JPH0634644B2 - Sensor mounting position for plowing depth control - Google Patents

Description

TECHNICAL FIELD The present invention relates to a mounting position of a sensor for controlling a working depth of a rotary tiller of a working machine mounted on a tractor.

(B) Conventional Technology In paddy field agricultural working machines such as rice transplanters and seeders, a technology in which a non-contact sensor is arranged between the mission case and the working machine has been conventionally known. For example,
The technique is described in JP-A-62-32805.

Further, in a tractor, a configuration in which a non-contact sensor is used to control the working depth is known. For example, JP-A-5
6-92703 and JP-A-61-37009 are known.

(C) Problems to be Solved by the Invention In the former JP-A-62-32805, these conventional techniques are arranged on the side of a working machine that moves up and down with respect to a tractor, such as a rice transplanter and a seeder. The technique is to keep the distance between the paddy field and the planting device constant, not a technique for controlling the working depth.

Further, in the latter, a non-contact sensor is provided at the rear end of the depth frame of the rotary tiller, the height after tilling is detected, and the tilling depth is calculated from the angle of the lift arm for control.

However, if a non-contact sensor is provided at the rear end of the depth frame, it will detect the surface after plowing and the height of the rotary tiller, so the plowing depth will be measured from the surface leveled with a flat plate. It's just that.

In other words, as the ground surface, the surface of soil that has been cultivated by a rotary tiller, swelled, and rises is detected. Since it is used as a reference surface for the surface tilling depth of soil that has become soft and risen after tilling, a tilling depth value different from the actual tilling depth has been detected.

The present invention, in order to detect the actual tilling depth, obtain the reference position of the tilling depth by detecting the ground surface before tilling, the deepest position of the rotary tiller, the rotation angle of the rotary tiller, It is detected by an angle sensor provided on the branch, and the true tilling depth value is obtained from the difference between the two to perform control.

(2) Means for Solving the Problem In view of such a point, the present invention is configured as follows.

In the tilling depth control device of the tractor working machine, the rear wheel 11,
The non-contact sensor 12 for detecting the position of the tractor is arranged behind the lower part of the mission case 1 which moves up and down together with the rear wheels 11, 11 between 11, and behind the mounting position of the non-contact sensor 12 of the working machine. A vertical fulcrum for raising and lowering is arranged, and an angle sensor 14 for detecting the vertical angle of the rotary tiller R with respect to the tractor is arranged at the fulcrum.

(E) Action of the Invention Since the present invention is configured as described above, it has the following actions.

That is, since the non-contact sensor is arranged between both rear wheels and the mission case to the working machine, it becomes possible to detect the ground surface which is the reference before plowing, and the ground surface which becomes the reference as in the past can be detected. , Since it is not the raised soil surface after plowing but the actual field scene before plowing, it is possible to control the plowing depth accurately.

Further, since the non-contact sensor is arranged between the rear wheels on both sides, the sensor is prevented from being soiled or damaged by mud or the like rolled up from the rear wheels. Further, since the non-contact sensor is arranged between the left and right rear wheels, signals coming from the outside can be prevented to some extent by the rear wheels.

(F) Embodiment The object of the present invention is as described above, and the structure of the present invention will be described based on the structure of the embodiment shown in the accompanying drawings.

FIG. 1 is a side view of the rear part of the tractor, FIG. 2 is a plan view of the same, FIG. 3 is a side view of the tractor when controlling the working depth using a float, and FIG. 4 is a block diagram of the working depth control.

Rear wheels 11 and 11 are projected on both sides of the mission case 1 at the rear of the tractor via rear axle cases 10 and 10, and a hitch 2 is projected on the rear surface of the mission case 1 and a rotary tiller R is provided at the rear end of the hitch 2. The front end of the case support 3 is rotatably attached.

Further, a hydraulic case 4 is placed on the upper part of the mission case 1, lift arms 5 and 5 are projected from both sides of the hydraulic case 4, and the tips of the lift arms 5 and 5 and the beam 7 of the rotary tiller R are provided. Lift links 6 and 6 are interposed between the support stays 8 and 8.

The non-contact sensor 12 for detecting the height of the present invention is provided between the left and right rear wheels 11, 11 and within the range from the lower part of the mission case 1 to the front end of the working machine (rotary tiller R etc.). Has been done.

However, when the working machine is provided with a left and right tilt control device, it may be provided under the case support 3 of the rotary tiller R or the like.

In this embodiment, a non-contact sensor 12 is provided below the hitch 2.

The configuration of the non-contact sensor 12 is as shown in FIG.
It is composed of a transmission microphone 12a that emits ultrasonic waves and a reception microphone 12b that receives reflected waves of the ultrasonic waves.
Each is connected to a control circuit 13 including a microcomputer or the like.

Further, an angle sensor 14 for detecting the vertical angle of the rotary tiller R is attached to the pivot portion of the case support 3 at the rear end of the hitch 2 to detect the tilt angle of the rotary tiller R in the front-rear direction.

The angle sensor 14 is composed of a rotary encoder, a potentiometer, etc., and is connected to the control circuit 13.

The lift arm 5 is rotated by a hydraulic cylinder 15, the hydraulic cylinder 15 is expanded and contracted by switching the electromagnetic valve 16, and the solenoid 16 of the electromagnetic valve 16 is expanded and contracted.
a and 16b are connected to the control circuit 13. And
The setting dial 17 for setting the working depth is the dashboard 18
It is located above.

FIG. 3 shows a case where the paddy field is filled with water such as skimming. Since the height of the water surface is detected as it is, the ground sensor 20 may be provided at the lower center of the machine body. In the case of scraping, the ground surface is very soft, so the float 21 with less sinking is projected from the lower part of the mission case 1 and is arranged below the non-contact sensor 12.
The transmitted wave of the non-contact sensor 12 hits the upper surface of the float 21.

Therefore, since the float 21 moves forward while leveling on the rice field, the accurate height of the ground surface is known, and the height detected by the non-contact sensor 12 is the height from the upper surface of the float 21. The desired tillage depth can be obtained by adding the thickness and setting the tillage depth.

(G) Action of Embodiment The action of the present invention will be described with reference to FIG.

First, the operator sets the digging depth HO with the setting dial 17 provided on the dashboard 18, transmits from the transmission microphone 12a of the non-contact sensor 12 and measures the time T until reception with the reception microphone 12b, The control circuit 13 calculates the distance H1 to the reference ground surface.

Next, the angle α of the rotary tiller R is detected by the angle sensor 14 to detect the distance H2 from the center of rotation to the lower end of the tiller.
Is calculated (Lsin α + k) and the distance H3 from the H2 to the angle sensor 14 and the non-contact sensor 12 and the height H1 of the non-contact sensor 12 are subtracted (H2-H3-H1) to obtain the actual working depth H4. Of.

The actual tilling depth H4 thus obtained is compared with the set tilling depth H0, and when the actual tilling depth is deeper than the set depth, the solenoid 16a is operated to switch the electromagnetic valve 16 to extend the hydraulic cylinder 15. Up the rotary tiller R, and conversely, if it is shallower than the set depth, the solenoid 16
By operating b, the electromagnetic valve 16 is switched to reduce the hydraulic cylinder 15 and the rotary tiller R is lowered to control the set depth.

(H) Effects of the Invention With the above-mentioned configuration, the present invention has the following effects.

First, the non-contact sensor is placed between both rear wheels and the mission case to the working machine, so it becomes possible to detect the ground surface that serves as the reference before plowing, and it becomes the reference ground as before. Since the surface is not the swelling soil surface after tilling but the actual field scene before tilling, accurate tillage depth control is possible.

Secondly, since the non-contact sensor is arranged between the rear wheels on both sides, the sensor is not contaminated or damaged by mud or the like rolled up from the rear wheels.

Third, since the non-contact sensor is arranged between the left and right rear wheels, the rear wheels can prevent signals coming from the outside to some extent.

[Brief description of drawings]

FIG. 1 is a side view of the rear part of the tractor, FIG. 2 is a plan view of the same, FIG. 3 is a side view of the tractor when controlling the working depth using a float, and FIG. 4 is a block diagram of the working depth control. R ... Rotary tiller, 1 ... Mission case, 11
... rear wheel, 12 ... non-contact sensor

Claims (1)

[Claims] 1. In a tilling depth control device for a tractor working machine, a non-contact for detecting a reference ground surface is provided between the rear wheels 11, 11 behind the lower part of the mission case 1 which moves up and down together with the rear wheels 11, 11. The sensor 12 is arranged, and a pivotal fulcrum for lifting and lowering the working machine is arranged behind the mounting position of the non-contact sensor 12, and an angle sensor for detecting the vertical angle of the rotary tiller R with respect to the tractor at the pivot. 14 is a sensor mounting position in the tilling depth control, which is characterized by arranging 14.