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WO2017105080A1 - Véhicule de travail agricole et procédé de commande d'attelage de véhicule de travail agricole - Google Patents

Véhicule de travail agricole et procédé de commande d'attelage de véhicule de travail agricole Download PDF

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Publication number
WO2017105080A1
WO2017105080A1 PCT/KR2016/014653 KR2016014653W WO2017105080A1 WO 2017105080 A1 WO2017105080 A1 WO 2017105080A1 KR 2016014653 W KR2016014653 W KR 2016014653W WO 2017105080 A1 WO2017105080 A1 WO 2017105080A1
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WO
WIPO (PCT)
Prior art keywords
hitch
speed
weight
work machine
profile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/014653
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English (en)
Korean (ko)
Inventor
이진웅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LS Mtron Ltd
Original Assignee
LS Mtron Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020160169919A external-priority patent/KR102202050B1/ko
Application filed by LS Mtron Ltd filed Critical LS Mtron Ltd
Priority to US16/061,926 priority Critical patent/US10849263B2/en
Priority to CN201680074150.4A priority patent/CN108430208B/zh
Priority to EP16876022.1A priority patent/EP3391721B1/fr
Publication of WO2017105080A1 publication Critical patent/WO2017105080A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/102—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means characterised by the location of the mounting on the tractor, e.g. on the rear part
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • A01B63/112—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements to control draught load, i.e. tractive force
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/14—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements drawn by animals or tractors
    • A01B63/24—Tools or tool-holders adjustable relatively to the frame
    • A01B63/32—Tools or tool-holders adjustable relatively to the frame operated by hydraulic or pneumatic means without automatic control

Definitions

  • the present invention relates to an agricultural work vehicle, and more particularly, to a hitch control of an agricultural work vehicle.
  • Agricultural work vehicles are used to grow crops necessary for human life using the land.
  • a combine, a tractor, and the like correspond to agricultural work vehicles.
  • Combines are vehicles that harvest and thresh crops such as rice, barley, wheat and soybeans.
  • a tractor is a vehicle that performs agricultural work while driving or stopping by connecting various types of work machines. It connects a work machine to the hitch mounted on the tractor, raises or lowers the hitch by hydraulic devices, and performs agricultural work. do.
  • the weight of the work machine and the engine rotation speed of the agricultural work vehicle are not considered when the hitch is raised or lowered, but only in accordance with the reference speed profile having the form shown in FIG. 1.
  • the hitch was raised or lowered.
  • the impact is applied to the agricultural work vehicle by the weight of the work machine at the start of the ascending and descending of the hitch, or when the ascending and descending is completed, and the magnitude of the impact on the agricultural work vehicle varies according to the weight of the work machine.
  • the durability of the hitch is also reduced.
  • the present invention has been made in view of the above-described problems, and it is an object of the present invention to provide an agricultural work vehicle and a hitch control method of an agricultural work vehicle that can adaptively adjust a speed profile of a hitch according to a weight of a work machine.
  • the present invention is an agricultural agricultural machine that can calculate the weight of the work machine on the basis of the engine output information of the agricultural work vehicle, the traction information of the agricultural work vehicle, the speed of the hydraulic cylinder for driving the hitch and the angle between the lifting arm and the horizontal plane of the hitch. Another technical problem is to provide a hitch control method for a work vehicle and an agricultural work vehicle.
  • Agricultural work vehicle for achieving the above object is a hitch (210, Hitch 210) is equipped with a work machine 480; A weight calculation unit 430 for calculating a weight of the work machine 480 when the work machine 480 is raised according to the first rise of the hitch 210; And according to the reference velocity profile consisting of a constant velocity section (T) to raise the hitch 210 first, and when the weight calculation of the work machine 480 is completed according to the weight of the work tool 480 acceleration tool interval (a1, a hitch controller 420 for generating an update rate profile consisting of a2), an equal velocity section b1 and b2, and a deceleration tool section c1 and c2, and secondly raising the hitch 210 according to the update rate profile. It characterized by including).
  • the hitch controller as the weight of the work machine 480 increases, the size of the acceleration tool (a1, a2) and the deceleration tool (c1, c2) is increased and the constant speed section (b1,
  • the update rate profile can be generated such that the size of b2) is reduced.
  • the hitch controller is the sum of the widths of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tool sections c1 and c2 on the update speed profile.
  • the update rate profile is generated so as to remain equal to the width of the constant velocity section T on the reference velocity profile.
  • the hitch controller may maintain the ascending speed of the hitch 210 at the first speed V 1 during the constant speed section T of the reference speed profile, and between the acceleration tools a1 of the update speed profile. , the ascending speed of the hitch 210 to a second speed (V 2, V 2 ') greater than the first speed (V 1 ) during a2), and the hitch in the constant velocity section (b1, b2)
  • the ascending speed of 210 is maintained at the second speeds V 2 and V 2 ′, and the ascending speed of the hitch 210 is adjusted to the second speeds V 2, in the reduction gear sections c1 and c2 .
  • the update rate profile may be generated such that the values of the second speeds V 2 and V 2 ′ increase as the weight of the work machine 480 increases.
  • the weight calculation unit uses the engine output information of the agricultural work vehicle, the traction force information of the agricultural work vehicle, and the weight of the work machine 480 by using an angle between the lifting arm 216 of the hitch 210 and the horizontal plane. Can be calculated.
  • the engine output information includes the torque of the engine and the rotational speed (RPM) of the engine.
  • the agricultural work vehicle is an engine controller for controlling the engine of the agricultural work vehicle, and provides the engine output information to the weight calculation unit 430;
  • a traction force sensor 460 for measuring the traction force of the agricultural work vehicle and providing the traction force information to the weight calculation unit 430;
  • an angle detecting sensor 440 measuring the angle between the elevating feeling 216 and the horizontal plane of the hitch 210 and providing the weight calculating part 430.
  • the reference speed is composed of a section (T) Firstly raising the hitch 210 according to a speed profile; Calculating a weight of the work machine (480); Generating an update speed profile consisting of an acceleration tool section (a1, a2), an equal speed section (b1, b2), and a reduction tool section (c1, c2) according to the weight of the work machine (480); And raising the hitch 210 secondly according to the update rate profile.
  • the weight of the work machine may be calculated using engine output information of the agricultural work vehicle, traction information of the agricultural work vehicle, and an angle between the lifting arm 216 of the hitch 210 and the horizontal plane.
  • the hitch control method of the agricultural work vehicle for achieving the above object, the acceleration tool section (a1, a2), the constant speed section (b1, b2), and the deceleration tool section (c1, c2) Generating a configured update rate profile; And raising or lowering the work machine 480 by raising or lowering the hitch 210 according to the update rate profile, wherein the acceleration tool sections a1 and a2 and the constant velocity section b1, b2), and the sizes of the reduction gears c1 and c2 vary depending on the weight of the work machine 480.
  • the present invention it is possible to adaptively adjust the speed profile of the hitch according to the weight of the work machine to reduce the impact generated when the hitch is raised or lowered, thereby reducing the fatigue and psychological anxiety of the driver There is an effect that can improve the durability of the hitch.
  • the present invention can calculate the weight of the work machine on the basis of the engine output information, traction information, and the lifting arm rotation angle of the agricultural work vehicle can not only improve the accuracy of the work machine weight calculation, but also the rotation speed of the engine Depending on the hitch has the effect of adjusting the lifting or lowering speed.
  • the present invention does not require a separate additional configuration for calculating the weight of the work machine, there is an effect that the configuration of the agricultural work vehicle can be prevented from becoming complicated.
  • 1 is a graph showing a reference velocity profile according to the position of a hitch.
  • Figure 2 is a side view of the agricultural work vehicle according to an embodiment of the present invention.
  • FIG. 3 is a view showing the configuration of the hitch shown in FIG.
  • Figure 4 is a block diagram schematically showing the configuration of an agricultural work vehicle according to an embodiment of the present invention.
  • 5 is a graph showing an update rate profile according to the position of the hitch.
  • Figure 6a is a view showing a free body diagram for calculating the force acting on the lifting arm of the hitch.
  • FIG. 6B shows a free body diagram for calculating the force acting on the lower link of the hitch.
  • Figure 6c is a view showing a free body diagram for calculating the weight of the working machine.
  • FIG. 7 is a view schematically showing the configuration of a traction detection sensor and a traction detection link mounted on an agricultural work vehicle.
  • FIG. 8 is a flowchart showing a hitch control method for an agricultural work vehicle according to an exemplary embodiment of the present invention.
  • At least one should be understood to include all combinations which can be presented from one or more related items.
  • the meaning of "at least one of the first item, the second item, and the third item” means not only the first item, the second item, or the third item, respectively, A combination of all items that can be presented from more than one.
  • FIG 2 is a side view of the agricultural work vehicle according to an embodiment of the present invention.
  • the agricultural work vehicle 200 according to an embodiment of the present invention is equipped with a hitch (Hitch, 210) for connecting a variety of work machines (not shown).
  • Hitch hitch
  • the agricultural work vehicle 200 performs work by using various work machines mounted on the agricultural work vehicle 200 while driving or stopping the farmland.
  • agricultural work vehicle 200 may be a tractor (Tractor), as shown in FIG.
  • the tractor refers to a vehicle that connects various types of work machines (eg, rotary or plow) to perform agricultural work while driving or stopping.
  • the hitch 210 is mounted to the front or the rear of the agricultural work vehicle 200 to connect the work machine to the agricultural work vehicle 200.
  • the hitch 210 is raised by the piston movement of the hydraulic cylinder when the hydraulic oil is supplied into the hydraulic cylinder (not shown) by a hydraulic pump (not shown) to raise the work machine from the ground.
  • the hitch 210 may be a three-point hitch including an upper link 212 and a lower link 214.
  • FIG. 3 is a view showing the configuration of a three-point hitch mounted on an agricultural work vehicle according to an embodiment of the present invention.
  • the three-point hitch 210 includes an upper link 212, a lower link 214, a lifting arm 216, and a hydraulic cylinder 218.
  • the upper link 212 connects the upper portion of the work machine to the agricultural work vehicle 200.
  • the lower link 214 connects the lower portion of the work machine to the agricultural work vehicle 200.
  • the lower link 214 may include a first lower link 214a and a second lower link 214b.
  • the lifting arm 216 is rotated by the hydraulic cylinder 218, the position is changed, and the upper link 212 and the lower link 214 is raised or lowered through the position change of the lifting arm 216.
  • FIG. 2 illustrates that the agricultural work vehicle 200 is a tractor
  • the present invention is not limited thereto, and a link structure capable of raising or lowering a work machine such as the hitch 210 of the present invention is an agricultural work vehicle 200.
  • a link structure capable of raising or lowering a work machine such as the hitch 210 of the present invention is an agricultural work vehicle 200.
  • it can be mounted at the head or tail of the head, it will be applicable regardless of its kind.
  • Figure 4 is a block diagram schematically showing the configuration of an agricultural work vehicle according to an embodiment of the present invention.
  • the agricultural work vehicle 200 As shown in Figure 4, the agricultural work vehicle 200 according to an embodiment of the present invention, the hitch 210, engine controller 410, hitch controller 420, weight calculation unit 430, the angle sensor 440, the displacement sensor 450, and the traction force sensor 460.
  • the hitch 210 is for connecting various types of work machines 480 to the agricultural work vehicle 200, and the description of the hitch 210 has been already described in the parts related to FIGS. 2 and 3. Therefore, detailed description is omitted.
  • the engine controller 410 controls an engine (not shown) that drives the agricultural work vehicle 200 or provides power to the hydraulic cylinder 218 of the hitch 210.
  • the engine controller 410 according to the present invention provides the engine output information to the weight calculator 430 so that the weight calculator 430 can directly calculate the weight of the work machine 480.
  • the engine output information provided by the engine controller 410 to the weight calculation unit 430 includes the torque of the engine and the rotational speed (RPM) of the engine.
  • the hitch controller 420 When the hitch controller 420 receives the rising request of the work machine 480, the hitch 210 is raised to raise the work machine 480 connected to the hitch 210. When the hitch request of the work machine 480 is received, the hitch controller 420 is raised. By lowering 210, the work machine 480 connected to the hitch 210 is lowered.
  • the hitch controller 420 is to adjust the ascending or descending speed of the hitch 210 according to the weight of the work machine 480.
  • the hitch controller 420 may adjust the rising speed or the falling speed of the hitch 210 by adjusting the amount of hydraulic oil introduced into the hydraulic cylinder 218.
  • the hitch controller 420 first raises the hitch 210 according to a predetermined reference speed profile. At this time, since the reference velocity profile is composed of the constant velocity section T, as shown in FIG. 5, the hitch controller 420 raises the hitch 210 to the first velocity V 1 , which is the reference velocity. do.
  • the hitch controller 420 When the hitch controller 420 is lifted by the work machine 480 according to the first rise of the hitch 210 and the calculation of the weight of the work machine 480 by the weight calculating unit 430 is completed, the hitch controller 420 may be configured according to the weight of the work machine 480. Create an update profile and apply the created update rate profile.
  • the hitch controller 420 consists of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tool sections c1 and c2, as shown in FIG. 5 (b). Create an update rate profile. At this time, the hitch controller 420, according to the weight of the work machine 480, the size of the acceleration tool (a1, a2), the constant speed section (b1, b2), and the deceleration tool (c1, c2) the entire section (T). Can be changed within
  • the hitch controller 420 is updated to raise the first work machine.
  • the acceleration tool interval a1 and the speed reduction tool c1 of the speed profile are smaller than the acceleration tool interval a2 and the speed reduction tool c2 of the speed profile, and are updated to raise the first work machine.
  • the constant velocity section b1 of the velocity profile may generate the update velocity profile to be larger than the constant velocity section b2 of the update velocity profile for raising the second work machine.
  • the hitch controller 420 controls the hitch 210 such that the second work machine ascends more slowly than the first work machine when the work machine starts to rise or the work machine ends to rise, so that the impact generated by the work machine rises. Can be reduced.
  • the hitch controller 420 when the update rate profile is generated, the hitch controller 420 generates the acceleration tool sections a1 and a2, the constant velocity sections b1 and b2, and the deceleration tool sections c1 and b on the update rate profile as shown in FIG.
  • the update rate profile can be generated such that the sum of the areas of c2) is equal to the area of the constant velocity section T on the reference speed profile. That is, the hitch controller 420 generates the update rate profile, but the hitch 210 moving according to the update rate profile may rise to the target position at the same time as compared to the hitch 210 moving according to the reference speed profile. You can do that.
  • the hitch controller 420 is configured to accelerate the tool interval a1 of the update speed profile.
  • the ascending speed of the hitch 210 is increased to a second speed (V 2 , V 2 ') greater than the first speed (V 1 ) during a2), and the hitch 210 of the hitch 210 during the constant velocity section (b1, b2)
  • the ascending speed is maintained at the second speed (V 2 , V 2 '), and the ascending speed of the hitch 210 is reduced to 0 at the second speed (V 2 , V 2 ') in the deceleration tool (c1, c2).
  • the hitch controller 420 may generate an update rate profile such that the value of the second speeds V 2 , V 2 ′ increases as the weight of the work machine 480 increases.
  • the weight of the second work machine (W 2) a second speed in the updated speed profile for lifting the second working machine because of the size than the weight (W 1) of the first operating mechanism as shown in Figure 5 (V 2
  • the value of ') is set to be larger than the value of the second speed V 2 in the update rate profile for raising the first work machine.
  • the hitch controller 420 raises the hitch 210 secondly according to the update rate profile so that the work machine 480 is raised to the target position.
  • the hitch controller 420 lowers the hitch 210 having reached the target position according to the update rate profile so that the work machine 480 is lowered to the initial position.
  • the speed in the update rate profile shown in Figure 5 is the falling speed of the hitch 210.
  • the present invention can reduce the impact generated when the hitch 210 is raised or lowered by applying the update rate profile of the hitch 210 generated according to the weight of the work machine 480, and the fatigue of the driver And while reducing the psychological anxiety it is possible to improve the durability of the hitch 210.
  • the hitch controller 420 first raises the hitch 210 according to the reference speed profile, the weight calculation unit 430 calculates the weight of the work machine 480, and the hitch controller 420 It has been described that the hitch 210 is secondly raised and lowered according to the update rate profile by generating the update rate profile.
  • the present invention is not limited thereto, and the weight of the work machine 480 mounted on the hitch 210 is determined in advance through various methods such as an operator's input, and the like.
  • the update rate profile may be generated according to the weight of 480, and the hitch 210 may be raised or lowered according to the update rate profile.
  • the weight calculation unit 430 calculates the weight of the work machine 480 connected to the hitch 210.
  • the weight calculation unit 430 may operate the work machine based on the engine output information and the traction force information generated by the work machine 480. 480) is calculated.
  • the weight calculation unit 440 is the engine output information provided from the engine controller 410, the angle between the lifting arm 216 and the horizontal plane of the hitch 210 provided from the angle sensor 440, The weight of the work machine 480 may be calculated using the speed of the hydraulic cylinder 218 for driving the hitch 210 provided from the displacement sensor 450 and the traction force information provided from the traction force sensor 460. .
  • weight calculation unit 440 according to the present invention will be described in more detail with reference to FIGS. 3 and 6A to 6C.
  • FIG. 6A illustrates a free body diagram for calculating a force acting on the lifting arm 216 of the hitch 210
  • FIG. 6B illustrates a force applied to the lower link 214 of the hitch 210
  • 6 is a view showing a free body diagram
  • Figure 6c is a view showing a free body diagram for calculating the weight of the work machine (480).
  • Equation 1 the equilibrium of the force may be defined as in Equation 1, and the force Fr acting on the lifting arm 216 according to the equilibrium of the force described in Equation 1. May be defined as in Equation 2.
  • Equations 1 and 2 F r represents the force acting as the lower link 214 in the lifting arm 216, l 2 represents the length of the lifting arm 216, l 1 of the lifting arm 216 Represents the length from the starting point (P u ) to the point (P 1 ) to which the joint of the hydraulic cylinder 218 is connected to the lifting arm (216), F a represents the operating force of the hydraulic cylinder 218, ⁇ 1 is the lifting The angle between the arm 216 and the horizontal plane is shown. In this case, ⁇ 1 may be calculated by a value measured by the angle sensor 440.
  • Equation 3 The force F LOW acting in the Y-axis direction on the lower link 214 from FIG. 6B is defined as in Equation 3 below, and the equilibrium of moments applied to the lower link 214 is expressed by Equation 4 Can be defined as: Since the force F 1 acting on the lower link 214 by Equation 4 can be summarized as in Equation 5, substituting Equation 5 into Equation 3 acts on the lower link 214 in the Y-axis direction.
  • Equation 6 The force F LOW acting in Equation 6.
  • F LOW represents the force acting in the Y-axis direction on the lower link 214
  • ⁇ 2 represents the angle between the lower link 214 and the horizontal plane
  • l 4 is the lower link 214
  • L 3 represents the length from the starting point P 1 of the lower link 214 to the joint point P 2 where the lifting arm 216 and the lower link 214 are connected to the lower link 214.
  • the starting point P u of the lifting arm 216 and the starting point P l of the lower link 214 are fixed, the length l 2 of the lifting arm 216, and the starting point of the lower link 214 ( P l ) from the lower link 214 to the joint point P 2 to which the lifting arm 216 and the lower link 214 are connected, the length l 3 , and the lifting arm 216 and the lower link 214.
  • the angle ⁇ 2 between the lower link 214 and the horizontal plane may be expressed as an equation for the angle ⁇ 1 between the lifting arm 216 and the horizontal plane. That is, ⁇ 2 can be calculated from ⁇ 1 .
  • Equation 7 the force balance in the Y-axis direction is as shown in Equation 7 below
  • Equation 8 the force balance in the X-axis direction is as in Equation 8 below.
  • Equation 9 is derived, and according to the relation of the trigonometric function as shown in Equation 10, Equation 9 is arranged as in Equation 11.
  • Equations 7 to 11 F U represents a force acting on the upper link 212 of the hitch 210, ⁇ 4 represents the angle between the upper link 212 and the horizontal plane, W i is a working machine ( denotes the weight of 480), ⁇ 3 represents the angle between the force (F l) and the horizontal plane acting on the lower link (214).
  • the starting point of the upper link (212) and the starting point (P l ) of the lower link (214) is fixed, the connection point of the work machine 480 and the upper link (212) and of the work machine 480 and the lower link (214)
  • the angle ⁇ 4 between the upper link 212 and the horizontal plane May be expressed as an equation for the angle ⁇ 2 between the lower link 214 and the horizontal plane. That is, ⁇ 4 can be calculated from ⁇ 2 .
  • ⁇ 4 can be calculated from ⁇ 1 .
  • Equation 11 is arranged as in Equation 14 below.
  • Equation 15 the weight W i of the work machine 480 is summarized as in Equation 15 below.
  • the agricultural work vehicle 200 is stopped, and the engine output Pe of the agricultural work vehicle 200 described in Equation 16 below is the hydraulic power P h of the hitch 210 described in Equation 17 below.
  • the operating force F a of the hydraulic cylinder 218 of the hitch 210 may be defined as in Equation 18 below.
  • Equations 16 to 18 P e represents the engine output of the agricultural work vehicle 200, T e represents the torque of the engine, N e represents the rotational speed (RPM) of the engine, and P h represents the hitch 210 ) denotes a hydraulic power of a, V c represents the speed of the hydraulic cylinder (218), a represents the area of the hydraulic cylinder (218), k represents a proportional constant.
  • V c may be calculated through a value measured by the angle sensor 440 or may be calculated through a value measured by the displacement sensor 450.
  • Equation 20 By substituting the operating force (Fa) of the hydraulic cylinder 218 according to equation (18) in equation (15) can be summarized as shown in equation (19) below the weight (W i) of the operating mechanism 480, the lifting arm ( 216 and the length (l 1 , l 2 , l 3 , l 4 ) related to the length of the lower link 214 can all be treated as a constant, so the weight of the work machine 480 (W i ) is It is calculated as shown in Equation 20.
  • Equation 20 the angle ⁇ 4 between the upper link 212 and the horizontal plane and the angle ⁇ 2 between the lower link 214 and the horizontal plane are equal to each other between the lifting arm 216 and the horizontal plane. It can be calculated from the angle ⁇ 1 .
  • the weight calculation unit 430 includes the engine output information (eg, the torque of the engine and the rotational speed of the engine), the traction force information, and the lifting arm 216 of the hitch 210. Since the weight of the work machine 480 may be calculated based on the angle between the and the horizontal plane, the accuracy of the work machine 480 weight calculation may be improved, and additional configuration is not required for the weight calculation of the work machine 480. Therefore, the configuration of the agricultural work vehicle 200 can be prevented from becoming complicated.
  • the engine output information eg, the torque of the engine and the rotational speed of the engine
  • the angle sensor 440 detects the position of the lifting arm 216 and calculates an angle between the lifting arm 216 of the hitch 210 and the horizontal plane.
  • the weight calculation unit 430 is provided.
  • the displacement sensor 450 detects the displacement of the hydraulic cylinder 218 and provides the detected value to the weight calculation unit 430 so as to calculate the speed of the hydraulic cylinder 218.
  • the angle sensor 440 provides the position of the detected lifting arm 216 to the weight calculation unit 430
  • the displacement sensor 450 is to detect the displacement of the detected hydraulic cylinder 218 Provided to the weight calculation unit 430, the weight calculation unit 430 using the position of the lifting arm 216 and the displacement of the hydraulic cylinder 218 the angle between the lifting arm 216 and the horizontal plane and the hydraulic cylinder 218 Can be calculated.
  • the angle sensor 440 provides the position of the sense of lifting 216 to the weight calculation unit 430
  • the weight calculation unit 430 is the position of the lifting arm 216
  • the angle between the lifting arm 216 and the horizontal plane and the speed of the hydraulic cylinder 218 may be calculated using only the bay.
  • the position of the lifting arm 216 is determined by the displacement of the hydraulic cylinder 218, and the displacement of the hydraulic cylinder 218 may be calculated by the position of the lifting arm 216.
  • the displacement detection sensor 450 is not required.
  • Traction detection sensor 460 detects the traction of the agricultural work vehicle 200 and provides the traction information to the weight calculation unit 430.
  • the traction force sensor 460 is connected to the hitch 210 via the traction force link 470, as shown in FIG.
  • the weight calculation unit 430 can calculate the force acting on the upper link 212 based on the traction information.
  • FIG. 8 is a flowchart showing a hitch control method for an agricultural work vehicle according to an exemplary embodiment of the present invention.
  • the hitch controller 420 determines whether the work machine 480 is mounted on the hitch 212 (S700).
  • the hitch controller 420 determines whether the agricultural work vehicle 200 is in a work mode (S710).
  • the hitch controller 420 determines whether the rising command of the work machine 480 is received (S720), and when the rising command of the work machine 480 is received, The work machine 480 is first raised by first raising the hitch 210 according to the reference speed profile configured as the tool (S730).
  • the reference velocity profile is as shown in FIG.
  • the weight calculation unit 430 calculates the weight of the work machine 480 (S740).
  • the weight calculation unit 430 is the engine output information of the agricultural work vehicle 200, the traction force information of the agricultural work vehicle 200, and the angle between the lifting arm 216 and the horizontal plane of the hitch 210 Using the weight of the working machine 480 can be calculated.
  • the engine output information includes the torque of the engine and the engine speed (RPM).
  • the weight calculation unit 430 may calculate the weight of the work machine by using Equation 20 described above. Since the derivation process of Equation 20 is described in the description of the configuration of the weight calculation unit 430, a detailed description thereof will be omitted.
  • the hitch controller 420 When the weight calculation of the work machine 480 by the weight calculation unit 430 is completed, the hitch controller 420 generates an update rate profile according to the calculated weight of the work machine 480 (S750).
  • the update rate profile is as shown in FIG.
  • the update rate profile generated by the hitch controller 420 is accelerated intervals (a1, a2), constant velocity interval (b1) to raise the hitch 210 to the target position as shown in FIG. , b2), and deceleration tool sections c1 and c2, and the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the deceleration tool section on the update rate profile as shown in FIG.
  • the sum of the widths of (c1, c2) is set equal to the width of the constant velocity section T on the reference velocity profile.
  • the hitch controller 420 is the acceleration tool interval (a1, a2), constant velocity interval within the same section size as the constant velocity section (T) of the reference speed profile according to the weight of the work machine 480 calculated
  • the sizes of (b1, b2) and the reduction gears (c1, c2) can be varied.
  • the hitch controller 420 may be configured to generate an update rate profile for raising the first work machine.
  • Acceleration tool section a1 and deceleration tool section c1 are smaller than the acceleration tool section a2 and the deceleration tool section c2 of the update speed profile for raising the second work machine, and the acceleration rate profile for raising the first work machine
  • the constant velocity section b1 may generate the update rate profile to be larger than the constant velocity section b2 of the update rate profile for raising the second work machine.
  • the hitch controller 420 when the update rate profile is generated, the hitch controller 420 generates the acceleration tool sections a1 and a2, the constant velocity sections b1 and b2, and the deceleration tool sections c1 and b on the update rate profile as shown in FIG.
  • the update rate profile is generated such that the sum of the areas of c2) is equal to the area of the constant velocity section T on the reference speed profile. That is, the hitch controller 420 generates the update rate profile, but the hitch 210 moving according to the update rate profile may rise to the target position within the same time as compared with the hitch 210 moving according to the reference speed profile.
  • the hitch 210 moving according to the update rate profile can rise to the target position within the same time as compared with the hitch 210 moving according to the reference speed profile, as shown in FIG. 5 (b).
  • the update speed such that the sum of the areas of the acceleration tool sections a1 and a2, the constant speed sections b1 and b2, and the speed reduction tools sections c1 and c2 is equal to the width of the constant speed section T on the reference speed profile.
  • the arrival time T is kept the same, so that the hitch is generated without delay for the user's work time of the work machine 480.
  • the hitch controller 420 is used during the acceleration tools a1 and a2 of the update speed profile.
  • the ascending speed of the hitch 210 is increased to the second speeds V 2 and V 2 ′ which are greater than the first speed V 1 , and the ascending speed of the hitch 210 is equal to zero during the constant speed sections b1 and b2.
  • 2 speed (V 2 , V 2 ') is maintained, the update rate profile so that the ascending speed of the hitch 210 is reduced to 0 at the second speed (V 2 , V 2 ') in the deceleration tool (c1, c2) Can be generated.
  • the hitch controller 420 may generate an update rate profile such that the value of the second speeds V 2 , V 2 ′ increases as the weight of the work machine 480 increases.
  • the weight of the second work machine (W 2) a second speed in the updated speed profile for lifting the second working machine because of the size than the weight (W 1) of the first operating mechanism as shown in Figure 5 (V 2
  • the value of ') is set to be larger than the value of the second speed V 2 in the update rate profile for raising the first work machine.
  • the hitch controller 420 raises the work machine 480 secondly by secondly raising the hitch 210 according to the update rate profile (S760), and determines whether the hitch 210 has reached the target position (S760). S770), if not reached, repeats S760 until the hitch 210 reaches the target position.
  • the hitch controller 420 may cause the work machine 480 to be lowered to the initial position by lowering the hitch 210 having reached the target position to the initial position according to the update speed profile.
  • the hitch control method of the agricultural work vehicle described above may also be implemented in the form of a program that can be executed using various computer means.
  • the program for performing the hitch control method of the agricultural work vehicle is stored in a computer-readable recording medium, such as smart devices, hard disks, CD-ROM, DVD, ROM (RAM), or flash memory, It can also be stored on a server that provides download functionality.
  • the hitch controller 420 and the weight calculation unit 430 are described as being separated, but in the modified embodiment, the hitch controller 420 and the weight calculation unit 430 may be a single configuration. It may be implemented in a configuration.
  • the agricultural work vehicle calculates the weight of the work machine, it is described as generating the update rate profile according to the calculated weight.
  • the agricultural work vehicle uses the external weight of the work machine. It may be received from or stored in advance, and accordingly, the agricultural work vehicle receives the movement command of the work machine 480 mounted on the hitch 210, the update speed profile consisting of the acceleration tool, the constant speed section, and the deceleration tool.
  • the work machine By generating the size of the acceleration tool, the constant speed section, and the speed reduction tool in the update rate profile according to the weight of the work machine within a predetermined time interval, the work machine by moving the hitch 210 according to the update speed profile 480 may be moved.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Agricultural Machines (AREA)

Abstract

La présente invention concerne, selon un aspect, un véhicule de travail agricole qui permet d'ajuster de manière adaptative le profil de vitesse de l'attelage selon le poids de la machine de travail, caractérisé en ce qu'il comprend : un attelage (210) sur lequel est montée une machine de travail (480) ; une unité de calcul de poids (430) qui calcule le poids de la machine de travail (480) lorsque la machine de travail (480) est levée après une première élévation de l'attelage (210) ; et un contrôleur d'attelage (420) qui lève tout d'abord l'attelage (210) selon un profil de vitesse de référence comprenant une section à vitesse constante (T) et, lorsque le calcul du poids de la machine de travail (480) est terminé, génère un profil de vitesse actualisé comprenant des sections d'accélération (a1, a2), des sections à vitesse constante (b1, b2), et des sections de décélération (c1, c1) en fonction du poids de la machine de travail (480), puis lève l'attelage (210) selon le profil de vitesse actualisé.
PCT/KR2016/014653 2015-12-17 2016-12-14 Véhicule de travail agricole et procédé de commande d'attelage de véhicule de travail agricole Ceased WO2017105080A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US16/061,926 US10849263B2 (en) 2015-12-17 2016-12-14 Agricultural work vehicle and method for controlling hitch of agricultural work vehicle
CN201680074150.4A CN108430208B (zh) 2015-12-17 2016-12-14 农业作业车辆及农业作业车辆的挂接器的控制方法
EP16876022.1A EP3391721B1 (fr) 2015-12-17 2016-12-14 Véhicule de travail agricole et procédé de commande d'attelage de véhicule de travail agricole

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20150180723 2015-12-17
KR10-2015-0180723 2015-12-17
KR10-2016-0169919 2016-12-13
KR1020160169919A KR102202050B1 (ko) 2015-12-17 2016-12-13 농업용작업차량 및 농업용작업차량의 히치제어방법

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WO2017105080A1 true WO2017105080A1 (fr) 2017-06-22

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022003253A1 (de) 2022-09-05 2024-03-07 Johannes Baur Verfahren zur Bestimmung einer Seilzugkraft einer Zugkrafteinrichtung für ein Nutzfahrzeug

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7142968B2 (en) * 2004-08-03 2006-11-28 Deere & Company Hitch raise rate calibration method
US20090093928A1 (en) * 2007-10-05 2009-04-09 Anya Lynn Getman Trailer Oscillation Detection and Compensation Method For A Vehicle And Trailer Combination
KR20090114599A (ko) * 2008-04-30 2009-11-04 국제종합기계 주식회사 트랙터의 히치 제어장치 및 그 제어방법
KR20120085426A (ko) * 2011-01-24 2012-08-01 주식회사 만도 히치 연결 물체와 연결된 차량의 전자 제어 현가 장치 및 그의 제어 방법
KR20150081356A (ko) * 2012-11-06 2015-07-13 캘빈 지트 싱 트랙터 상에서 일정한 견인 하중을 유지하기 위한 하중 감지 및 리프트 실린더 조절 시스템

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7142968B2 (en) * 2004-08-03 2006-11-28 Deere & Company Hitch raise rate calibration method
US20090093928A1 (en) * 2007-10-05 2009-04-09 Anya Lynn Getman Trailer Oscillation Detection and Compensation Method For A Vehicle And Trailer Combination
KR20090114599A (ko) * 2008-04-30 2009-11-04 국제종합기계 주식회사 트랙터의 히치 제어장치 및 그 제어방법
KR20120085426A (ko) * 2011-01-24 2012-08-01 주식회사 만도 히치 연결 물체와 연결된 차량의 전자 제어 현가 장치 및 그의 제어 방법
KR20150081356A (ko) * 2012-11-06 2015-07-13 캘빈 지트 싱 트랙터 상에서 일정한 견인 하중을 유지하기 위한 하중 감지 및 리프트 실린더 조절 시스템

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022003253A1 (de) 2022-09-05 2024-03-07 Johannes Baur Verfahren zur Bestimmung einer Seilzugkraft einer Zugkrafteinrichtung für ein Nutzfahrzeug

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