JPH0763241B2 - Horizontal control device for moving vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal control device for a moving vehicle, and particularly to a ground work such as a rotary attached to this machine such as a tractor by a connecting link mechanism. The present invention relates to a control device for the left and right postures of a machine.

[Problems to be Solved by Prior Art and Invention]

Conventionally, in this type of mobile vehicle, a ground working machine, in particular, is connected to a main body such as a tractor by a link mechanism, and a horizontal direction setting device for controlling the horizontal posture of the ground working machine. Then, a deviation value, which is the difference between the specified left-right direction set value and the detection value detected by the tilt sensor provided in the machine or the ground work machine, is calculated, and the deviation value is calculated by the left-right direction setter. It is known to automatically control the left-right attitude of a ground work machine to a commanded set value.

In order to perform such control, the capacitance sensor is often used as the ground inclination sensor.
Thus, this electrostatic capacitance type ground inclination sensor encloses oil and detects the inclination angle by the movement of the oil. That is, the capacitance type ground inclination sensor detects the inclination angle based on the ground surface's slobe, and the oil in the sensor vibrates due to the change in the ground surface slope. Thus, due to the vibration of the oil itself, the ground inclination sensor frequently detects the inclination angle, and the detected value is judged by the CPU, and the operation command of the rolling control is output. Therefore, chattering or hunting is performed. It causes a phenomenon. Therefore, in order to prevent the chattering or hunting phenomenon due to the vibration of the oil, an average value of the detected values of the tilt sensor within a preset reference time is calculated, and the control output is calculated based on this average value. Therefore, the chattering or hunting is prevented. On the other hand, when the average value is used to control the change in the detection value of the inclination sensor, the movement line of the average value may not match the slobe of the ground surface at that time. That is, if explaining this Te cowpea in the graph of the temporal change in the relationship between the detected value and the average value by the horizontal direction setting value inclination sensor to shown in FIG. 5 (A), the inclination sensor from the time _t1 to t ₂ Indicates a negative value continuously with respect to the set value in the left-right direction, during which the average value smoothly follows the value of the tilt sensor. And Thus, at this time is致Ru to t ₃ from the time t _2, the state in which the value of the inclination sensor coincides with the lateral direction setting values, i.e. the working machine has fallen posture of the set value to specify in said setter On the other hand, the average value does not match the set value at this time, indicating that there is a difference of minus d. Therefore, the control unit outputs the operation command corresponding to the difference of the minus d even when the working machine is in the posture of the set value. Next, when time passes and t ₄ is reached, the average value still shows a negative value, although the tilt sensor outputs a positive value. That is, although the work implement is in a positive posture with respect to the set value in the left-right direction,
The control unit outputs an operation command to further deviate the posture of the work machine. This is because the operation command is delayed because the operation command is output based on the average value. Further, at the time when the moving line of the average value shifts to the plus direction than the set value in the left and right direction due to the delay of the average value, the detected value of the tilt sensor is already in the minus direction from the set value in the left and right direction. Occurrence of the case of dislocation. Therefore, as described above, there are problems to solve the chattering or hunting phenomenon and to solve the delay of the operation command due to the average value and the overrun of the ground work machine based on the average value due to the delay.

[Means for solving problems]

The present invention has been proposed as a solution to the above-mentioned drawbacks of the conventional horizontal control device, and calculates an average value of the ground inclination sensor signal within a predetermined reference time, and calculates the average value and the left-right direction. When the set value detected by the tilt sensor coincides with the set value, the average value is initialized by comparing the set value set by the setter with the set value in the left-right direction. The control unit that outputs operation commands is the CPU
It is intended to provide a moving vehicle horizontal control device characterized in that

[Action]

The average value of the ground inclination sensor signal within a predetermined reference time is calculated, and the control unit outputs an operation command based on the average value to prevent chattering and hunting due to vibration of the inclination sensor, and further By initializing the average value based on the cycle when the detected value matches the set value by the horizontal direction setter, the average value is detected by the subsequent inclination sensor with the value of the horizontal direction set value as the base point. Since the detected command values are averaged and the operation command from the control unit is output, the control by the average value is corrected, and accordingly, the phenomenon such as control delay or overrun can be eliminated as much as possible. Of.

〔Example〕

An embodiment of the present invention will be described in detail below with reference to the attached drawings. For convenience of description, a conventionally known mechanism will be described at the same time. In FIG. 1, (1) is a main machine such as a tractor, and a ground work machine (2) such as a rotary is mounted at the rear of the tractor (1), and left and right lift arms (3).
A working machine connecting link such as a three-point link mechanism composed of left and right lower links (6) and (7) that move up and down via left and right lift rods (4) and (5), and a central top link (8) The working machine connecting link (9) is connected by a mechanism (9), and the working machine connecting link (9) is a hydraulic lifting mechanism (the lifting arms (3, 3) are raised and lowered by a lift cylinder (10) using hydraulic pressure. The lift rod cylinder (12) is used to extend and retract by at least one of the left and right lift rods (5) being formed by the lift rod cylinder (12). By doing so, the left-right posture of the ground work machine (2) with respect to the main machine (1) is controlled to roll.

Further, the ground inclination sensor (C) provided in the ground working machine (2) is of a capacitance type, and detects the inclination of the ground surface to the left or right with respect to the slope by the movement of oil. It is a thing. In the embodiment shown in FIG. 1, the ground inclination sensor (C) is provided on the ground working machine (2) side. Thus, the horizontal inclination of the ground work machine (2) with respect to the machine (1) is determined by the length of the lift rod cylinder (12) provided between the ground work machine (2) and the machine (1). It is detected by a stroke sensor (S) that measures the height. There are various methods of detecting and calculating means, but in the control circuit diagram of FIG. 3, the ground working machine (2) is detected by the ground inclination sensor (C). From the tilt angle detection value, the left / right tilt angle setting of the ground work machine (2) set by the setting dial of the left / right tilt setting device (I) composed of a rotary type or a linear movement type potentiometer The value is increased / decreased to calculate the angle required to correct the left-right inclination to the ground of the ground work machine (2).
An operation command is output from the CPU (13) to control the expansion and contraction through the solenoid valve (14).

Also, as a simplified type of this machine (1), a left / right tilt setting device (I)
Although there is one that is not provided, the left and right inclination angle detection values detected by the inclination sensor (C) are input to the CPU (13) via the A / D converter, and the stroke sensor (S) The length of the lift rod cylinder (12) is expanded and contracted by the CPU (13) so that the difference between the detected value and the detected value becomes zero. It goes without saying that the present invention extends to this simple type.

Further, the left-right inclination of the ground working machine (2) shown in FIG. 1 with respect to the main machine (1) is such that the lift rod cylinder (12) provided between the ground working machine (2) and the main machine (1). ) Is detected by the stroke sensor (S) for measuring the length, the stroke sensor (S) has a linear movement type potentiometer, although its internal structure is not shown. As shown in FIG. 2, it is arranged in front of the lift rod cylinder (12) and the length of the lift rod cylinder (12) is measured.
That is, a sensor shaft (16) penetrating into the lift shaft (15) that is a hollow shaft and protruding left and right is provided, and sensor arms (17a) (17b) are attached to both ends of the sensor shaft (16). A sensor rod (18) connects between (17a) and the lower link (6), and a stroke sensor (S) connects between the other sensor arm (17b) and the lower link (7).

As the ground inclination sensor (C), a capacitance type is adopted, and the detection value of the inclination sensor (C) is divided in a predetermined time, for example, about 14/1000 seconds. If the “divided value” is an “average time” that is a predetermined time that is specified in advance, for example, 1 second, there are about 72 times, but the “divided value” in this “average time” is the average of all 72 times. As the "average value", it is represented on the last "divided value". Next, shift the "average time" by one "divided value" again and again shift the "average value" (of 72 divided values) within the "average time" to the next "divided value" Represented above. In this way, when the values of the tilt sensor (C) within the average time are averaged and used as the input signal of the tilt sensor (C), a stable operation command is output from the CPU (13). The responsiveness to rolling can be improved and hunting can be prevented.

Next, the operation of the control unit will be described with reference to the flow chart of FIG. 4. First, the tilt sensor constantly outputs a detection value during the operation of the working machine, and at the same time, the CPU of the machine detects the above-mentioned detection at the step. The values are processed and the average value is constantly calculated. In addition, the operator of this machine can release the automatic control by manual operation of the elevating switch (S ₃ ) at any time and perform the manual operation. Check whether the scale on the adjusting dial of the setting device matches the appropriate value, and if there is a difference, set it to the correct left and right set value (step). In such a case, the controller will determine the operation of the work equipment in the left-right direction posture adjustment based on the left-right direction set value given by the scale of the adjustment dial of the left-right direction setter and the average value of the tilt sensor. (Step), the controller first judges whether or not the detection value of the tilt sensor agrees with the set value in the left-right direction given in step (step),
When they match, the average value of the tilt sensor is calculated by the CPU (13).
Initialization by the control unit (13a) provided in (step),
An operation command to the working machine is output based on the average value of the tilt sensor after the initialization. Incidentally, since the left-right direction posture of the working machine matches the left-right direction set value at the time of performing this initialization, no operation command is output from the control unit.

Furthermore, according to an example of the temporal change of the average value based on the detected value (sensor value) of the tilt sensor and the vibration, which is shown in the graph of FIG. 5 in the case of the control by the average value and the case of initializing this average value. I will explain. That is, from time t ₁ to t ₂ , the value detected by the tilt sensor is in the negative direction from the set value in the left-right direction, and the moving line of the average value is the same during this time. Both the figure (A) and the figure (B) are the same. It should be noted that FIG. 9A shows the case of control by the average value, and FIG. 9B is a graph when the average value is initialized. However, at time t ₃ , the sensor value matches the set value in the left-right direction, and in the figure (A), the CPU (13) outputs the operation command based on the average value. (B)
Then, the average value is initialized by the control unit (13a) of the CPU (13),
Starting from this point, the tilt sensor (C)
The detected values of are averaged and the operation command from the CPU (13) is output. That is, the difference (d) between the average value and the set value in the left-right direction is eliminated at the time point t ₃ in FIG. 7B, and the first average value is obtained at the time point t ₄ , and this average value is obtained. While the operation command is output from the CPU (13) according to the value, in the same figure (A), according to the average value deviated in the opposite direction of the set value in the left-right direction from the actual sensor value. CPU
(13) outputs an operation command, and this phenomenon is t ₅
It does not disappear until the point. Meanwhile, Te is at in FIG. (B), t ₄
As can be seen from the change in the average value between t ₅ and t ₅ , the detected value of the tilt sensor (C) and the average value based on this detected value are above the horizontal set value by initializing the average value. At the same time, smooth control is possible, and the fact that the actual movement of the tilt sensor and the operation command based on the average value operate in opposite directions is eliminated, and the phenomenon such as the overrun can be overcome. It is Natsuta.

〔The invention's effect〕

The present invention, as described in detail in the descriptive embodiment, averages the vibration change of the detection value based on the inclination of the capacitance type ground inclination sensor, and the detection value of the inclination sensor is equal to the set value in the left-right direction. Initialize the average value each time it matches, and by outputting the operation command by the new average value calculated from this initialized time point as a starting point, the advantages of the operation by the average value and the advantages of the initialization are obtained. To eliminate the above-mentioned chattering or hunting phenomenon,
The response delay due to averaging is also eliminated, and stable and smooth automatic control of the working machine is realized.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, FIG. 1 is a side view of a ground work machine connected to the machine, FIG. 2 is a perspective view of a connection link mechanism, FIG. 3 is a control circuit diagram, and FIG. Fig. 5 is a flow chart showing the operating procedure, Fig. 5 (A) is a graph showing the temporal change of the average value based on the sensor value and the vibration period that can be assumed in the actual operating condition, and Fig. 5 (B) is the same. It is a graph at the time of initialization. Explanation of symbols (1) …… This machine, (2) …… Ground work machine (3) …… Lift arm, (4) (5) …… Lift rod (6) (7) …… Lower link, (8) ...... Top ring (9) ...... Connection link mechanism, (10) ...... Lift cylinder (11) ...... Hydraulic lifting mechanism (12) ...... Lift rod cylinder (13) ...... CPU, (13a) ...... Control Part (14) …… Solenoid valve, (15) …… Lift shaft shift (16) …… Sensor shaft shift (17a) (17b) …… Sensor arm (18) …… Sensor rod (I) …… Horizontal installation device (C) ) …… Ground sensor (S) …… Stroke sensor (S ₃ ) …… Up / down switch

Claims (1)

[Claims] 1. A left-right direction set value designated by a left-right direction setting device for controlling the left-right direction attitude of a ground working machine connected to the machine, and a ground inclination provided on the ground working machine. A deviation value that is a difference from a detection value detected by a sensor is calculated, and the left and right postures of the ground work machine are automatically controlled to the set value specified by the left and right direction set value. In the control device, an average value of the ground inclination sensor signal within a predetermined reference time is calculated, an operation command based on this average value is output, and the detection value of the ground inclination sensor is set to the left / right direction setting device. A horizontal control device for a moving vehicle, characterized in that a CPU is provided as a control unit for outputting an operation command to initialize the average value when the set value designated by the above-mentioned is matched.