control device for a ground working device 6 that is provided with a forced lifting means C that forcibly raises the ground working device 6. A correction means D for outputting a shallow plowing depth state instead of the target setting value of the control target of the automatic plowing depth control means B, and a raising of the ground working device 6 during control in which the output signal from this correction means D is set as the control target. A plowing depth control device for ground work equipment, which is equipped with a checking means E that stops only the control.