JPH0653002B2 - Work vehicle control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention is provided with a lifting control valve of a lifting hydraulic actuator for lifting a working device with respect to a traveling vehicle body, and the lifting control valve is a pump. Is configured to switch and supply the oil supplied from the lifting hydraulic actuator side and the steering control valve side that controls the steering hydraulic actuator of the traveling vehicle body to the ground height of the working device. An elevating control means for driving the elevating control valve is provided so as to maintain the working device at a target height based on detection information of a sensor for detecting, and an operation command for operating the steering control valve. Accordingly, the present invention relates to a control device for a work vehicle provided with steering control means for intermittently driving so as to repeat a steering operation state and a steering operation stop state.

[Conventional technology]

Such a control device for a work vehicle has an advantage that the steering actuator and the elevating actuator can be driven by a pump as one pressure oil supply source. However, on the other hand, when operating the elevating actuator, However, the steering actuator cannot be operated as desired.

Then, if the steering operation is delayed, there is a risk of causing serious trouble such as the vehicle body deviating from a desired traveling path. Therefore, conventionally, the steering control means drives the steering control valve. At that time, it has been considered to stop driving of the lifting control by the lifting control means. (For example, refer to Japanese Patent Application No. 62-8615 previously proposed by the present applicant.) [Problems to be Solved by the Invention] The delay in lifting control does not cause a big trouble as compared with the delay in steering operation. However, unless the work device is properly maintained at the target height, the work accuracy will be lowered, and it is desirable to perform the lifting control even during the steering work.

The present invention has been made in view of the above circumstances, and an object thereof is to ensure that steering operation can be performed.
The purpose is to enable vertical movement control in parallel with steering operation.

[Means for solving problems]

In order to achieve the above-mentioned object, the control device for a work vehicle according to the present invention has the above-mentioned configuration, wherein the raising / lowering control means is the steering control means when the raising / lowering control valve is actuated. When the steering control valve is in the drive state,
It is characterized in that the raising / lowering control valve is operated within a steering operation stop time when the steering control valve is intermittently driven according to an operation command.

The operation and effect of this characteristic configuration are as follows.

[Action]

That is, when the steering control valve is in the drive state of the steering control valve when the raising / lowering control valve is operated by effectively utilizing the point that the steering control valve is driven intermittently, The elevator control valve is operated within the steering operation stop time during intermittent drive, and as a result, pressure oil can be supplied to the steering control valve, while the elevator control valve is also intermittently driven. To do.

〔The invention's effect〕

Therefore, while being able to perform the steering operation accurately,
Since the lifting control can be performed in parallel, it becomes possible to appropriately perform both the steering operation and the lifting control.

〔Example〕

Hereinafter, a case where the embodiment of the present invention is applied to a combine, which is an example of a work vehicle, will be described.

As shown in FIG. 6, the combine includes a traveling vehicle body (1),
It has a mowing section (2) as a working device connected to its front part so as to be able to move up and down, and the mowing section (2) is a single-acting lifting hydraulic cylinder (3) as a lifting hydraulic actuator.
You can go up and down with.

An ultrasonic sensor (4) as a ground height detecting sensor is attached to the reaping section (2). This ultrasonic sensor (4)
Is a transmitter (4a) that transmits ultrasonic waves at a set cycle and a receiver that receives reflected ultrasonic waves from the ground, as shown in FIG.
(4b) and the interface (4c) are assembled in one unit, and are configured to detect the ground height based on the time from the ultrasonic wave transmitting time to the ultrasonic wave receiving time. There is.

Further, a pair of left and right steering control sensors (S ₁ ) and (S ₂ ) for detecting the position in the vehicle width direction with respect to the row of grain rods are provided at the front end side portion of the mowing unit (2). . Those sensors (S ₁ ), (S
_As shown in FIG. 1, ₂ ) is a sensor bar (5) that is swingable back and forth and is biased to project forward, and a potentiometer (6) for detecting the swing position of the sensor bar (5). Consists of.

Then, the steering control sensor (S ₁ ) on the left side determines that it is necessary to steer to the left side in response to detecting that it is too close to the grain rod row, and similarly, the steering on the right side is determined. As the direction control sensor (S ₂ ) detects that it is too close to the row of grain rods, it is determined that steering to the right is required.

As shown in FIG. 1, the traveling vehicle body (1) includes a pair of left and right crawler traveling devices (7a), (7b). Then, in the drive mission case (8) of the crawler traveling devices (7a), (7b), a pair of left and right steering clutches ((a) for connecting and disconnecting the driving of the left and right crawler traveling devices (7a), (7b) separately. 8a) and (8b) are provided, and a pair of left and right steering hydraulic cylinders (9a) and (9b) are used as steering hydraulic actuators for turning on and off the steering clutches (8a) and (8b) separately. ) Is provided.

The lifting hydraulic cylinder (3) includes a two-position switching type main control valve (10A) equipped with a sliding spool and a two-position switching type sub control valve (10B) equipped with a poppet valve. The operation is controlled. That is, the main control valve (10A) is switched between a state of discharging the pressure oil from the pump to the lower side of the flow path and a rising state of supplying the pressure oil to the hydraulic cylinder (3), and the sub control valve (10B). Is driven intermittently during both the descending operation and the ascending operation to reduce the lifting speed.

The main control valve (10A) and the sub control valve (10B) form a lifting control valve.

The operation of the pair of steering hydraulic cylinders (9a), (9b) is controlled by a three-position switching control valve (11). In addition, the control valve (11) is connected to the main control valve
Pressure oil is supplied from (10A).

A lift control device (H ₁ ) using a microcomputer that controls the operation of the lift control valves (10A) and (10B), and an operation of the steering control valve (11) that uses a microcomputer. A steering control device (H ₂ ) is provided.

The lifting control device (H ₁ ), the ultrasonic sensor (4),
An artificially adjustable target height setting device (12) and a manually operated lift switch (13) are connected. Then, by using the lifting control device (H ₁ ), the ultrasonic sensor (4) detects so that the mowing section (2) is maintained at a target height (also referred to as a target mowing height). Elevating control means (100) for elevating and lowering the reaping section (2) based on information and other various control means are configured.

A pair of left and right steering control sensors (S ₁ ) and (S ₂ ) and a steering switch (14) that is manually operated are connected to the steering control device (H ₂ ). Then, using the steering control device (H ₂ ), the steering control sensors (S ₁ ), (S ₂ ) are operated to follow the grain rod row, and the steering information is detected based on the detection information. Steering control means (101) for operation is configured.

However, both control devices (H ₁ ) and (H ₂ ) basically have a threshing switch (S ₁ ) that detects that the threshing clutch is engaged and operated.
W ₁ ) is turned on, and the automatic switches (SA) and (SB) that switch between automatic mode and manual mode are automatic modes.
Furthermore, when the stock switch (SW ₂ ) for detecting the presence or absence of the grain rod in the grain rod transport path of the reaper (2) is on, the lifting control means (100) and the steering control means (101) Will be activated. Further, based on the command of the lifting switch (13), the cutting unit (2) is lifted and lowered in priority to the lifting control means (100), and similarly, based on the command of the steering switch (14). hand,
The steering control means (101) is prioritized for the steering operation.

Basically, the steering control means (101) basically determines the left or right steering clutch (8) when it is determined that steering to the left or right is required.
By repeating a) and (8b) for a set period of time, the control valve (11) is operated with the steering clutches (8a) and (8b) turned on and operated. Directional clutch (8a), (8b)
When the steering operation is stopped by the turning operation, the driving is intermittently performed.

However, at the time of steering by the command of the steering switch (14), the steering control valve (11) is continuously operated so that the steering clutches (8a), (8b) are continuously disengaged only while the command is given. Will be driven to.

As shown in FIG. 5, the ascending / descending control means (100) basically has a target range (M _o ) obtained by adding or subtracting an allowable value to or from a target value (Ho) as measured by the ultrasonic sensor (4). , increase the range of below the target range (Mo) (Mu), the target range (Mo) upper slower range than (M _D1), medium speed upper than the low speed range (M _D1) range
(M _D2 ), and the high speed range above the medium speed range (M _D2 ).
It is determined which one of (M _D3 ) is located, and the lift hydraulic cylinder (3) is intermittently operated based on the determination result. And for that purpose, control valves (10A), (10
Information for operating B) is stored in advance. Of this information, the information that activates the sub control valve (10B) is
The ON time for operating the sub control valve (10B) and the sub control valve corresponding to each of the above ranges (Mu), (Mo), (M _D1 ), (M _D2 ), (M _D3 ). together and a OFF time for stopping the (10B), the low-speed range (M _D1) towards the medium speed range (M _D2) is oN time than the large, and than the medium speed range (M _D2) The ON time in the high speed range (M _D3 ) is set larger.

The lifting control means (100) is the lifting hydraulic cylinder.
If the steering control valve (11) is in the operating state when (3) is operated to the upward side, the steering control valve (11) is manually operated for a set time (for example, 500 ms) or more. Then, as shown in FIG. 2B, the main control valve (10A) is made to flow the pressure oil to the lifting hydraulic cylinder (3) side and the pressure oil is turned to the steering control valve (11) side. It will be repeatedly switched to the state of making it flow to (hereinafter referred to as rising output for diversion),
Further, when the steering control valve (11) is operated by the steering control means (101) for a time shorter than a set time (for example, 500 ms), as shown in FIG. 3, the steering control valve (11) is Main control valve (10A) within the steering operation stop time during intermittent drive
Is switched to a state in which the pressure oil is caused to flow to the lifting hydraulic cylinder side (hereinafter referred to as the set-time rising output).

The drive signal for the steering control valve (11) is an OR circuit.
It is input to the lifting control device (H ₁ ) via (15),
Based on the signal, it is determined whether or not the steering control valve (11) is in an operating state.

The control operation will be described with reference to the flowchart of FIG.

First, check whether the measured value is within the target range (Mo), and if there is, stop the energization of both valves (10A), (10B),
In addition, the output stop processing for clearing the valve drive time counter is executed, and the operation time of the steering control valve (11), that is, the count value (N) of the steering output time is cleared to zero. Execute the process.

If the measured value is within the target range (Mo), check whether the measured value is larger than the target value (Ho), and if it is smaller, process the rising output as described later. To execute.

That is, check whether it is in the low speed range (M _D1 ),
If it is in the low speed range (M _D1 ), the processing of low speed descending output is executed, and if it is not in the low speed range (M _D1 ), it is checked whether it is in the middle speed range (M _D2 ). If it is (M _D2 ), the processing of the middle speed descending output is executed, and if it is not the middle speed range (M _D2 ), the processing of the high speed descending output is executed.

In the process of the ascending output, it is first checked whether or not the steering output is being performed, and if the steering output is being performed, it is checked whether or not the diversion ascending output is being performed.

When the diverting rising output is being performed, the output is continued, and when the shunting rising output is not being performed, a process of temporarily stopping all of the rising output is executed.

After that, the process of adding the count value (N) is executed, and when the count value (N) reaches the set value (α), the process of the shunting output is executed.

When the steering output is checked to determine that it is not being output, the count value (N) is checked, and when it is zero, the normal rising output process is checked.

If the count value (N) is not zero, check if the count value (N) is larger than the set value (α) .If it is, stop the shunt output. Moreover, after resetting the count value (N) to zero, normal rising output processing is executed.

When the count value (N) is checked and it is determined that it is smaller than the set value (α), the set time increase output process is executed, and as the output ends, the count value ( N) is reset to zero.

[Another embodiment]

In the above embodiment, when the steering control valve (11) is manually operated for a set time or more, the main control valve (10A) is intermittently driven to divide the flow, but also in the case of manual operation. The present invention may be applied to the case of manual operation by driving the steering control valve (11) intermittently.

Further, in the above-described embodiment, since the single-acting hydraulic cylinder is used as the lifting hydraulic actuator (3), the present invention is applied only when the cylinder is raised. May be applied.

INDUSTRIAL APPLICABILITY The present invention can be applied to various agricultural working machines such as a combine harvester, a tractor provided with a mowing device as a working device that can be raised and lowered, and the like.

As the ground height detecting sensor, various kinds of sensors can be used in addition to the ultrasonic sensor (4), such as a sensor for detecting the ascending / descending position of a freely movable grounding body by a potentiometer.

In addition, various changes can be made to the specific configurations of the respective parts necessary for carrying out the present invention.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a control device for a work vehicle according to the present invention. FIG. 1 is a schematic diagram showing a control configuration, FIGS. 2 (a), (b) and FIG. 3 are time charts of output patterns, FIG. FIG. 4 is a flow chart of control operation, FIG. 5 is a view showing the relationship between the target value and the discrimination standard, and FIG. 6 is a side view of the combine front portion. (1) …… Traveling vehicle, (2) …… Working device, (3) …… Up / down hydraulic actuator, (4) …… Sensors, (9a), (9b) …… Steering hydraulic actuator, ( 10A), (10B) ... lift control valve, (11) ... steering control valve, (100) ... lift control means, (101) ... steering control means.

Claims (1)

[Claims] 1. A lift control valve (10) for a lift hydraulic actuator (3) for lifting and lowering a work device (2) relative to a traveling vehicle body (1).
A) and (10B) are provided, and the lifting control valves (10A) and (10B)
However, the oil supplied from the pump is on the hydraulic actuator (3) side for raising and lowering, and the steering control valve (11) side for controlling the steering hydraulic actuators (9a), (9b) of the traveling vehicle body (1) side. It is configured to supply by switching to and, based on the detection information of the sensor (4) for detecting the ground height of the working device (2), so as to maintain the working device (2) at the target height. In order to do so, the lifting control means for driving the lifting control valves (10A), (10B)
(100) is provided, and steering control means (101) for intermittently driving the steering control valve (11) to repeat a steering operation state and a steering operation stop state according to an operation command is provided. A control device for the working vehicle, wherein the ascending / descending control means (100)
If the steering control means (101) is in the drive state of the steering control valve (11) when operating the lifting control valves (10A), (10B), the steering control Control of a work vehicle configured to operate the lifting control valves (10A), (10B) within the steering operation stop time when the control valve (11) is intermittently driven according to an operation command apparatus.