JPH0829002B2 - 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 more particularly to a ground control device such as a tractor mounted on a main unit by a connecting link mechanism such as a rotary ground. The present invention relates to a control device for the left and right postures of a work machine.

[Problems to be Solved by Prior Art and Invention]

Conventionally, in this type of mobile vehicle, especially a ground work machine is connected to a main machine such as a tractor by a link mechanism, and
The stroke length target of the lift rod cylinder is determined from the left / right direction set value designated by the left / right direction setting device for controlling the left / right direction attitude of the ground work machine and the detection value of the tilt sensor provided in the machine. By calculating a value and matching the target value with the detected value of the stroke length of the lift rod cylinder, the left-right attitude of the ground work machine is automatically adjusted to the set value specified by the left-right direction setting device. Control is known.

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, this capacitance type ground inclination sensor is
The inclination angle based on the slope of the ground surface is detected.
The change in the slope of the ground surface causes the oil in the sensor to vibrate. 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 rolling control operation command is output, so that chattering or hunting is performed. It causes a phenomenon. Therefore, in order to prevent the chattering or hunting phenomenon caused by the vibration of the oil, an average value of the detected values of the tilt sensor within a predetermined 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 controlling the change in the detected value of the tilt sensor by the average value, the movement line of the average value may not match the slope of the ground surface at that time. That is, this will be explained with reference to the graph of the time-dependent change of the relationship between the set value in the left-right direction, the detection value by the tilt sensor and the average value shown in FIG. 5, and the tilt sensor is set in the left-right direction from time t1 to t2. The value continuously shows a substantially negative value, during which the average value smoothly follows the value of the tilt sensor. Then, when the time reaches t3 from the time t2, at this time, the state where the value of the inclination sensor matches the set value in the left-right direction, that is, the ground work machine has reached the posture of the set value designated by the setter On the other hand, the average value does not match the set value at this time, which means that there is a difference of minus d. Therefore, the CPU outputs an operation command corresponding to the difference of the minus d even when the ground work machine is in the posture of the set value. Next, when the time reaches t4 with the lapse of time, the average value still shows a negative value although the tilt sensor outputs a positive value. That is, although the ground work machine is in a positive attitude relative to the set value in the left-right direction, the CP
The U outputs an operation command to further deviate to the positive side, assuming that the attitude of the ground work machine is still on the negative side. This is because the operation command is delayed because the operation command is output based on the average value. Further, when the moving line of the average value shifts to the plus direction than the set value in the left-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-right direction. Occurrence of the case of dislocation. Therefore, as described above, there is a problem 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 the Problems] The present invention has been proposed as a solution to the above-mentioned problems in view of the conventional problems, and is for controlling the left-right posture of the ground work machine connected to the machine. The deviation value, which is the difference between the left-right direction setting value specified by the left-right direction setting device and the detection value detected by the ground inclination sensor provided in this machine, is calculated and specified by the left-right direction setting device. Calculated from the detection value of the ground inclination sensor and the set value of the left / right direction setter in a control device that automatically controls the left / right posture of the ground work machine to the set value The target stroke length is a value detected by the ground inclination sensor detected within a predetermined reference time by operating the lift rod cylinder based on the target stroke length and the detection value of the stroke sensor. A control unit that is calculated from the average value and the set value of the left / right direction setter, and initializes the average value of the ground inclination sensor to the set value of the left / right direction setter when the current target stroke length and the detected value of the stroke sensor match. It is intended to provide a horizontal control device for a moving vehicle in which a CPU is provided.

[Action]

Among the detection signals of the ground inclination sensor, an average value 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 the vibration of the inclination sensor. Further, the target stroke length is calculated by the average value and the detection value of the stroke sensor for detecting the difference in inclination of the ground work machine with respect to the main body, and the target stroke length and the detection value of the stroke sensor are When they match, by initializing the average value up to the present, the average value is the operation value from the control unit that averages the detection values detected by the subsequent inclination sensor with the value of the left-right direction set value as the base point. Since the output is output, the control by the average value is corrected, and therefore the phenomenon such as control delay or overrun can be eliminated as much as possible. That.

〔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 is moved up and down by means of a lift rod cylinder (12), and at least one lift rod (5) of the left and right lift rods is formed by a lift rod cylinder (12), and the lift rod cylinder (12) is expanded and contracted. The grounding work machine (2) is operated to roll the left and right posture of the ground work machine (2) with respect to the machine (1).

The ground inclination sensor (C) provided in this machine (1) is of the electrostatic capacitance type, and detects the inclination to the ground with respect to the slope of the ground surface by the movement of oil. is there. 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. Although there are various methods of detecting and calculating means and the like, in the control circuit diagram of FIG. 3, the inclination angle to the left and right of the machine (1) detected by the inclination sensor (C) to the ground is shown. From the detected value, the horizontal tilt angle set value of the ground work implement (2) set by the setting dial of the horizontal direction setter (I) composed of a rotary type or linear movement type potentiometer Increase / decrease, the required angle for ground tilt correction of the ground work machine (2) is calculated, and the lift rod cylinder (12) is expanded and contracted.
Next, the length of the lift rod cylinder (12) is calculated based on the calculated inclination angle to the left and right of the ground, and the operation command from the CPU (13) is output and the length is read by the stroke sensor (S). On the other hand, expansion / contraction control is performed via the solenoid valve (14), and when the lift rod cylinder (12) reaches the designated length, it stops.

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, sensor shafts (16) penetrating into the lift shaft (15) which is a hollow shaft and projecting left and right are provided, and sensor arms (17a) (17) (17a) (17) are provided at both ends of the sensor shaft (16).
b) is attached, and the sensor arm (17a) and the lower link (6) are connected by a sensor rod (18), and the other sensor arm (17b) and the lower link (7) are connected by a stroke sensor (S). ing.

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 this "divided value" is an "average time" that is a fixed time that is specified in advance, for example, 1 second, there will be approximately 72 times, but the average of all "divided values" 72 times in this "average time" will be the "average." As the "value", it is represented on the last "divided value". next,
"Average time" is shifted by one "divided value" and again, "average value" (of 72 divided values) within "average time" is shifted
Is represented on the next and final "division value". in this way,
When averaging the values of the tilt sensor (C) within the averaging time and using it as the input signal of the tilt sensor (C), a stable operation command is output from the CPU (13), which results in the responsiveness of the machine to rolling. Can be improved and hunting can be prevented.

Next, the operation procedure will be described in accordance with the flow chart shown in FIG. First, in step S, n detection values of the ground inclination sensor are designated as described above, and an average value of the n detection values is calculated. Then, it is determined whether or not the manual switch (S ₂ ) is operated in step. If it is determined that the manual switch (S ₂ ) is being operated, the route A is reached to the step, and the operation of the manual switch (S ₂ ) is “extension” or “contraction”. Then, the lift rod cylinder (12) is set to "extend" or "reduce" at the following steps, respectively, and the lift rod cylinder (12) operates based on this set. It will be.

Then, in the step, the manual switch (S ₂ )
When the operation is not performed by the step, the lift rod cylinder is set by the average value of the detection values of the ground inclination sensor (C) and the set value specified by the tilt adjustment dial of the left / right direction setting device (I) in step. The length of the target stroke to be expanded and contracted in (12) is calculated. Then, in step, the length of the target calculated in the step,
The current length determines the movements of "extension" and "contraction", which are target lengths with respect to the average value of the tilt sensor of the lift rod cylinder (12). Then, the length of the actual "extension" and "contraction" strokes of the lift rod cylinder (12) are detected by the detection value of the ground inclination sensor (C) and the inclination adjustment dial of the left / right direction setting device (I) at step. The calculated stroke length is calculated. Then, in step, it is judged whether or not the current length of the lift rod cylinder (12) matches the length of the calculated stroke of the lift rod cylinder (12) calculated in the step, and if If so, an operation command is output from the control unit (10a) to initialize the average value of the ground inclination sensor (C) to a reference value which is a value set by the left / right direction setting device (I) in step. The average value will be calculated again from the coincidence points. If they do not match in the step, the horizontal control is continuously performed with the averaged value without initializing the average value of the ground inclination sensor (C) to the reference value. Thus, the average value of the ground inclination sensor (C) after being initialized to the reference value which is the value set by the left / right direction setting device (I) is related to the transition of the average value before the initialization. Was turned off, and it was about 14/100 after initialization.
The first "divided value" obtained by dividing the detection value of the ground inclination sensor (C) by the time unit of 0 seconds, and the "divided value" of the preceding 71 times is the value set by the horizontal direction setter (I). The value equivalent to the reference value is considered to have been output and is displayed on the last "divided value" in the average time, and another average value is calculated again. Therefore, after the initialization, the operation command output from the CPU (13) is given in accordance with the actual condition of the ground inclination sensor (C).

〔The invention's effect〕

The present invention, as will be described in detail in one embodiment that can be described, averages the detection values of the ground inclination sensor provided in this machine within a predetermined reference time, and sets this average value and the left / right direction setting device. The target stroke length is calculated from the value, and horizontal control is performed with the detection value of the stroke sensor that detects the difference in inclination of the ground work machine with respect to this machine. Every time when and match, the average value of the previous term is initialized to this left-right set value position, and the average value is calculated with this initialized time point as the starting point, and the operation command is output. Therefore, the merit of the operation based on the average value of the detection values of the ground inclination sensor and the merit of the subsequent operation based on the average value of the detection values of the ground inclination sensor due to the initialization are merged. In addition to eliminating the hunting or hunting phenomenon, it also eliminates the response delay of the operation command output from the CPU or the lift rod cylinder operation due to the averaging, and stable and smooth horizontal control of the ground work machine is realized. That was what happened.

BRIEF DESCRIPTION OF THE 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, and FIG. FIG. 4 is a control circuit diagram, FIG. 4 is a flow chart showing an operating procedure, and FIG. 5 is a graph showing a temporal change of a sensor value that can assume an actual operating condition and an average value based on a vibration cycle. Explanation of code (1) …… This machine, (2) …… Ground work machine (3) …… Lift arm, (4) (5) …… Lift rod (6) (7) …… Lower link, (8)… Top link (9) Connection link mechanism (10) Lift cylinder (11) Hydraulic lifting mechanism (12) Lift rod cylinder (13) CPU, (13a) Control unit (14) …… Solenoid valve, (15) …… Lift Shaft (16) …… Sensor Shaft, (17a) (17b) …… Sensor Arm (18) …… Sensor Rod, (I) …… Left / Right Direction Setting Device ( C) …… Slope sensor to ground, (S) …… Stroke sensor (S ₃ ) …… Up / down switch

Claims (1)

[Claims] 1. A horizontal direction set value designated by a horizontal direction setting device for controlling the horizontal posture of a ground working machine connected to the machine, and detected by a ground inclination sensor provided in the machine. In the control device, which calculates the deviation value which is the difference between the detected value and the automatic adjustment of the left and right posture of the ground work machine to the set value specified by the left and right direction setter, The target stroke length calculated by the detection value of the ground inclination sensor and the setting value of the left-right direction setting device, and the detection value of the stroke sensor are used to operate the lift rod cylinder to perform horizontal control. The length is calculated by the average value of the detection values of the ground inclination sensor detected within the reference time specified in advance and the setting value of the left / right direction setter. Horizontal control apparatus for a mobile vehicle, characterized in that the value provided a mean value of the ground inclination sensor when matching the CPU control unit to initialize the setting value of the right and left direction setting unit.