JP2009028015A - Agricultural work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an agricultural work vehicle realizing stable traveling on a field unstable to travel, such as, paddy field. <P>SOLUTION: Stable traveling is realized on a field which is unstable for traveling, such as, paddy field without causing stuck troubles by detecting the traveling state of a traveling vehicle by a travel-detecting means, comparing the traveling state with a preset traveling condition by a stability control means; and when the detected traveling state is different from the preset conditions, outputting the signal for the vehicle stabilization control to a travel stabilizing means for stabilizing the traveling state of the vehicle by the travel-stabilizing means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to traveling control of an agricultural work machine that performs management work such as sowing work, control work, and tilling work.

2. Description of the Related Art Conventionally, agricultural work machines are known that perform management work such as sowing work, pest control work, tillage work, middle plowing grass, ground work such as staking and soiling, seedling transplanting work, and harvesting work. Agricultural work machines are known to work unmannedly and autonomously by introducing GPS (global positioning system) and sensors.
For example, Patent Literature 1 discloses an agricultural work machine that performs unmanned management work by providing a GPS. That is, in this agricultural work machine, the position information in the height direction obtained from the GPS is compared with the height displacement amount of the agricultural work machine, and if the displacement is greater than the set value, control is performed to stop autonomous traveling. Thus, it is possible to prevent the occurrence of problems such as the wheels becoming stuck in the grooves in the field and being unable to travel, or the machine body tilting and falling.

JP 2004-016010 A

  However, if the agricultural work machine unmanned automatically travels in an unstable field such as a paddy field, it may become stuck due to the muddyness of the field, that is, it may become impossible to travel due to the stack. If the machine is stopped one by one and the worker is dealing with human power, the work efficiency is poor, and in the field, there are cases where it is physically impossible to deal with the human power.

The present invention has been made to solve the above problem, and an object thereof is to provide an agricultural work machine capable of realizing stable traveling in an unstable traveling field such as paddy fields.
Another object of the present invention is to provide an agricultural work machine that avoids an emergency stop during automatic traveling by a stack and maintains work by stable traveling.

  The invention described in claim 1 is an agricultural work machine that performs farm work while autonomously running in a field, and includes a travel detection unit that detects a travel state of the machine body, a detection result received from the travel detection unit, and a preset setting. A stable control means for outputting an output signal for performing stable control of the aircraft by comparing and calculating the travel conditions, and a travel stabilization means for stabilizing the running state of the aircraft based on the output signal output from the stability control means And an agricultural working machine characterized by comprising:

  The invention according to claim 2 is characterized in that the travel detection means is any one or a combination of an axle rotation speed detection sensor, a turning angle detection sensor, and a machine body inclination detection sensor. Agricultural working machine.

  A third aspect of the present invention is the agricultural work machine according to the first aspect, wherein the travel stabilization means is any one of a differential lock actuator, a steering actuator, a left brake and a right brake, or a combination thereof. It is.

(1) According to the invention described in claim 1, the traveling state of the airframe is detected by the traveling detection unit, and the traveling state is compared with the traveling condition set in advance by the stability control unit. When the vehicle is in a different running state, it outputs a signal for controlling the aircraft to the running stabilization means, and the running stabilization means stabilizes the running state of the aircraft. Stable driving can be realized without falling into the road.

(2) According to the invention described in claim 2, as the travel detection means, each axle of the fuselage is provided with an axle rotation speed detection sensor for detecting the rotation speed of the axle. Abnormality in the running state can be detected. That is, when the agricultural work machine falls into the stack, the stack side wheel slips and idles, the differential mechanism operates, and the idle stack side wheel further rotates. By detecting the high rotation speed with the axle rotation speed detection sensor, the stabilization control means can determine that the vehicle has malfunctioned such as a stack.

Further, as the travel detection means, the airframe is provided with a cut angle detection sensor for detecting the cut angle of the front and rear wheels in the running state, so the cut angle of the front and rear wheels in the running state is set in advance. The stabilization control means can determine that a running abnormality such as a stack has occurred by detecting the difference with the cutting angle detection sensor.
It can also be used in combination with a vehicle speed sensor to determine whether or not it is due to steering by the difference in rotational speed between the inner and outer wheels when the steering wheel is turned off.

  Furthermore, as the above-mentioned traveling detection means, the aircraft is provided with an aircraft inclination detection sensor for detecting the inclination angle of the aircraft, so that the inclination angle of the aircraft during traveling can be measured, and in the normal traveling state When detecting a state in which the inclination angle deviates from a preset inclination angle of the traveling state, the stability control means causes the traveling stabilization means to stabilize the inclination angle of the airframe for traveling.

Further, as the travel detection means, the aircraft is equipped with a GPS that acquires information on the travel position or travel route where the agricultural work machine travels in the field. It is possible to identify and avoid stacking of agricultural work machines.
In addition, detection information detected by the axle rotation speed detection sensor, the turning angle detection sensor, or the airframe inclination detection sensor can be captured by GPS.
Furthermore, a slip at the time of stacking can be detected by comparing the change in the travel distance obtained from the rotation speed of the wheel with the change in the travel distance obtained from the GPS.
In addition, as a driving | running | working state means arrange | positioned at an agricultural working machine, what was provided with at least 1 of the said axle shaft rotation speed detection sensor, a cutting angle detection sensor, a body inclination detection sensor, and GPS may be provided.

(3) According to the invention described in claim 3, as the traveling stabilization means, the aircraft is provided with a differential lock actuator for locking the differential (differential), so that the traveling wheel falls into the stack and the wheel is idling. In this case, the stability control means can avoid the agricultural work machine from the stack by locking the differential with the differential lock actuator.

  Also, as the travel stabilization means, the airframe is provided with a steering actuator that rotates the steering handle. If the airframe falls into the stack, the steering actuator is rotated by the steering actuator. The work machine can be avoided from the stack.

Further, as the traveling stabilization means, the aircraft is provided with a left brake and a right brake that control the traveling direction of the aircraft by braking the left and right wheels, so if the aircraft falls into the stack, By operating the right brake, the traveling direction can be corrected, and the agricultural work machine can be avoided from the stack.
Note that the traveling stabilization means disposed in the agricultural work machine may include at least one of a steering actuator, a differential lock actuator, a left brake, and a right brake.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  A shown in FIG. 1 is an agricultural work machine according to the present invention. The agricultural work machine A has a chemical spraying device 2 disposed at the front of the traveling machine body 1 and a power spray device 32 disposed at the rear. is doing.

  As shown in FIG. 1, the traveling machine body 1 is provided with a prime mover unit 5 at a front portion on a machine frame 4, a driving unit 6 is provided at a rear position of the prime mover unit 5, and a chemical tank is disposed at a rear position of the driving unit 6. 7, a pair of left and right front wheels 9 are provided at the lower front portion of the body frame 4 via the front axle case 8, and a pair of left and right rear wheels are disposed at the lower rear portion of the body frame 4 via the rear axle case 10. Wheels 11 are provided.

  As shown in FIG. 1, the body frame 4 includes a pair of left and right front and rear extension pieces 4a and 4a extending in the front and rear direction, and left and right extension pieces (not shown) installed between the front end portions of the front and rear extension pieces 4a and 4a. And.

  As shown in FIG. 1, the prime mover unit 5 includes an engine E or the like mounted on the machine body frame 4 and the engine E or the like is covered with a bonnet 12.

  The operation unit 6 has a dashboard 13 connected to the rear end of the bonnet 12, a handle post 14 is erected in the dashboard 13, and an upper end portion of the handle support shaft inserted into the handle post 14 is provided. A steering handle 16 is attached.

  A driver's seat 17 is disposed at a rear position of the steering handle 16. The driver's seat 17 is disposed in a driver seat disposing recess 18 formed in the front portion of the liquid chemical tank 7. The chemical tank 7 is also functioned as a support for the driver's seat 17.

  As shown in FIG. 1, the chemical solution spraying device 2 has a boom body 21 attached to the machine body frame 4 via lifting means 20, and a number of chemical solution spraying nozzles 22 are attached to the boom body 21 in the extending direction of the boom body 21. These nozzles 22 are connected to the power spray device 32 through a chemical solution pipe (not shown) while being attached at a predetermined interval.

  The fertilizer spraying device 3 is disposed at the rearmost part of the traveling machine body 1 and is a fertilizer hopper H that is filled with granular fertilizer and a power spray that receives power from the rotation of the engine E and discharges the fertilizer from the fertilizer hopper H. The apparatus 32 and the front-end | tip part boom 31 which opens and closes horizontally to right and left, and sprays a fertilizer from a spraying opening (not shown) are comprised.

Next, a travel detection means, a stability control means, and a travel stabilization means for detecting the travel state will be described with reference to FIG.
The agricultural work machine A according to the present embodiment includes travel detection means that detects an abnormality in the travel state while monitoring the travel state. As the traveling detection means, an axle rotation speed detection sensor 101, a turning angle detection sensor 102, and an airframe inclination detection sensor 103 are exemplified. A GPS 104 is provided so that the traveling position and traveling route of the agricultural work machine A can be detected.

  The axle rotation speed detection sensor 101 is attached to the axle portion of each front wheel 9 and each rear wheel 11 and senses the rotation speed of each axle. As the axle rotation speed detection sensor 101, for example, a hall element type, electromagnetic type, or optical type can be used. In this embodiment, the hall element type axle rotation speed detection sensor 101 is provided on each axle of the left front wheel 9, the right front wheel 9, the left rear wheel 11, and the right rear wheel 11.

  The turning angle detection sensor 102 measures an angle at which the front and rear wheels 9 and 11 are turned with respect to the traveling machine body 1 when the steering handle 16 is turned. As the cutting angle detection sensor 102, a potentiometer type sensor is used. The turning angle detection sensor 102 is provided on the front wheel side of the left stay 24 connecting the left front wheel 9 and the left rear wheel 11. Further, it is provided on the front wheel side of a right stay (not shown) connecting the right front wheel 9 and the right rear wheel 11. Alternatively, the turning angle detection sensor 102 may be provided close to the steering handle 16 and may be disposed so as to measure the turning angle of the steering handle 16.

  The machine body inclination detection sensor 103 is provided below the hood 12 of the traveling machine body 1 and detects the right and left inclinations of the traveling machine body 1 during traveling. The machine body inclination detection sensor 103 includes, for example, a roll inclination sensor (not shown) that is an inclination angle detection unit capable of detecting the inclination angle in the left-right direction of the traveling machine body 1, and the detection signal of the roll inclination sensor is received. The controller 100 acquires the tilt angle in the left-right direction of the traveling machine body 1 by the acquisition.

  The GPS 104 (global positioning system) obtains information on the position and travel route of the agricultural work machine A in the field by receiving a radio wave signal from a GPS satellite. The GPS 104 provided with an antenna unit is disposed at the rear side of the driver's seat 17 and on the left side of the cabin 23. Specifically, the agricultural work machine A acquires radio waves from a satellite signal at a certain time by an antenna disposed in the traveling machine body 1, transmits the acquired signal to the controller 100, and the controller 100 Travel control is performed with the stored travel program.

  And the agricultural working machine A in this embodiment is provided with the controller 100 which performs stability control based on the detection signal detected by the said travel detection means. The controller 100 mainly includes a CPU that performs arithmetic processing or control processing, and includes a recording medium such as RAM and ROM. That is, the controller 100 receives the detection signals based on detection signals from the turning angle detection sensor 102, the axle rotation speed detection sensor 101, the axle rotation speed detection sensor 101, and the like, and performs a comparison operation with a preset driving condition. Then, an abnormality in the traveling state of the stack or the like is determined, and control for stabilizing the abnormality in the traveling state is performed on the traveling stabilization means. Further, the controller 100 has a program for performing such control. In addition, although the arrangement | positioning location of the controller 100 is not specifically limited, In this embodiment, it is arrange | positioned in the ceiling part of the cabin 23 of the center part of the traveling body 1.

Furthermore, the agricultural working machine A in the present embodiment has a traveling stabilization means for stabilizing the traveling state of the traveling machine body 1. Examples of the travel stabilization means include a steering actuator 105, a differential lock actuator 106, a left brake 107, and a right brake 108.
The steering actuator 105 controls the steering handle 16 in response to a command from the controller 100. The steering actuator 105 controls the steering handle 16 to rotate or return the rotation during autonomous running.

  The differential lock actuator 106 is disposed in the middle portion of the axle portion of the rear wheel 11. At the time of stacking, the agricultural machine A can be avoided from the stack by locking the differential 56 disposed on the rear wheel axle.

Next, a method for the agricultural work machine A in the present embodiment to avoid an abnormal running state such as a stack will be described.
When the agricultural work machine A in the present embodiment is autonomously run in the field, the controller 100 causes the axle rotation speed detection sensor 101 and the turning angle detection sensor 102 to drive the axle rotation speed in the running state and the turning angles of the front and rear wheels 9 and 11. Etc. are detected. Then, when the agricultural work machine A travels on an unstable field such as a paddy field, the stack side wheel slips and idles, the differential mechanism operates, and the idle stack side wheel further rotates. . The axle rotation speed detection sensor 101 detects that the wheel has been rotated at a high speed.

  Then, the controller 100 receives information on the rotational speed of the axle detected by the axle rotational speed detection sensor 101. Further, the controller 100 stably controls the traveling of the agricultural work machine A based on a traveling program stored in advance. Then, the controller 100 detects that either the front wheel 9 or the rear wheel 11 has been rotated at a high speed, compares the detected detection result with a preset rotational speed, and compares the detected result. If the results are different, it is determined that one of the wheels 9, 11 has fallen into the stack.

  Further, when the controller 100 determines that the wheel has fallen into the stack, the controller 100 controls the traveling stabilization means to return to a normal traveling state. For example, the traveling stabilization means is a diff lock actuator 106, and the diff lock actuator 106 is deflocked to avoid the stack. Thereby, even if the agricultural work machine A is likely to fall into a stack, the stack can be avoided.

  Alternatively, the controller 100 performs control to reduce the rotation of the axle that is rotating at a high speed in the stack. Alternatively, control is performed to reverse the rotation of the axle that is rotating at a high speed in the stack. That is, the agricultural work machine A is once backed and the direction is changed to perform traveling control so as to avoid the stack portion.

  Since the travel stabilization means includes the differential lock actuator 106, the differential 56 can be locked by the differential lock actuator 106, thereby preventing a stack due to slippage of only one wheel. Further, the rotation of the axle can be reversed or stopped at a normal rotational speed. Thereby, the agricultural working machine A can be avoided from the stack even when it is likely to fall into the stack.

  Further, when the agricultural work machine A falls into the stack, the turning angle of the front and rear wheels becomes larger than that during normal traveling. Therefore, in this embodiment, the controller 100 determines that there is an abnormality in the traveling state of the stack or the like when the steering angle detection sensor 102 makes the steering angle of the steering wheel larger than the steering angle of the steering wheel in the normal traveling state. can do. Further, abnormality in the running state can be determined from the difference between the turning angle and the rotational speed of the inner and outer wheels.

  Then, the controller 100 controls the steering actuator 105 to stabilize the traveling state. That is, the controller 100 performs control such that the steering handle 16 is returned to the original position or further rotated. When falling into the stack, by further controlling the rotation, resistance increases between the wheel and the soil, and can be avoided from the stack. Thereby, even when the agricultural work machine A is likely to fall into a stack, the stack can be avoided.

  Further, the traveling machine body 1 is provided with a machine body inclination detection sensor 103 that detects an inclination angle of the traveling machine body 1. If the traveling machine body 1 enters a stack, a groove, or a hole in the field, the traveling machine body 1 is inclined. The controller 100 can detect an abnormality in the traveling state by detecting that the traveling machine body 1 is inclined. Then, the controller 100 determines whether the traveling state is abnormal and performs control to stabilize the traveling body 1.

  The running stabilization control is performed by the left brake 107 and the right brake 108. Since the traveling machine body 1 includes a left brake 107 and a right brake 108 that control the traveling direction of the traveling machine body 1 by braking the left and right wheels, when the traveling machine body 1 falls into the stack, the left brake 107 or the right brake By operating the brake 108, the traveling direction can be corrected, and stacking can be avoided.

Furthermore, the traveling machine body 1 is equipped with a GPS 104. The GPS 104 stores information such as the travel position and travel route of the agricultural work machine A in the field. For example, it is possible to specify an unstable traveling place such as a paddy field and store the information in the GPS 104. The agricultural work machine A performs autonomous traveling based on the information.
Further, by comparing the change in travel distance obtained from the rotation speed of the wheels 9 and 11 with the change in travel distance obtained from the GPS 104, a slip at the time of stacking can be detected.

  And if it becomes a stack while traveling on an unstable field such as a paddy field, the position where the stack is raised is stored by GPS104, and the position is avoided based on the information of the position where the stack was made. A traveling route to be found is found, and control is performed so that the agricultural working machine A travels along the traveling route. In addition, by identifying a place where a stack is likely to occur and storing information on the place in the GPS 104, it is possible to control traveling so as to avoid the place.

  The GPS 104 can also store information on the axle rotation speed detection sensor 101, the turning angle detection sensor 102, and the position / tilt detection sensor. For example, the detection result of high rotation at the time of stacking by the axle rotation speed detection sensor 101 can be captured by the GPS 104, and the GPS 104 (or the controller 100) operates the differential lock actuator 106, the steering actuator 105, etc. 1 traveling can be stabilized.

  As a result, the agricultural work machine A in the present embodiment detects the traveling state of the traveling machine body 1 by the traveling detection unit, compares the traveling state with the preset traveling condition by the stability control unit, and sets the setting condition. When the driving state is different from the above, a signal for stably controlling the traveling machine body 1 is output to the traveling stabilization means, and the traveling state of the traveling machine body 1 is stabilized by the traveling stabilization means. In the field, stable running can be realized without falling into a stack or the like.

  Next, the structure of the transmission of the agricultural working machine A in this embodiment will be described. Conventionally, a belt-type continuously variable transmission (an example of CVT) that continuously changes the gear ratio has been employed as the transmission of the agricultural work machine A. Alternatively, a hydraulic continuously variable transmission (HST), a gear transmission, or the like has been adopted. The hydraulic continuously variable transmission is a transmission that performs a continuously variable transmission by rotating a hydraulic pressure generated by a hydraulic pump by a hydraulic motor. The hydraulic continuously variable transmission has good operability such as zero start. Further, the gear transmission has a characteristic that the structure is simple and the transmission efficiency is good.

  And it is necessary to drive | work the agricultural working machine A at low speed for fertilizer dispersion. However, the belt-type continuously variable transmission cannot have a wide gear ratio. Therefore, the agricultural working machine A provided with the belt type continuously variable transmission has a problem that it is difficult to travel at low speed when fertilizer is sprayed. Further, it is known that the transmission efficiency of a hydraulic continuously variable transmission is poor.

  Therefore, the agricultural work machine A in the present embodiment is provided with a hydraulic transmission mechanism and a gear transmission mechanism that transmit the driving force of the engine, and combines the outputs of the hydraulic transmission mechanism and the gear transmission mechanism to form a transmission output. As a result, the agricultural work machine A can perform a smooth continuously variable transmission with zero start with little shock and can cope with a wide speed range. Moreover, it was set as the agricultural working machine A with high transmission efficiency and little fuel consumption.

  The transmission is mainly composed of a hydraulic transmission mechanism including a hydraulic pump and a hydraulic motor, and a gear transmission mechanism including a planetary gear. As shown in FIG. 1, a transmission case 50 including the hydraulic transmission mechanism and the gear transmission is provided below the driver's seat of the traveling machine body 1 between the engine E and the traveling auxiliary transmission mission case 52. Arranged.

  Power from the engine E is transmitted to the hydraulic transmission mechanism or gear transmission mechanism disposed in the mission case 50 via the power input shaft 51. Then, the power of the engine E is transmitted in a transmission case 50 having a hydraulic transmission mechanism and a gear transmission mechanism, and the power is transmitted to the rear axle case 10 via a traveling auxiliary transmission mission case 52.

  The mission case 50 is provided with a PTO shaft 53. The PTO shaft 53 is a shaft portion for extracting power for the power spray device 32. That is, as shown in FIG. 3, power is taken from the PTO shaft 53 from the mission case 50, and the power is transmitted to the power spray device 32 via the transmission belt 54 and the transmission shaft 55. Thereby, by rotation of the engine E, the fertilizer can be sprayed in the farm field via the tip boom 31 opened from the power spray device 32 to the left and right.

  As a result, the same layout as that of the conventional belt-type continuously variable transmission is obtained by replacing the transmission case 50 having the hydraulic transmission mechanism and the gear transmission mechanism at the place where the conventional belt-type continuously variable transmission is disposed. Made possible. That is, it is possible to mount the transmission case 50 including the hydraulic transmission and the transmission gear without changing the significant structure of the traveling machine body 1. In addition, by providing a speed change device including a hydraulic speed change mechanism and a gear speed change mechanism, it is possible to contribute to an increase in rigidity of the traveling machine body 1. Further, the PTO shaft 53 for driving the working unit such as the power spray device 32 can be easily taken out.

It is a side view which shows the whole structure of the agricultural working machine in embodiment of this invention. It is a block diagram which shows the whole system configuration | structure of the agricultural working machine in embodiment of this invention. It is a top view which shows the layout of the transmission provided with the hydraulic transmission mechanism and gear transmission mechanism of the agricultural working machine in embodiment of this invention.

Explanation of symbols

A agricultural work machine,
100 controller,
101 axle rotation speed detection sensor,
102 cutting angle detection sensor,
103 Aircraft tilt detection sensor,
104 GPS,
105 steering actuator,
106 Differential lock actuator,
107 Left brake,
108 Right brake.

Claims (3)

An agricultural work machine that performs farm work while autonomously running in a farm field,
Traveling detection means for detecting the traveling state of the aircraft,
A stability control means for comparing the detection result received from the travel detection means with a preset travel condition and outputting an output signal for stably controlling the aircraft;
An agricultural work machine comprising: a traveling stabilization unit that stabilizes the traveling state of the airframe based on an output signal output from the stability control unit.   2. The agricultural work machine according to claim 1, wherein the travel detection unit is one of an axle rotation speed detection sensor, a turning angle detection sensor, a machine body inclination detection sensor, or a combination thereof.   2. The agricultural work machine according to claim 1, wherein the travel stabilization means is any one of a differential lock actuator, a steering actuator, a left brake and a right brake, or a combination thereof.

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