JP2001275409A - Boom horizontal control device for pest control machine - Google Patents

Abstract

(57) [Problem] Conventionally, the operation timing of a horizontal control device of a control boom is delayed as the speed of a control work machine increases,
There was a problem that horizontal control could not be performed properly. SOLUTION: In order to solve the problem, the present invention adopts the following solution, in which a control boom 2 projecting from both sides of a vehicle width and extending is attached to a support shaft 3 which is pivotally attached to a vehicle body 1. Is rotatably connected to the actuator 4 as a pivot point. The control means 5 is connected to a detecting means 6 for measuring the degree of inclination of the control boom 2 in the left-right direction, a detecting means 7 for detecting a ground shape in front of the vehicle body 1 in the traveling direction, and a vehicle speed detecting means 8. Provided. The control means 5 controls the control blade based on the detection information input from each of the detection means 6, 7, and 8.
Calculating a predicted value of the left-right inclination of the actuator 2,
A boom horizontal control device for a pest control machine having a configuration capable of outputting a control signal to the controller 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
Related to the technical field of agricultural machinery.

[0002]

2. Description of the Related Art Conventionally, a control work machine having a control boom projecting from both sides of a vehicle width has disclosed a technology for performing horizontal control of the control boom based on information detected by an inclination sensor or an angular velocity sensor. Have been.

[0003]

In the above-described conventional horizontal control device, after the control boom mounted on the front of the tractor is tilted in the left-right direction, the inclination is measured and the control is performed. -The input is to be input to the Therefore,
The control boom has a problem that the control operation is deviated in timing and a delay occurs, so that horizontal control cannot be performed accurately. In particular,
As the speed of the pest control machine has increased as in recent years, the conventional horizontal control device cannot respond to changes in the shape (height, steps, etc.) of the ground in front of which the tractor passes after a few seconds,
This is a major issue in actual work.

[0004]

SUMMARY OF THE INVENTION The present invention takes the following technical means in order to solve the above-mentioned problems. First, according to the first aspect of the present invention, a control boom 2 extending from both sides of the vehicle body 1 and extending from the vehicle width is supported by a support shaft 3 in the front-rear direction. The support shaft 3 is rotatably connected to an actuator 4 as a rotation fulcrum, and the actuator 4 is connected to a control means 5 for horizontal control. Detecting means 6 for measuring the degree of inclination of the control boom 2 in the left-right direction; detecting means 7 for detecting the shape of the ground ahead of the traveling body 1 in the traveling direction; and detecting means 8 for detecting the vehicle speed. The control means 5 calculates a predicted value of the right and left inclination of the control boom 2 based on the detection information inputted from each of the detection means 6, 7 and 8, and can output a control signal to the actuator 4. And a boom horizontal control device for the pest control machine.

[0005] Next, the invention according to claim 2 is characterized in that the control means 5
2. The boom horizontal control device for a pest control device according to claim 1, wherein the control signal for predictive control is not output to the actuator 4 when the steering angle of the traveling vehicle body 1 exceeds a set value. . Next, a third aspect of the present invention provides the control means
2. The apparatus according to claim 1, wherein the allowable range in which the control boom can be turned up and down during the horizontal control operation of the control boom is set wider when the control boom is in the raised position than in the lowered position. Alternatively, a boom horizontal control device for a pest control machine according to claim 2 is provided.

[0006]

Since the present invention is constructed as described above, it is possible to perform predictive control and to perform a pest control operation while appropriately controlling a control boom horizontally in accordance with a field scene. Having. Further, the control device according to the present invention can automatically suspend the predictive control when the traveling direction of the tractor is changed by the steering operation, and furthermore, can control the control range according to the height of the control boom. By setting (restricting)
There is also an advantage that you can work safely.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. First, as shown in FIGS. 4 and 5, the tractor 10 is provided with a pair of left and right front wheels 11 and a rear wheel 12 mounted on a front portion and a rear portion of the traveling vehicle body 1, respectively.
A control seat 13 is provided at an intermediate portion on the vehicle body 1 and a handle 14 is provided at a front side thereof. And operation panel 1
Numeral 5 is arranged around the handle 14 and is provided with an automatic switch 16 for activating the control means 5 described later. The engine 17 is housed in an engine room covered by a bonnet cover 18 on the front side of the handle 14 so as to transmit the rotating parts.

Although not specifically shown, a steering mechanism of the traveling vehicle body 1 is provided with a front wheel steering mechanism and a rear wheel steering mechanism connected to the steering wheel 14, and has a front wheel steering mode and a four-wheel steering. One of the modes can be selected to perform the switching steering operation. Next, the control device will be described.

First, the solution tank 20 is molded from a resin material and is relatively light so that it can be easily carried by itself. As shown in the plane of FIG. 4, the solution tank 20 is removably mounted around the left and right sides of the cockpit 13 so as to be detachable, and a limited narrow space is filled with a large amount of the chemical for spraying as much as possible. It is configured to be able to. Then, the solution sending hose 21 is connected to the solution tank 2 via a solution sending pump or a pressure regulating device.
0, and the distal end is connected to a control boom 2 provided at the front of the vehicle body 1 so that the chemical solution can be pressure-fed.

As shown in FIGS. 2, 4 and 5, the control boom 2 is provided with a central control boom 2a on an elevating device 22 having a parallel link mechanism at the front of the vehicle body 1.
Left and right control booms 2b, 2b are connected to the central control boom 2a by being slidably and pivotally connected to the left and right sides of the central control boom 2a.
c. And the control boom 2
As described above, the central control boom 2a and the left and right control booms 2
The three liquid feeding hoses 21 are respectively connected to b and 2c in an extended manner, and the spraying nozzles 23 are arranged at predetermined intervals so that a controlling operation can be performed. The elevating device 22 has a structure in which a stroke sensor 32 is arranged in parallel with an elevating cylinder 22a to feed back an elevating position (operating length).

The terms “left” and “right” in this specification describe the position of the tractor 10 as viewed in the forward direction. As shown in the front view of FIG. 2, the control boom 2 extends the three booms 2a, 2b, 2c described above in a straight line to form a single vehicle. It extends over both sides from the width, so that a wide range of pest control work can be performed in one run. The center of the central control boom 2a located in the middle of the control boom 2 is rotatably mounted on a support shaft 3 provided in the front-rear direction on the front side of the elevating device 22, The whole is configured so that the left and right are vertically rotated about the support shaft 3 as a rotation fulcrum.

As shown in FIG. 3, the actuator 4 is a control cylinder 2 which expands and contracts by hydraulic oil.
4, one of which is pivotally connected to a control arm 25 connected to the support shaft 3, and the other is connected to a machine frame constituting the elevating device 22. As shown in FIG. 3, the actuator 4 is integrally provided with a control valve 26 which is switched based on a control signal output from a control means 5 described later. The expansion and contraction is controlled by the supplied hydraulic oil.

Reference numeral 27 denotes a stroke sensor.
The actuator is arranged in parallel with the actuator 4 and its operating length is
It is configured to perform feedback. In the embodiment, the right and left control booms 2b and 2c are respectively provided with the electric cylinders 28 (left 28a and right 28b) at the bent portions of the central control boom 2a located at the center and the both ends. Is equipped, and it can be folded. The control booms 2b and 2c on both the left and right sides can be extended in a state of extending linearly in the horizontal direction along the control boom 2a located at the center during the control work to increase the spray width. 4 and 5, during non-working, the vehicle is bent rearward along the vehicle body 1 so that the vehicle width is reduced and traveling on the road can be advantageously performed.

The electric cylinder 28 is configured to be able to expand and contract by the manual operation of the left and right boom opening / closing switch 29, so that the control booms 2b and 2c can be opened and closed. In addition,
In the case of the embodiment, opening and closing operations can be performed on the left and right alone or simultaneously on the left and right. Next, a control means 5 (hereinafter, referred to as "controller 5") using a microcomputer will be described with reference to FIG.

First, the controller 5 is an arithmetic control unit of a microcomputer having a memory in which a control program, reference data, and the like are built, and has a configuration for performing arithmetic, logic, comparison, and the like. I have. And control
The input 5 has an automatic switch 16 and an inclination sensor 6 on the input side.
(Corresponding to "detection means 6") and ground height sensors (left) (right) 7a, 7b (corresponding to "detection means 7")
, A relative angle sensor 30, a vehicle speed sensor 8 (corresponding to the "detecting means 8"), a front wheel steering angle sensor 31, a stroke sensor 27, a stroke sensor 32 of the lifting cylinder 22a, a left and right boom. The respective switches are connected to the open / close switch 29 to input respective information. The controller 5 connects the actuator 4, the left electric cylinder 28a, and the right electric cylinder 28b to the output side.

The controller 5 receives information from the above-described sensors and switches, but before that, the automatic switch 16 is first turned on to control the microcomputer. In this state, the control work can be performed while controlling the control boom 2 horizontally.

In the above configuration, as shown in FIG. 2, the inclination sensor 6 is mounted on the control boom 2 and measures the inclination. And the ground height sensor (left)
(Right) As shown in FIG. 2, 7a and 7b are detection devices each having a transmitter and a receiver using ultrasonic waves as a set, and are provided at a low position in front of the tractor 10 to travel. It is configured to detect the shape (height) of the ground surface ahead (left and right) in the direction. The relative angle sensor 30 is a potentiometer for measuring the rotation angle of the support shaft 3, and is configured to measure the relative relationship angle between the traveling vehicle body 1 and the control boom 2. Although not shown, the vehicle speed sensor 8 is provided in the traveling transmission device of the tractor 10 to measure the vehicle speed.

The front wheel steering angle sensor 31 is a potentiometer provided on a bell crank for measuring a steering angle (turning angle) of the front wheel 11 steered based on a steering operation. The stroke sensor 32 measures the operating length of the lift cylinder 22a and detects the height position of the lift device 22. The stroke sensor 27 measures the operating length of the control cylinder 24 as the actuator 4 as described above.

Next, the operation will be described. First, in performing the control work, the prepared chemical liquid is filled in the solution tank 20 and mounted on the traveling vehicle body 1 in advance. Next, the engine 17 is started and the automatic switch 16 is turned on.
Is turned ON to start the controller 5 in the operating state. Then, the control boom 2 operates the left and right boom opening / closing switch 29 to operate the left and right electric cylinders 28a and 28b via the controller 5, so that the right and left control booms 2b and 2b are controlled.
c is extended outward from the vehicle width so as to be in line with the central control boom 2a so that a wide control width can be obtained at the front of the traveling vehicle body 1. At the same time, the lifting device 22
Sets the spray height by adjusting the height according to the length of the leaf stem of the target crop. The spraying height is often determined by using the lifting cylinder 22a according to the height of the target crop during the spraying operation.

When the preparation is completed as described above, the tractor 10 moves forward while driving the rotating parts of the fuselage from the engine 17 and starts the control work. Then, the chemical solution
The liquid is sucked by the driven liquid sending pump and reaches the pressure adjusting device from the solution tank 20. When the valve is opened, the chemical is pumped through the feed hose 21 to reach the front control boom 2 and is sprayed on the crop from each spray nozzle 23.

During the control operation, the controller 5
Will be controlled according to the flowchart shown in FIG. First, the controller 5 is the control boom 2
Is input as detection information from the tilt sensor 6,
A control signal calculated based on this is output to the control valve 26 to perform a valve switching operation.
Control operation. Therefore, the control cylinder 24 operates to extend and contract by the hydraulic oil fed as described above to control the control arm 25. Then, the control arm 2 is pushed and pulled by the control arm 25, and the left and right sides are turned up and down with the support shaft 3 as a turning fulcrum, thereby performing horizontal control.

As described above, when the normal horizontal control is performed, the ground height sensors 7a and 7b irradiate the ultrasonic wave to the ground in front of the tractor 10 in the traveling direction to obtain a reflected wave,
The ground shape (ground height) on both left and right sides is detected, and the detected information is input to the controller 5. Then, the controller 5 calculates the predicted value (θ1) based on the detection information by performing an operation while comparing the table data with the table data.

The controller 5 includes a vehicle speed sensor 8
The distance is measured from the vehicle speed of the tractor 10 input from the tractor 10, and when the tractor 10 reaches the position, the predicted control value (θ3 = θ1−θ2) is obtained from the detected value (θ2) of the inclination sensor 6 and the predicted value (θ1). θ2) is calculated and a control signal is output to the actuator 4. Thus, the controller 5
Performs normal horizontal control only with the tilt sensor 6,
Predictive control can be performed by adding the ground height sensors 7a and 7b and the vehicle speed sensor 8 to obtain a predicted value of horizontal control.

When the detection information input from the front wheel steering angle sensor 31 exceeds the preset steering angle during the prediction control, the controller 5 performs the prediction control on the actuator 4. Is not output, and the control is changed to the normal control based on the detection information of the inclination sensor 6.

Further, the controller 5 has two controllers.
The information is input from the sensors 27 and 32, respectively. When the lifting device 22 is lower than the preset height position, the control width is limited to secure the safety, and conversely, when the height is higher, the necessary control width is sufficient. Will be output.

When the controller 5 is provided with an angular velocity sensor so that the vibration of the control boom 2 can be measured, when the vibration exceeds the reference value, the control speed is reduced and the spraying operation is performed. Workability can be maintained. As described above, the embodiment of the present invention enables predictive control,
The control work can be performed while controlling the control booms 2a, 2b, 2c appropriately and horizontally according to the shape (height) of the field scene.
When the course is changed by a steering operation, the predictive control can be automatically interrupted to return to the normal horizontal control. And
By setting (restricting) the allowable range of the control operation according to the height of the control boom, even if the control operation is performed at a low position, no trouble such as contact with the crop occurs and the work can be performed safely. There are advantages too.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control mechanism according to an embodiment of the present invention.

FIG. 2 is a front view showing an operation of the embodiment of the present invention.

FIG. 3 is a front view of the embodiment of the present invention.

FIG. 4 is a plan view of the embodiment of the present invention.

FIG. 5 is a side view showing the operation of the embodiment of the present invention.

FIG. 6 is a flowchart showing an embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Running vehicle body 2 Control boom 2a Central control boom 2b Left control boom 2c Right control boom 3 Support shaft 4 Actuator 5 Control means 6 Detecting means (tilt sensor) 7 Detecting means 7a Sensor (left) 7b Ground height sensor (right) 8 Vehicle speed sensor 10 Tractor 11 Front wheel 12 Rear wheel 13 Steering seat 14 Handle 15 Operation panel 16 Automatic switch 17 Engine 18 Bonnet cover 20 Solution tank 21 Liquid transfer hose 22 Up / down Apparatus 22a Lifting cylinder 23 Spray nozzle 24 Control cylinder 25 Control arm 26 Control valve 27 Stroke sensor 28 Electric cylinder 29 Left / right boom open / close switch 30 Relative angle sensor 31 Front wheel steering angle sensor.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B304 KA16 LA02 LA10 LB02 LB16 LC04 LC05 MA08 MB02 MC08 MD02 QA04 QA05 QA26 QA30 QB03 QB17 QB19 QC03 4D074 AA05 BB06 CC04 CC22 CC25 CC26 CC54

Claims (3)

[Claims] 1. A control boom 2 extending from both sides of a vehicle width and extending on both sides of a vehicle body and supported by a support shaft 3 in a front-rear direction. Is rotatably connected to the actuator 4 as a pivot point,
The actuator 4 is connected to a control means 5 for horizontal control. The control means 5 includes a detection means 6 for measuring the degree of inclination of the control boom 2 in the left-right direction, and the traveling vehicle 1 The control means 5 is connected to a detecting means 7 for detecting the ground shape ahead of the traveling direction of the vehicle and a detecting means 8 for detecting the vehicle speed, and the control means 5 performs control based on detection information inputted from the detecting means 6, 7, and 8. A boom horizontal control device for a pest control work machine, which is configured to calculate a predicted value of the lateral inclination of the boom 2 and output a control signal to the actuator 4. 2. The control device according to claim 1, wherein the control means does not output a control signal for predictive control to the actuator when the steering angle of the traveling vehicle body exceeds a set value. Boom level control. The control means (5) sets an allowable range for turning up and down during the horizontal control operation of the control boom (2) when the control boom (2) is at the lowered position when the control boom (2) is at the raised position. 3. The boom level control device for a pest control machine according to claim 1, wherein the boom level control device is set to a wider range than the above.