JP2007061042A - Automatic control system of farm working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic control system of a farm working machine to control and change the position or posture of an implement connected to a traveling body by a driving means and stably performing complicate control in high accuracy without using a large number of sensors. <P>SOLUTION: A working implement S or a traveling machine body T and the working implement S are photographed by an image-pickup means, the information on the position or posture of the working implements is acquired by the analysis of the photographed image and the driving means is controlled based on the acquired information to control and change the position or posture of the working implement. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an automatic control system for a working machine configured such that a working device such as a tilling device, a backhoe device, or a leveling device is connected to a traveling machine body, and the position or posture of the working device is changed and controlled by a drive mechanism. .

For example, in an agricultural tractor with a rotary type tiller connected to the traveling machine, automatic tillage control that stabilizes the tillage depth by the tiller to the set target tillage depth and the tilting posture of the tiller in the horizontal direction are set. Various automatic controls such as an automatic rolling control for maintaining the angle are performed. In automatic plowing control, the actual plowing depth is electrically detected based on the swing angle of the rear cover provided in the plowing device, and the lift cylinder, which is the drive mechanism for raising and lowering the plowing device, is controlled based on this detection result. is doing. In the automatic rolling control, the right and left tilt angle of the traveling machine body is detected by a detecting means such as an inclination sensor or an inclination angular velocity sensor, and the lift rod cylinder is controlled based on the detection result to tilt the tillage device with respect to the traveling machine body. The angle is changed and controlled (for example, see Patent Document 1).
JP 2001-78507 A

  In recent years, automatic control means introduced to agricultural machines and earthmoving machines have become increasingly sophisticated. For this reason, a large number of various sensors are required to detect changes in joints and movable parts related to position control and posture control. The entire control system tends to be expensive. In addition, information obtained by using various sensors must be local, and it is difficult to increase detection accuracy.

  The present invention has been made paying attention to such points, and an object of the present invention is to enable complex control to be stably performed with high accuracy without requiring a large number of sensors.

1st invention is the automatic control system of the working machine comprised so that the position or attitude | position of the working apparatus connected with the traveling body could be changed and controlled by a drive mechanism,
The working device, or the traveling machine body and the working device are photographed by an imaging unit, position information or posture information of the working device is obtained by analyzing the photographed image, and the drive mechanism is controlled based on the obtained information. It is comprised so that it may be comprised.

  According to the above configuration, it is possible to control the height of the working device with respect to the ground, the tilting posture of the working device with respect to the ground, and the like based on information acquired by analyzing the captured image. In this case, the speed and acceleration at which the position and orientation change can be determined by analyzing the image, and can be used as information for fine control. Moreover, it becomes easy to predict in advance the influence of these on the change in the position and posture of the work device by detecting the posture of the traveling machine body and the degree of settlement.

According to a second invention, in the first invention,
The working device is a tilling device, and the actual tilling depth of the tilling device is measured by image analysis, and automatic tilling control is performed to stably maintain the actual tilling depth at the set tilling depth based on the measurement information. It is something.

  According to the above configuration, for example, an index or gauge serving as a reference is provided in the tilling device, and the actual tilling depth can be measured or calculated from the image thereof.

According to a third invention, in the first invention,
The working device is a backhoe device, and the excavation depth of the backhoe device is measured by analyzing a captured image, and automatic excavation control set in advance based on the measurement information is executed. .

  According to the above configuration, when the traveling machine body and the backhoe device are photographed, the boom undulation angle in the backhoe device, the arm refraction angle with respect to the boom, the bucket refraction angle with respect to the arm, and the turning direction of the backhoe device with respect to the traveling machine body, etc. From this information, the position of the tip excavation point of the bucket, its moving direction, moving speed, etc. are calculated, and based on this, the backhoe device is controlled and excavated at a desired depth, Horizontal excavation, sloped slope excavation, etc. can be automatically performed.

According to a fourth invention, in the first invention,
The work device is a leveling device, and is configured to measure a leveling level by analyzing a photographed image and to execute automatic leveling control set in advance based on the measurement information.

  According to the above configuration, when the traveling machine body and a leveling device such as a soil removal board or a front loader are photographed, the height and angle posture of the leveling apparatus with respect to the ground, the position of the traveling machine body, etc. can be obtained by image analysis. Based on this, it is possible to automatically perform leveling at a horizontal or desired gradient by controlling the travel control of the traveling machine body and the height and angle of the leveling device.

A fifth invention is the invention according to any one of the first to fourth inventions,
The imaging means is arranged outside the machine.

  According to the above configuration, the traveling machine body and the working device can be imaged, and the position and posture of the working device with respect to the traveling machine body, the position and posture of the working device with respect to the ground, the position and posture of the traveling machine body with respect to the ground, etc. Information can be obtained by image analysis, and the number of sensors can be reduced compared to the information items to be obtained.

  Several embodiments of the present invention will be described below with reference to the drawings.

  [First example]

  The case where this invention is applied to the agricultural tractor A is shown by FIGS. 1-5, and in this example, it is an example of the working device S in the rear part of the four-wheel drive tractor main body 1 which is the traveling body T. The rotary type tillage device 2 is connected to be movable up and down.

  The tillage device 2 is of a side drive type, and is supported horizontally so that the tiller rotor 5 can be driven to rotate between the rotary case 3 and the lower portion of the side frame 4 arranged with a left-right interval corresponding to the tillage width. The rear cover 7 that prevents the scattering of soil and suppresses the tillage is swayed vertically and is urged downward by a spring 8 at the rear end of the rotary cover 6 that covers the tilling rotor 5 from above. Further, side covers 9 for preventing soil scattering are provided on the left and right sides of the tilling rotor 5.

  The rear portion of the tractor main body 1 is provided with a three-point link type lifting link mechanism 10 including a top limp 10a and a pair of left and right lower links 10b, and a tilling device 2 is connected and supported to the rear end of the lifting link mechanism 10. ing. The left and right lower links 10b constituting the elevating link mechanism 10 are connected to a pair of left and right lift arms 11 mounted on the upper rear end of the tractor main body 1 via lift rods 12 and 13, respectively, and are lifted internally. The tiller 2 can be moved up and down by driving and swinging the left and right lift arms 11 together with the cylinder 14.

  The lift rod 13 connecting the right lower link 10b and the right lift arm 11 is formed of a hydraulic cylinder and can be expanded and contracted. The lift rod 13 is expanded and contracted to move the relative height of the left and right lower links 10b. Is changed so that the right and left inclined posture (rolling posture) of the tilling device 2 can be changed.

  As shown in the control block diagram of FIG. 2, the lift cylinder 14 for raising and lowering and the lift rod (hydraulic cylinder) 13 for rolling are connected to electromagnetic control valves 15 and 16, respectively. The automatic tilling control and the automatic rolling control of the tilling device 2 are performed by controlling the operation of the electromagnetic control valves 15 and 16 according to a command from the mounted control device 17.

  As shown in FIG. 3, an appropriate position on the outer periphery of the field where the agricultural tractor A is placed, specifically, a position where the agricultural tractor A traveling in the reciprocating tillage is desired from the side, and the agricultural tractor A traveling in the reciprocating tilling from the front and rear Imaging devices 21 and 22 using a CCD camera are installed at a desired height at a desired position using a tripod (not shown).

  The image pickup device 21 on the side surface is used to image the tractor main unit 1, the tilling device 2, and the farm scene from the side surface, and the agricultural tractor has a predetermined size within a predetermined range on the imaging screen regardless of the reciprocating travel of the agricultural tractor A. Horizontal swing follow-up control and automatic zoom control are performed so that A is imaged.

  The front and rear imaging devices 22 photograph the tilling device 2 from the back side, and horizontal so that the tilling device 2 is imaged in a predetermined size within a predetermined range of the photographing screen regardless of the reciprocating travel of the agricultural tractor A. Swing follow-up control and automatic zoom control are performed.

  Connected to the imaging devices 21 and 22 is an analysis unit 25 that includes an analysis device 23 that analyzes the captured image and a transmission device 24 that wirelessly transmits information acquired by the image analysis. On the other hand, the tractor main unit 1 is provided with a receiving device 26 for receiving wireless information from the transmitting device 24 and is connected to the control device 17, and is cultivated based on information obtained by analysis of a photographed image. Automatic plowing control and automatic rolling control of the device 2 are performed as follows.

  (Automatic depth control)

  As shown in FIG. 4, a reference index m indicating the rotational axis position of the tilling rotor 5 is provided on the outer surface of the rotary case 3 and the side frame 4 in the tilling device 2, and the photographed image is analyzed. By calculating and measuring the distance h between the ground surface GL and the reference index m, the depth of immersion of the tilling rotor 5 operating at a predetermined rotation radius R into the ground, that is, the actual tilling depth d is obtained.

  In this case, if an image is taken with an appropriate length of linear gauge attached to an appropriate position on the outer surface of the tilling device 2, the actual tillage depth d can be measured with reference to the linear gauge.

  The information acquired in this way is wirelessly transmitted to the receiving device 26 of the tractor main unit 1 by the transmitting device 24, and the control device 17 of the tractor main unit 1 is set with the obtained actual tilling depth d inputted in advance. When compared with the plowing depth d0 and the actual plowing depth d deviates from the set plowing depth (including the dead zone) d0, the electromagnetic control valve 15 is controlled to operate the lift arm 11 in a direction in which the deviating decreases.

  At the same time as the above control operation, the amount of wheel settlement of the tractor main unit 1 and the forward and backward pitching posture of the tractor are calculated and measured by analyzing the photographed image, and the obtained information is used to execute the automatic tilling control. Information for compensating the amount and the control speed is transmitted to the control device 17 and used for improving responsiveness and preventing hunting.

  (Automatic rolling control)

  An image (see FIG. 5) taken from the rear of the tillage device 2 is analyzed, and an absolute inclination angle in the left-right direction of the tillage device 2, a relative inclination angle with respect to the ground surface GL, and the like are calculated and measured.

  The information acquired in this way is wirelessly transmitted to the receiving device 26 of the tractor main unit 1 by the transmitting device 24, and in the control device 17 of the tractor main unit 1, the measured absolute inclination angle of the tilling device 2 is set in advance. When the measured absolute tilt angle deviates from the set tilt angle (including the dead zone), the rolling control lift rod 13 is expanded and contracted in a direction in which the deviation decreases. The electromagnetic control valve 16 is controlled to operate.

  Simultaneously with the above control operation, a photographed image from the front of the tractor main unit 1 is analyzed, and the absolute tilt angle in the left-right direction of the tractor main unit 1 and the tilt angle in the left-right direction with respect to the ground surface GL of the tractor main unit 1 are analyzed. , Etc. are calculated and measured, and the acquired information is transmitted to the control device 17 as information for compensating the control amount and the control speed in executing the automatic rolling control, and is used for improving responsiveness and preventing hunting. Is done.

  In this case, the coating colors of the rotary cover 6 and the rear cover 7 of the tilling device 2 are made different so that the boundary line between the rotary cover 5 and the rear cover 6 can be easily recognized from the image of the tilling device 2 taken from behind. The left / right inclination angle of the boundary line can be calculated and measured as the left / right inclination angle of the tilling device 2.

  [Second example]

  FIGS. 6 and 7 show the case where the present invention is applied to an excavator B. A traveling machine body T of this example has a swivel base 32 mounted on a crawler traveling vehicle body 31 so as to be able to make a full turn. The backhoe device 33, which is an example of the work device S, is connected to the front portion of the swivel base 32, and a dozer blade (grading device) is provided as another work device S to the front portion of the traveling base 31. 34 is connected so that raising and lowering is possible.

  The backhoe device 33 is configured to sequentially connect the boom 35, the arm 36, and the bucket 37, and cause the boom cylinder C 1, the arm cylinder C 2, and the bucket cylinder C 3 to bend and extend. As shown in FIG. 7, the cylinders C1, C2, C3 for excavation work, the dozer cylinder C4 for raising and lowering the dozer blade 34, the turning motor MT for driving the swivel, and the left and right traveling motors ML, Electromagnetic control valves V1 to V7 for controlling the operation of the MR are connected to the control device 38.

  An imaging device 41 using a CCD camera is installed at an appropriate place in the work site where the excavator B configured as described above is operated, specifically, at a position where the excavator B is desired from the side surface. Marks are provided at the joints in the backhoe device 33, that is, at the proximal end fulcrum p1 of the boom 35, the pivot connection point p2 between the boom 35 and the arm 36, and the pivot connection point p3 between the arm 36 and the bucket 37, respectively. The marks are also provided at the connecting points p4 to p9 of the cylinder group, and are used as index points in image analysis.

  The imaging device 41 includes an analysis device 42 that analyzes a captured image and an analysis unit 44 that includes a transmission device 43 that wirelessly transmits information acquired by image analysis. On the other hand, the traveling machine body 31 of the excavator B is provided with a receiving device 45 that receives this wireless information and is connected to the control device 38. The position of the excavation point x in the bucket 37 is determined by analyzing the captured image. Based on the information obtained by calculation, excavation work at a desired depth, horizontal excavation, slope excavation, and the like are performed.

  In the leveling work, information such as the absolute inclination angle of the traveling machine 31, the height position of the excavation point y of the dozer blade 34, the undulation condition of the work area, and the inclination angle of the leveling trace are acquired by image analysis and the control device 38. Based on this information, the height of the dozer blade 34 is controlled in accordance with the forward and backward movement of the traveling machine body 1 to perform horizontal leveling, leveling of a desired gradient, and the like.

  In this case, in addition to performing the forward / reverse control of the traveling machine body 31 and the height control of the dozer blade 34 fully automatically based on the image analysis information, the boarding operator performs the forward / reverse switching of the traveling machine body 31 to move forward / backward. Accordingly, the height control of the dozer blade 34 can be performed based on the image analysis information.

  [Other Examples]

  (1) In the first example, the traveling machine body T and the work device S are photographed from both the left and right sides, and the left and right heights of the work device S with respect to the ground surface GL are measured and calculated, and the difference between the left and right heights is calculated. It is also possible to determine the left / right inclination angle of the working device S with respect to the ground surface GL.

  (2) The present invention provides an automatic lifting control (automatic planting depth) of a seedling planting device in a rice transplanter in which a seedling planting device as a working device S is connected to the rear part of a four-wheel traveling vehicle T so as to be movable up and down and rolled freely. Control), rolling control, or automatic raising / lowering control (cutting height automatic control) of the cutting part in the combine in which the cutting part as the working device S is connected to the front part of the traveling body T of the crawler traveling type so as to be movable up and down. The present invention can also be applied to various agricultural working machines such as left-right tilt control of the machine body T.

  (3) The present invention can also be implemented in a form in which only the work device S is photographed from outside the apparatus and image analysis is performed.

  (4) It is also possible to take a form in which the work device S is photographed by an imaging device provided in the traveling machine body T, and position information and posture information of the working device S with respect to the traveling machine body T are obtained by image analysis.

Side view of agricultural tractor in the first example Block diagram for control in the first example Schematic plan view showing the working mode in the first example Screen shot from the side in the first example Shooting screen view from the back in the first example Side view of the excavator in the second example Block diagram for control in the second example

Explanation of symbols

2 Tillage device 33 Backhoe device 34 Leveling device (dozer blade)
S working device T traveling machine body

Claims (5)

An automatic control system for a work machine configured to change and control a position or posture of a work device connected to a traveling machine body by a driving means,
The working device, or the traveling machine body and the working device are photographed by an imaging means, position information or posture information of the working device is obtained by analyzing the photographed image, and the driving means is controlled based on the obtained information. An automatic control system for a work machine, characterized by being configured as described above.   The working device is a tilling device, and the actual tilling depth of the tilling device is measured by image analysis, and automatic tilling control is performed to stably maintain the actual tilling depth at the set tilling depth based on the measurement information. An automatic control system for a work machine according to claim 1.   2. The work device is a backhoe device, and the excavation depth of the backhoe device is measured by analyzing a photographed image, and automatic excavation control set in advance based on the measurement information is executed. The automatic control system for the working machine described.   2. The work machine according to claim 1, wherein the work device is a leveling device, and the leveling level is measured by analyzing a photographed image, and automatic leveling control set in advance based on the measurement information is executed. Automatic control system.   The automatic control system for a work machine according to any one of claims 1 to 4, wherein the imaging unit is arranged outside the machine.

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