JPH01223084A - Steering operation of agricultural traction type working machine - Google Patents
Steering operation of agricultural traction type working machineInfo
- Publication number
- JPH01223084A JPH01223084A JP5053588A JP5053588A JPH01223084A JP H01223084 A JPH01223084 A JP H01223084A JP 5053588 A JP5053588 A JP 5053588A JP 5053588 A JP5053588 A JP 5053588A JP H01223084 A JPH01223084 A JP H01223084A
- Authority
- JP
- Japan
- Prior art keywords
- working machine
- tractor
- agricultural
- wheels
- steering
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 abstract description 7
- 244000025254 Cannabis sativa Species 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004459 forage Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
Abstract
Description
本発明は、トラクタの後部に、牽引杆を介して農用作業
機を水平方向に回動可能に装着した農用牽引式作業機の
操向操作方法に関するものである。The present invention relates to a method for steering an agricultural towed working machine, in which the agricultural working machine is mounted on the rear part of a tractor so as to be horizontally rotatable via a traction rod.
従来、例えば飼料作物の収穫作業において、特に牧草収
穫作業では、基幹となる作業機はトラクタにより牽引杆
を介して牽引される牽引式のものが多く、高度な収穫作
業を行うためには、集草列等と作業機の作業部との相対
位］ｄが常に安定した位置関係におかれる必要があった
。このため、１度なトラクタ操縦技術が必要であり、熟
練度が要求されている。叩ら、トラクタの走行軌跡と作
業機の走行軌跡とを、何らかの形で合致させなConventionally, for example, in the harvesting of forage crops, especially in the pasture harvesting work, the main working equipment was often a towed type that was pulled by a tractor via a traction rod. [Relative position between rows of grass, etc. and the working part of the working machine] d had to be kept in a stable positional relationship at all times. For this reason, one-time tractor operation technique is required, and a high degree of skill is required. If the trajectory of the tractor and the trajectory of the work equipment do not match in some way.
【ノれば
ならず、このための技術が要求され、また、オペレータ
は、体を捩って後方の作業機を見ながらトラクタを操縦
しているのが現状である。
【発明が解決しようとする課題１
、上記のように、高度な作業を行うには、高度な操縦技
術、熟練度を必要とし、また、オペレータの作業負担、
疲労度が増大するといった問題点があった。
本発明は、上記の課題を解決して、トラクタの操縦が容
易となって作業技術の高度化が図れ、しかもオペレータ
の疲労度が軽減される農用牽引式作業機の操向操作方法
を提供することを目的とする。
【３題を解決覆るだめの手段】
Ｌ記の目的をｊｔ成するために、不発明番よ、上記農用
作業機の走行中輪を操向操作可能とし、トラクタの前輪
の操向操作ｏ５の切れ角、あるいはステアリングハンド
ルの操作角などを測定して農用作業機の走行＋１１輪を
操向操作し、走行中のトラクタの任意の一点と農用作業
機の走行軌跡とを一致させるようにしたことを￥Ｙ黴と
りるらのである。[This requires technology for this purpose, and the current situation is that operators twist their bodies to look at the work equipment behind them while operating the tractor. [Problem to be solved by the invention 1] As mentioned above, performing advanced operations requires advanced operating techniques and skill, and also reduces the workload of the operator.
There was a problem that fatigue level increased. The present invention solves the above-mentioned problems and provides a method for steering an agricultural tow-type working machine, which facilitates the operation of a tractor, improves the sophistication of working techniques, and reduces operator fatigue. The purpose is to [Means to solve the three problems] In order to achieve the purpose of item L, please make it possible to steer the running wheels of the above-mentioned agricultural working machine, and change the steering operation o5 of the front wheels of the tractor. By measuring the turning angle or the operating angle of the steering wheel, etc., the agricultural implement is steered and the 11 wheels are made to match any point on the tractor while it is traveling with the travel trajectory of the agricultural implement. It's ¥ Y mold and rura.
上記の方法によって、本発明は、オペレータは前方を見
ながらトラクタを操縦覆るだけで農用作業別は適正な作
業が行え、また、オペレータの疲労度はｌＩ！減される
。By using the above method, the present invention allows the operator to perform appropriate agricultural work by simply controlling the tractor while looking ahead, and reduces operator fatigue! reduced.
以下、図面を参照して本発明の実施例について説明する
。
本発明の方法の試験研究推進にあたり、非接触センサー
による牧草収穫機の東も１列追随への基礎技術として、
被牽引車である牧草収穫機の位置制御法を検討し、
■ 牧草収穫機のような、トラクタの後部に牽引杆を介
して装着されるインライン式牽引作業機において、トラ
クタの一点と作業機の車軸中心との定常旋回半径が一致
する制御法を検討し、作業［（被牽引車）の車輪操向に
よる位置ｆｆ、Ｉｆ御法を採、用した。
■ 上記の検討に基づき、車輪が油圧により操向可能な
作業機、車輪の制御用油圧系およびマイコンを中心とし
た制御装置の試作を行い、ｌａｌ能確認のための試験を
行った。
第１図において、符号１はトラクタで、このトラクタ１
は、ステアリングハンドル２により操向操作される前輪
３．３と後輪４．４を有する４輪型式のもので、その後
部には、牽引杆５を介して作業機（被牽引車）６を８着
している。作業機６には左右一対の走行車輪１．１が設
けられ、この車輪７．７は、油圧シリンダ８によって操
向操作が可能となっている。作業機６は、被牽引杆９を
ビン１０を介して上記牽引杆５と連結させ水平方向に回
動しながらトラクタ１に牽引されるようになっている。
上記トラクタ１のステアリングハンドル２による前輪３
の操向操作時における切れ角（あるいはハンドル２の操
作角）の検出位置、即ちトラクタの操向角度検出位置、
およびトラクタ１０作業別６牽引角度検出位置（上記ビ
ン１ｏの位置）には、回転式のポテンショメータ１１．
１２が設けられ、トラクタ１の操向角度と作業機６の牽
引角度が！！１測されるようにしである。この山角度の
計測データから必要な作業機６の走行車輪７．７の操向
角度を求め、走行１１輪１．７の操向角度検出位置に設
けたリニア・ポテンショメータ１３で計測しながら、油
圧シリンダ８で車輪７，１の操向操作を行うようにして
いる。これらの制御には、その制御方法の変更を容易に
するためパーソナルコンピュータ（パソコン）を用い、
コンピュータの出力により油圧電磁弁を操作して油圧シ
リンダ８を操作するようにしている。
この試作機において、第２図に示すように、定常旋回で
、トラクタ１と作業機６の旋回半径Ｒ「を一致させるた
めに必要となる牽引角度φを、トラクタ１の操向角度δ
の関数として導き、次式を得た。
φ＝ＯＯ８−’ （ｉａ ２−１１２−Ｊｌｌ ２ ）
／＜２Ａｔ ｒ ＋ ）−ｔａｌｌ−
’（Ｒｒ ／Ｊｈ ）
Ｒｒ＝−Ｊｌ、’ｔａｎδ
次に、フィードバック制御を行う場合の応答を、牽引系
の運動方程式に基いて検討し、フィードバック制御のた
めの目安を冑だ。
このような試作機による試験データの一例を第３図に示
Ｊ０第３図のグラフで明らかなように、牽引角度φは、
トラクタの操向角度δに比較的よく追随し、その位相遅
れは１秒以下であり、前進の場合は、作業機６がトラク
タ１の走行軌跡を比較的良く追随していることが判った
。従って、作業機６を、牧草収穫機とし、牧草列に沿っ
て精度の高い収穫作業が行えることが確認できた。
なお、後退の場合にも、前進時と同様の制御は可能であ
るが、通゛常の牽引バック操作と運転感覚が異るものと
なる。この場合、作業機では作業を行わないので実用上
支障はない・
【発明の効果１
以上説明したように、本発明の農用牽引作業はの操向操
作方法によれば、トラクタに牽引杆を介して装着される
農用作業機の走行車輪を操向操作可能にし、トラクタの
操向角度を測定して作業機の走行車輪を操向操作し、ト
ラクタの走行軌跡の一点と農用作業機の走行軌跡とを一
致させるようにしたので、農用作２．１ａはトラクタの
走行軌跡に追随して走行し、精度の高い作業を実施する
ことができる。
また、農用作業医は自動的にトラクタに追随するので、
オペレータは前方を向いた姿勢でトラクタを操縦すれば
よく、疲労度を大幅に軽減することができ、さらに、熟
練度を要求されることもない。Embodiments of the present invention will be described below with reference to the drawings. In promoting the research and testing of the method of the present invention, we have developed a pasture harvester using non-contact sensors as a basic technology for single-row tracking.
We investigated a method for controlling the position of a grass harvester, which is a towed vehicle. ■ In an in-line traction work machine, such as a grass harvester, that is attached to the rear of the tractor via a traction rod, we investigated the position control method for a grass harvester, which is a towed vehicle. We investigated a control method in which the steady turning radius coincides with the center of the axle, and adopted and used a method of controlling the position ff and If by steering the wheels of the towed vehicle. Based on the above study, we prototyped a working machine whose wheels can be steered by hydraulic pressure, a hydraulic system for controlling the wheels, and a control device centered on a microcomputer, and conducted tests to confirm the LAL performance. In FIG. 1, reference numeral 1 is a tractor, and this tractor 1
is a four-wheeled type having front wheels 3.3 and rear wheels 4.4 that are steered by a steering handle 2, and a working machine (towed vehicle) 6 is connected to the rear of the wheel through a traction rod 5. I'm in 8th place. The working machine 6 is provided with a pair of left and right running wheels 1.1, and these wheels 7.7 can be steered by a hydraulic cylinder 8. The working machine 6 has a towed rod 9 connected to the traction rod 5 through a bin 10, and is towed by the tractor 1 while rotating in the horizontal direction. The front wheel 3 of the above tractor 1 is controlled by the steering handle 2.
The detection position of the turning angle (or the operation angle of the handle 2) during the steering operation of the tractor, that is, the detection position of the steering angle of the tractor,
A rotary potentiometer 11 is located at the six towing angle detection positions for each work of the tractor 10 (the position of the bin 1o above).
12 is provided, and the steering angle of the tractor 1 and the towing angle of the work equipment 6 are determined! ! It is as if it were measured once. The necessary steering angle of the running wheels 7.7 of the working machine 6 is determined from the measurement data of this mountain angle, and while measuring with the linear potentiometer 13 installed at the steering angle detection position of the 11 running wheels 1.7, the hydraulic The cylinder 8 is used to steer the wheels 7 and 1. For these controls, a personal computer (PC) is used to facilitate changes in the control method.
The hydraulic solenoid valve is operated by the output of the computer to operate the hydraulic cylinder 8. In this prototype machine, as shown in FIG.
was derived as a function of , and the following formula was obtained. φ=OO8-' (ia 2-112-Jll 2)
/<2At r + )-tall-
'(Rr/Jh) Rr=-Jl,'tanδ Next, the response when feedback control is performed is examined based on the equation of motion of the traction system, and a guideline for feedback control is determined. An example of test data from such a prototype machine is shown in Figure 3.J0As is clear from the graph in Figure 3, the traction angle φ is
It was found that the steering angle δ of the tractor was followed relatively well, the phase delay was less than 1 second, and in the case of forward movement, the work implement 6 followed the traveling trajectory of the tractor 1 relatively well. Therefore, it was confirmed that the working machine 6 could be used as a grass harvester and that highly accurate harvesting work could be performed along the grass rows. It should be noted that in the case of reversing, the same control as in the case of forward movement is possible, but the driving sensation will be different from that of a normal tow-back operation. In this case, there is no practical problem because the work is not carried out by the work machine. [Advantageous Effects of the Invention 1] As explained above, according to the steering operation method for agricultural traction work of the present invention, the tractor is connected to the tractor through the traction rod. The running wheels of the agricultural working machine attached to the machine can be steered, the steering angle of the tractor is measured, the running wheels of the working machine are steered, and a point on the tractor's running trajectory and the running trajectory of the agricultural working machine are determined. Since the agricultural work 2.1a is made to coincide with the traveling trajectory of the tractor, the agricultural work 2.1a can be performed with high accuracy. In addition, the agricultural worker automatically follows the tractor, so
The operator only has to operate the tractor while facing forward, which greatly reduces fatigue and does not require any level of skill.
第１図は本発明の実施例を示すトラクタおよび農用作業
機の平面図、第２図は、本発明の詳細な説明する説明図
、第３図は本発明の試験記録のグラフである。
１・・・トラクタ、２・・・ステアリングハンドル、３
・・・前輪、４・・・後輪、５・・・牽引杆、６・・・
作業ｍ＜被牽引車）、７・・・走行車輪、８・・・油圧
シリンダ、９・・・被牽引杆、１０・・・ビン、１１．
１２・・・回転式ポテンショメータ、１３・・・リニア
・ポテンショメータ、δ・・・トラクタの操向角度、φ
・・・牽引角度、０・・・作来世の操向角度、Ｒｒ・・
・旋回゛に径。
特許出願人 生物系特定産業技術研究推進機構
代理人弁理士 小 橋 信 浮
同 弁理士 村 １ｔ 進
第１図
第２図
第３図FIG. 1 is a plan view of a tractor and an agricultural working machine showing an embodiment of the present invention, FIG. 2 is an explanatory diagram explaining details of the present invention, and FIG. 3 is a graph of test records of the present invention. 1...Tractor, 2...Steering handle, 3
...Front wheel, 4...Rear wheel, 5...Traction rod, 6...
Work m<towed vehicle), 7... Traveling wheel, 8... Hydraulic cylinder, 9... Towed rod, 10... Bin, 11.
12... Rotary potentiometer, 13... Linear potentiometer, δ... Tractor steering angle, φ
... Traction angle, 0... Steering angle in the next life, Rr...
・Diameter for turning. Patent Applicant: Biological Industrial Technology Research Promotion Organization Representative Patent Attorney Nobu Kobashi Udo Patent Attorney Susumu Mura Figure 1 Figure 2 Figure 3
Claims (1)
向に回動可能に装着した農用牽引式作業機において、 上記農用作業機の走行車輪を操向操作可能とし、トラク
タの前輪の操向操作時の切れ角、あるいはステアリング
ハンドルの操作角などを測定して農用作業機の走行車輪
を操向操作し、 走行中のトラクタの任意の一点と農用作業機の走行軌跡
とを一致させるようにしたことを特徴とする農用牽引式
作業機の操向操作方法[Scope of Claims] An agricultural towed working machine in which an agricultural working machine is mounted on the rear of a tractor so as to be horizontally rotatable via a traction rod, wherein the running wheels of the agricultural working machine can be steered; Measures the steering angle of the tractor's front wheels or the operating angle of the steering wheel, steers the running wheels of the agricultural implement, and calculates any point on the tractor and the travel trajectory of the agricultural implement. A steering operation method for an agricultural towed working machine, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63050535A JP2662970B2 (en) | 1988-03-02 | 1988-03-02 | Steering operation method of agricultural towed work machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63050535A JP2662970B2 (en) | 1988-03-02 | 1988-03-02 | Steering operation method of agricultural towed work machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01223084A true JPH01223084A (en) | 1989-09-06 |
| JP2662970B2 JP2662970B2 (en) | 1997-10-15 |
Family
ID=12861696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63050535A Expired - Lifetime JP2662970B2 (en) | 1988-03-02 | 1988-03-02 | Steering operation method of agricultural towed work machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2662970B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004071161A1 (en) * | 2003-02-17 | 2004-08-26 | Institute Of Tsukuba Liaison Co., Ltd. | Steering operation device for tractor and towed motor vehicle, and method for controlling the device |
| FR2909632A1 (en) * | 2006-12-07 | 2008-06-13 | Monroc | Steering wheel controlling method for e.g. farm trailer, involves assigning same value of control sensor to that of angle sensor to correct angle and to control hydraulic control unit so as to modify orientation of wheels in regulating mode |
| JP2015221010A (en) * | 2014-05-22 | 2015-12-10 | ヤンマー株式会社 | Traction control device |
| WO2020137810A1 (en) * | 2018-12-26 | 2020-07-02 | 株式会社クボタ | Work vehicle, and work machinery equipped with work vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62289472A (en) * | 1986-06-09 | 1987-12-16 | Nippon Spindle Mfg Co Ltd | Method and device for steering control of trailer drawn by tractor |
-
1988
- 1988-03-02 JP JP63050535A patent/JP2662970B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62289472A (en) * | 1986-06-09 | 1987-12-16 | Nippon Spindle Mfg Co Ltd | Method and device for steering control of trailer drawn by tractor |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004071161A1 (en) * | 2003-02-17 | 2004-08-26 | Institute Of Tsukuba Liaison Co., Ltd. | Steering operation device for tractor and towed motor vehicle, and method for controlling the device |
| FR2909632A1 (en) * | 2006-12-07 | 2008-06-13 | Monroc | Steering wheel controlling method for e.g. farm trailer, involves assigning same value of control sensor to that of angle sensor to correct angle and to control hydraulic control unit so as to modify orientation of wheels in regulating mode |
| EP1932747A1 (en) * | 2006-12-07 | 2008-06-18 | Monroc | Method and device for controlling the steering wheels of a trailer |
| JP2015221010A (en) * | 2014-05-22 | 2015-12-10 | ヤンマー株式会社 | Traction control device |
| WO2020137810A1 (en) * | 2018-12-26 | 2020-07-02 | 株式会社クボタ | Work vehicle, and work machinery equipped with work vehicle |
| US11968917B2 (en) | 2018-12-26 | 2024-04-30 | Kubota Corporation | Working vehicle and working machine having the working vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2662970B2 (en) | 1997-10-15 |
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