JPH0683617B2 - Work start control device for agricultural vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention includes a guidance control device for controlling steering by receiving a guidance signal for guiding a vehicle body to a predetermined travel route, and both a travel device and a work device. The present invention relates to a work start control device for an agricultural work vehicle, which includes an engine that drives the engine and a traveling clutch that connects and disconnects the driving force to the traveling device.

[Conventional technology]

As described above, in an agricultural work vehicle in which steering control is performed by receiving a guidance signal that guides the vehicle body to a predetermined traveling route, the vehicle temporarily travels when the predetermined steering control such as the direction change of the machine body is completed. When the vehicle is stopped and then the traveling clutch is switched to the on state to start traveling, it is desirable to perform guided traveling while maintaining the posture of the vehicle body receiving the guidance signal as stable as possible with less shaking. In this case, the running clutch is engaged and operated in a state where the engine speed is in a high-speed drive state in which work traveling can be performed in advance.

[Problems to be solved by the invention]

Therefore, in the above-mentioned conventional one, since the running clutch is engaged and operated in a state in which the engine rotation speed is in a high-speed drive state in which work traveling can be carried out in advance, there is a possibility that a sudden start state occurs when the traveling clutch is engaged. Therefore, there is a problem that the vehicle body continues to swing due to a sudden start for a while after the traveling clutch is engaged, and the vehicle body is in a poor reception of the guidance signal, and thus the guidance steering cannot be performed.

The present invention has been made in view of the above circumstances, and an object thereof is to perform an agricultural work that can smoothly start traveling without avoiding unintentionally inducing steering of a vehicle body after a traveling clutch is engaged. It is to provide a work start control device for a vehicle.

[Means for solving problems]

A characteristic configuration of the present invention includes a guidance control device that receives a guidance signal that guides a vehicle body to a predetermined travel route and controls steering, and an engine that drives both the travel device and the working device, and the drive device for the travel device. In a work start control device for an agricultural work vehicle that includes a traveling clutch that intermittently transmits driving force,
A traveling clutch operating means for engaging and disengaging the traveling clutch with a traveling start command given, and a steering control starting means for inhibiting steering control until a set time elapses after the traveling clutch is operated, The engine rotational speed control means is provided for gradually increasing the rotational speed of the engine after the traveling clutch is engaged, and the operation and effect thereof are as follows.

[Work]

That is, when a traveling start command is given, the traveling clutch operating means is operated to automatically engage and operate the traveling clutch, and the engine speed control means sets the engine rotation speed after the traveling clutch is engaged. The steering control is prohibited until the set time elapses after the traveling clutch is engaged, so it is possible to prevent an unreasonable sudden start at the start of traveling. , It is possible to control the shake of the vehicle body due to sudden start, and by not performing the steering control at the time of starting or a little after that where there is a possibility of the shake of the vehicle body, steering control is performed due to the adverse effect of the shake of the vehicle body. There can be no malfunctions that can be disabled.

〔The invention's effect〕

Therefore, the operation of engaging the traveling clutch at the start of traveling,
Since a series of operations for speed-up operation and subsequent start of steering control based on a guidance signal can be continuously and automatically performed, operability can be improved. Since it is possible to avoid an impossible state, good work traveling control can be started.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 5 and FIG. 6, a seedling planting device (3) as a working device is provided at a rear portion of a vehicle body having a pair of left and right front wheels (1) as a traveling device and a pair of left and right rear wheels (2). Is mounted so that it can move up and down and stop driving,
A work vehicle (V) for rice planting is configured.

As shown in FIG. 5 and FIG. 7, a laser light emitter for projecting a guiding beam light (L) as a guiding signal from one end side to the other end side of the work stroke in which the work vehicle (V) travels. (4 is installed such that it can be moved and installed in the direction in which the work processes are lined up.

However, the laser light emitter (4) is in a state in which the beam light (L) has a width in the vertical direction by scanning the laser beam projected from the laser light in the vertical direction over a predetermined angle range. Is done.

As shown in FIG. 5 and FIG. 6, a light receiver (5) as a steering control sensor for receiving the light beam (L) projected from the front side of the vehicle body is attached to the lateral side portion of the vehicle body. There is.

Incidentally, in FIG. 5, (S ₁ ) and (S ₂ ) are the light beams (L)
A pair of optical sensors for receiving the light, which are provided in the light receiver (5) in a state of being set at a set interval (l) in the vehicle front-rear direction and at a vertical interval.
Further, (6) is a support frame for the pair of optical sensors (S ₁ ) and (S ₂ ).

Then, as shown in FIG. 7, the work vehicle (V)
Uses the light beam (L) projected from the front side of the vehicle body as a traveling guide and automatically travels along the light beam (L) from one end side to the other end side of the work stroke. The steering is controlled based on the detection information of the vessel (5).

However, an approach section of a predetermined distance is provided on the front side of the planting start position as the work start position, and the work vehicle (V) automatically travels to the set speed while the work vehicle (V) travels in the approach section. When the speed is increased and the planting start position is reached, the driving of the planting device (3) is automatically started to start the planting work.

Next, a control configuration for automatically traveling the work vehicle (V) will be described.

As shown in FIG. 1, the output of the engine (E) is transmitted to a transmission (8) via a main clutch (7) as a traveling clutch that intermittently supplies a driving force to the traveling device, and the transmission (8) is transmitted. The output of 8) is transmitted to both the front wheel (1) and the rear wheel (2), and the planting device is also provided via a planting clutch (9) as a working clutch that intermittently transmits the driving force to the working device. It is transmitted to (3).

A steering actuator (10) for steering the front wheel (1), a throttle operating actuator (11) for operating the throttle of the engine (E) to adjust the engine speed, and a drive circuit (12) thereof. A main clutch actuator (13) for opening and closing the main clutch (7) and a planting clutch actuator (14) for opening and closing the planting clutch (9) are provided.

However, the main clutch (7) and the planting clutch (9)
Can use various types such as a friction type clutch and a meshing type clutch. Further, as the steering actuator (8) and the throttle operation actuator (9), an electric motor, a hydraulic cylinder or the like is used, and the main clutch actuator (1
3) and the actuator for the planting clutch (14) will be a solenoid or an electromagnetically operated hydraulic cylinder.

In the figure, (R ₁ ) is a steering angle detection sensor using a potentiometer for detecting the steering angle (θ) of the front wheel (1),
(R ₂ ) is a throttle position detection sensor using a potentiometer that detects the throttle position of the engine,
(S ₃ ) is a rotation speed sensor that detects the rotation speed of the engine (E), and (S ₄ ) is a distance sensor that detects the traveling distance based on the output rotation speed of the transmission (8).

In addition, (15) automatically operates each of the actuators based on the detection information of each of the sensors to generate the work vehicle (V).
And the steering control so that the work vehicle (V) automatically travels along the beam light (L) as soon as the planting start position is reached. It is a control device as a guidance control device using a microcomputer.

That is, by using this control device (15), the travel start switch (16) is turned on and a travel start command is given, so that the travel is automatically started and the speed is automatically increased. A travel clutch operating means (100) for engaging and operating the main clutch (7) for controlling to automatically start the planting work when the planting start position is reached, and the main clutch (7) After the operation of turning on the plant, as the position of the planting device (3) reaches the planting start position, the planting clutch (9).
A work clutch operating means (101) for engaging and disengaging the engine, and an engine rotational speed control means (102) for gradually increasing the rotational speed of the engine (E) after the engaging operation of the main clutch (7) until a set rotational speed is reached. Each of is configured.

Explaining the drive circuit (12) of the throttle operating actuator (11), as shown in FIG. 2, an A / D for converting a rotation speed command value output from the control device (15) into an analog voltage. Converter (17), its D / A converter (17)
Of the throttle position detecting sensor (R ₂ ) and an operational amplifier (A ₁ ) for calculating a deviation between the output of the throttle position detecting sensor (R ₂ ) and the output of the differential amplifier (A ₁ ) It is composed of a pair of comparators (A ₂ ) and (A ₃ ) that output a signal for driving ( ₁ ).

That is, the throttle operation actuator (11) is driven so that the rotation speed command value output from the control device (15) and the detection value of the throttle position detection sensor (R ₂ ) match, The engine speed is automatically adjusted.

Next, based on the flowchart shown in FIG. 3, while the work vehicle (V) automatically accelerates while traveling in the approach section, the work for planting is automatically performed as the work vehicle (V) reaches the planting start position. Work start control for controlling the operation of each part so as to start will be described.

That is, as the running start switch (16) is turned on and a running start command is given, the rotation speed command value for the drive circuit (12) of the throttle operating actuator (11) is set to a value corresponding to the idling state. Set to
After turning on the main clutch (7) continuously, wait until the set time corresponding to the time until the output of the engine (E) is transmitted to the front and rear wheels (1) and (2) to start traveling has elapsed. The steering control is started after the set time has elapsed.

That is, the process of turning on the main clutch (7) in response to the turning on of the running start switch (16) is performed by operating the running clutch to turn on the running clutch in response to a running start command. The means corresponds to the means (100), and means for starting the steering control after the lapse of the set time corresponds to steering control starting means.

After the main clutch (7) has been turned on and a set time has elapsed, the engine (E) rotational speed is set as a target while the steering is controlled based on the light reception information of the light receiver (5). Until the rotation speed is reached, the rotation speed command value is gradually increased to gradually increase the speed.

In other words, after the ON operation of the main clutch (7), the process of gradually increasing the rotation speed command value until the rotation speed of the engine (E) reaches the target rotation speed is performed by the engine ( This corresponds to the engine rotation speed control means (102) for gradually increasing the rotation speed of E) until it reaches the set rotation speed.

Then, as the traveling distance after the start of traveling detected by the distance sensor (S ₄ ) reaches the distance corresponding to the planting start position, the planting clutch (9) is turned on to perform planting work. Will start.

That is, as the traveling distance after the start of traveling reaches the distance corresponding to the planting start position, the process of turning on the planting clutch (9) is such that the position of the working device is set to the work position after the traveling clutch is engaged. It corresponds to the work clutch operating means (101) for engaging and operating the work clutch as it reaches the start position.

Even after the start of planting, the steering control is performed so as to automatically travel along the light beam (L) based on the light reception information of the light receiver (5).

Explaining the configuration for discriminating the deviation with respect to the light beam (L) based on the light reception information of the light receiver (5), as shown in FIG. Each of the pair of optical sensors (S ₁ ) and (S ₂ ) includes a plurality of light receiving elements (D) arranged in the lateral direction of the vehicle body, and the pair of front and rear optical sensors (S ₁ ) and (S ₁ ) S ₂ ) Based on the positions (X ₁ ) and (X ₂ ) of the light receiving element (D) that receives the light beam (L) with respect to the learning element (D ₀ ) located at the center of each sensor, the light beam ( It is configured to be able to detect both the position deviation amount (χ) and the inclination (ψ) in the lateral direction of the vehicle body with respect to the projection direction of L).

That is, from the light receiving positions (X ₁ ) and (X ₂ ) of the pair of optical sensors (S ₁ ) and (S ₂ ) and the set interval (l) in the vehicle body front-rear direction, the following formula (i) is used. Based on the above, the inclination (ψ) is obtained.

However, the position deviation amount (χ) is the same as the value of the light receiving position (X ₁ ) of the optical sensor (S ₁ ) on the front side of the vehicle body of the pair of optical sensors (S ₁ ) and (S ₂ ). I am using it.

Next, a steering control process for automatically traveling the work vehicle (V) along the light beam (L) will be described with reference to the flowchart shown in FIG.

That is, based on the light reception information of the light receiver (5), the position deviation amount (χ), the inclination (ψ), and the steering angle (θ).
After measuring each of the above, whether the absolute value of the position deviation amount (χ) is less than or equal to a set value (3 cm) set as a state in which the deviation in the width direction with respect to the light beam (L) is small. Determine.

When the absolute value of the position deviation amount (χ) is equal to or less than the set value (3 cm), based on the position deviation amount (χ), inclination (ψ), and steering angle (θ) , The front wheel (1) of the front wheel (1) Is calculated from the following equation (ii), and is output so as to drive the steering actuator (11).

However, α ₁ , α ₂ , and α ₃ are preset coefficients.

On the other hand, if the position deviation amount (χ) is larger than the set value (3 cm), The value of is set to be twice the value when the position deviation amount (χ) is equal to or less than the set value (3 cm).

That is, when the position deviation amount (χ) is large, the wheels are likely to slip, so that the deviation in the lateral direction with respect to the light beam (L) can be corrected quickly, as described above.
The above Is set to a larger value than when the deviation is small.

[Another embodiment]

In the above embodiment, the agricultural work vehicle is configured as a rice planting work vehicle and is configured to automatically travel using the beam light (L) for guidance, but the present invention is applicable to various agricultural work vehicles. This is applicable, and the specific configurations of the respective parts such as the specific configurations of the traveling clutch and the work clutch can be variously changed.
Further, even when a person is boarded and artificially maneuvered, it can be used as a means for automatically operating the traveling clutch and the work clutch in cooperation at the start of the work.

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 work start control apparatus for an agricultural work vehicle according to the present invention. FIG. 1 is a block diagram of a control configuration, FIG. 2 is a circuit diagram of a drive circuit of a throttle operating actuator, and FIG. 3 is a work start. Flow chart of control, FIG. 4 is a flow chart of steering control, FIG. 5 is a schematic side view of the work vehicle, FIG. 6 is a rear view of the same, FIG. 7 is an explanatory view of starting work, and FIG. It is explanatory drawing of amount and inclination detection. (1), (2) ... traveling device, (3) ... working device,
(7) …… Running clutch, (9) …… Working clutch,
(E): engine, (100): traveling clutch operating means, (101): work clutch operating means, (102): engine speed control means.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Office reference number FI technical display location F02D 29/02 J 9248-3G G05D 1/02 N 9323-3H

Claims (1)

[Claims] 1. A guidance control device for controlling steering by receiving a guidance signal for guiding a vehicle body to a predetermined traveling route,
An engine (E) that drives both the traveling devices (1) and (2) and the working device (3), and the traveling devices (1) and (2)
A work start control device for an agricultural work vehicle, comprising: a travel clutch (7) for intermittently transmitting driving force to the travel clutch, wherein the travel clutch (7) is engaged and operated in response to a travel start command. An operating means (100), a steering control starting means for prohibiting steering control until a set time elapses after the traveling clutch (7) is engaged, and the engine after the traveling clutch (7) is engaged. A work start control device for an agricultural work vehicle, which is provided with an engine rotation speed control means (102) for gradually increasing the rotation speed of (E) until it reaches a set rotation speed.