JP2019062816A - Travel position recognition system, travel vehicle for farm work, and unmanned automatic travel work vehicle - Google Patents

Abstract

To provide a travel position recognition system for grasping and controlling a travel position of a travel device in a width direction of a ridge of a farm crop or the like, a travel vehicle for farm work and an unmanned automatic travel work vehicle which use the same and travel along the ridge.SOLUTION: There is provided a travel position recognition system for grasping and controlling a travel position in a ridge width direction of the ridge of a travel device traveling along the ridge, comprising: a left/right sensor which is arranged on a front side of a travel direction of the travel device and detects the ridge; and a calculator which calculates a travel position of the travel device in the ridge width direction, based on difference information of a distance between an object and the left/right sensor acquired by the left/right sensor.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a traveling position recognition system for grasping and controlling a traveling position of a traveling device in a width direction of an eyebrow such as agricultural products, an agricultural traveling vehicle traveling along an eyebrow using the same, an unmanned automatic traveling vehicle, etc. About.

  The applicant has disclosed the invention of Patent Document 3 as an unmanned automatic traveling work system and an automatic traveling type tea-picking machine.

The premise of the invention of Patent Document 1 is as follows.
Conventional self-propelled tea-picking machines 12 as shown in FIG. 5 are disclosed in Patent Documents 1 and 2.
The "automatic traveling type tea picking machine" described in Patent Document 1 is an automatic traveling type tea picking machine which can be easily operated by anyone and mixture of old leaves, shallow picking and deep picking does not occur. The drive circuit 25 and the second drive circuit 26 drive the left and right endless traveling devices independently of each other. The left and right sensing plates 43, 44 detect the positions of both side portions 53a, 53b of the tea garden fence 53. When the difference in resistance between the variable resistors 47 and 48 based on the rotation angle of the sensing plates 43 and 44 reaches a predetermined value, one of the two position switching valves 35 and 36 is switched to the symbol b side. Reduce the number of revolutions of the corresponding hydraulic motor. Thus, the direction is automatically changed in accordance with the positions of the both sides of the tea garden ridge 53 detected by the sensing plates 43 and 44, and the self-traveling tea picking machine 11 travels exactly along the tea garden ridge 53. Therefore, anyone can drive easily, and mixing of the old leaves, shallow picking and deep picking do not occur. It is said that.

  On the other hand, the "automatic traveling type tea picking machine" disclosed in Patent Document 2 is an automatic traveling type tea picking machine which can be operated easily by anyone and mixture of old leaves, shallow picking and deep picking does not occur. The rotation shaft of the traveling handle 22 is provided on the pinion 25 and made rotatable by a rack 26 advanced and retracted by a hydraulic cylinder 27. The left and right sensing plates 43, 44 detect the positions of both side portions 53a, 53b of the tea garden fence 53. When the difference in resistance between the variable resistors 47 and 48 based on the rotation angle of the sensing plates 43 and 44 reaches a predetermined value, the electromagnetic switching valve 31 is switched to, for example, the symbol a, and the piston rod 28 and the rack 26 of the hydraulic cylinder 27 Advance. Then, the pinion 25 rotates clockwise, and the traveling handle 22 also rotates clockwise. Thus, the direction is automatically changed in accordance with the positions of the both sides of the tea garden ridge 53 detected by the sensing plates 43 and 44, and the self-traveling tea picking machine 11 travels exactly along the tea garden ridge 53. Therefore, anyone can drive easily, and mixing of the old leaves, shallow picking and deep picking do not occur. It is said that.

  As shown in FIG. 5, the conventional automatic traveling type tea picking machine 12 is installed on left and right traveling devices 4a and 4b which are independently driven, a portal frame 4c standing on them, and a portal frame 4c. In addition, forward / reverse, left / right turn, steering wheel 3e which is a drive instruction unit for speed adjustment, operation unit 3a equipped with devices such as a start switch, drive source 14 (engine) of traveling device 4, boarding seat on which a passenger is seated, etc. And travels across a fence for cultivating agricultural products between gate-shaped frames 4c.

  The right and left sensing plates 13a and 13b for sensing the position of the eyebrow are provided inside the compatible part of the portal frame 4c, and while the handle 3e turns and advances the eyebrow according to the rotation of the sensing plate. , Following the curvature of the eyebrows, making it possible to run automatically.

 However, in order to move the conventional automatic traveling type tea-picking machine 12 to the next work group, the turning operation of the automatic traveling type tea-picking machine is necessary, and conventionally, the operator who got on the boarding portion 3b handles the steering wheel. The farm work machine was turned by operating 3e (rotational direction of traveling device). This required skilled skills, and the risk was high in narrow tea gardens, especially in terraced tea gardens in mountainous areas, and it was easy for farm work accidents (including fatal accidents) to occur.

  Similarly, even with the conventional riding type tea tree top surface foreign matter suction device 16 as shown in FIGS. It requires the turning operation of the machine.

  As mentioned above, turning of agricultural machinery is dangerous, and it is said that the mental workload is high even if it is a passenger type, and the load is further increased in a large field. In addition, the aging and decreasing number of agricultural workers are progressing, and further automation of agricultural work machines is required for further reduction of agricultural work, labor saving, and efficiency improvement.

  Therefore, the invention of Patent Document 3 is an unmanned automatic traveling work system capable of remote control, in particular, an automatic traveling type tea-picking system, which does not require a turning operation of the agricultural working machine for moving or turning between agricultural machinery in a field. An object of the present invention is to provide an optimum system for a machine and an agricultural working machine equipped with the system.

Specifically, the invention of Patent Document 3 is as described in the claims (at the time of patent assessment),
[Claim 1]
It is used for an agricultural work machine consisting of a traveling device capable of automatic traveling and a placing part installed on the traveling device and including an operation part, and the agricultural working machine is automatically turned and advanced between the following fences or fences It is an unmanned automatic traveling work system,
An edge sensing sensor comprising a first sensor and a second sensor that senses and informs the edge of the weir;
A third sensor and a fourth sensor for sensing and informing the next heel position at the time of turning;
The control unit automatically controls traveling and turning of the traveling device by controlling the operation of the operation unit based on the signals from the end detection sensor and the third and fourth sensors.
The first sensor is installed on the weir on the front in the traveling direction of the mounting unit, the second sensor is installed on the weir on the rear in the traveling direction of the mounting unit, and the third sensor is the traveling device Unmanned automatic traveling work characterized in that the fourth sensor is installed in the left outer longitudinal right place of the vehicle, the fourth sensor is installed in the right outer longitudinal right place of the traveling device, and at least one of various sensors is installed. system.
[Claim 2]
The edge sensing sensor comprises a first sensor that senses the edge of the heel first, and a second sensor that senses the edge of the heel again after the first sensor,
After the end of the heel is detected by the first sensor, the traveling speed of the traveling device is reduced, and after the end of the heel is detected by the second sensor, the vehicle is allowed to travel for a certain distance. Unmanned automatic traveling work system described in.
[Claim 3]
The unmanned automatic traveling work system according to claim 1 or 2, wherein the end detection sensor, the third sensor and the fourth sensor are position detection sensors.
[Claim 4]
The unmanned automatic traveling work system according to any one of claims 1 to 3, further comprising a stop sensor to stop operation and traveling after sensing a previously installed sensing device.
[Claim 5]
The unmanned automatic traveling work system according to any one of claims 1 to 4, further comprising a direction sensor to improve the turning angle accuracy.
[Claim 6]
The control unit controls the forward movement and the turning movement of the traveling device by the operation of the actuator of the operation unit, and automatically controls the operation of the actuator by a control unit that controls the operation in synchronization with the detection of the various sensors. The unmanned automatic traveling work system according to any one of claims 1 to 5.
[Claim 7]
An agricultural work machine comprising the unmanned automatic traveling work system according to any one of claims 1 to 6.
[Claim 8]
The agricultural working machine according to claim 7, wherein the agricultural working machine is used in a tea garden.
[Claim 9]
9. The agricultural work machine according to claim 8, wherein the traveling device is an automatic traveling type tea-picking machine which is a traveling device capable of automatically traveling along a pot of tea tree.
It is said that.

As a result, a sensor that senses the edge or the sensing device identifies the pivot position, and automatically performs the next operation based on the pre-programmed pivoting motion, further, the mastication status and the direction information. The farm work machine can be directed (turned) and approached accurately. As a result, the human operation operation of the agricultural working machine is reduced, and the reduction of agricultural workload, labor saving and efficiency can be achieved. In addition, it is possible to construct a new tea production system, such as night work for nocturnal diseases and pests, and prevention of exposure of chemical pesticides to sprayers. In addition, even with a small number of workers and even workers who are not accustomed to turning operations of agricultural working machines, it is possible to easily remotely control agricultural working machines and safely perform agricultural work, thus reducing agricultural work accidents. It will be.

The invention of Patent Document 3 is as described in the specification of Patent Document 3 and will be described again below. Please refer to the drawings.

  As shown in FIG. 1, FIG. 2 and FIG. 5, the automatic traveling type tea-plucking machine 1 equipped with an unmanned automatic traveling operation system is, like the conventional automatic traveling-type tea plucking machine 12, a traveling device 4 and a portal type It is equipped with the frame 4c and the mounting part 3, and further comprises the unmanned automatic traveling work system 2, and when traveling on the weir, by adopting control means such as conventional patent documents 1 and 2, automatic traveling It will be possible. The description of the conventional straight advance automatic travel technology will be simplified.

  As shown in FIG. 5, the traveling device 4 includes left and right traveling devices 4a and 4b, which are crawler-type rotating bodies that are rotationally driven and controlled independently to the left and right, and can rotate in forward, reverse, change direction, and stop position. .

  The portal frame 4c is erected from the left and right traveling devices 4a and 4b, and is provided thereon with the placement unit 3. The portal frame 4c and the bottom surface of the placement unit 3 straddle the weir 11. The pillars of the portal frame 4c are provided with left and right sensing plates 13a and 13b toward the inside of the portal (cross over the ridge 11), as in Patent Documents 1 and 2, to enable straight automatic traveling along the ridge Do.

  The placement unit 3 is set on the traveling device 4 through the portal frame 4c, and includes an operation unit 3a including a seat handle 3e, a riding unit 3b including a boarding seat, a drive source 14 such as an engine, and other work equipment , Here, equipment and the like related to the tea leaf extraction unit 12a. The traveling device 4 is operated by the handle 3e of the operation unit 3a, and the operation is automatically controlled by the unmanned automatic traveling work system 2 when turning. The operation unit 3a is provided with a changeover switch 3n having automatic and manual modes for switching between the automatic control by the unmanned automatic traveling work system 2 of the traveling device 4 and the normal operation by the operator.

  As shown in FIG. 1 (B) and FIG. 2, the unmanned automatic traveling work system 2 includes a control unit 2a, an emergency stop switch 2b which is an input side to the control unit 2a, a start switch 2e, and a first sensor 5, the second sensor 6, the third sensor 7, the fourth sensor 8, the stop sensor 9a, and the forward control system 2p, the turn control system 2q, and the machine stop, which are the output sides of the control unit 2a It consists of 2r and engine stop 2s. These obtain drive power from the battery 14a.

  The control unit 2a is a PLC that sends various control signals 2u to the output side to receive an input signal 2t output from various sensors and execute a preset program, and the difference between the program and the current state according to the situation The comparison is performed, and the correction instruction is sent to the output side based on the comparison result. The timer function is also included. The traveling distance of the traveling device 4 can also be controlled by time by a timer.

  The specific control method by the control unit 2a will be described in the corresponding section. By controlling the operation of the operation unit 3a mainly based on the signals of the end detection sensor and the third sensor 7 and the fourth sensor 8, the turning and the approach to the weir 11b next to the traveling device 4 are automatically controlled.

Next, the input side will be described in detail with reference to FIGS.
The emergency stop switch 2b is operated by the radio wave 2d of the remote control 2c and is a switch for stopping the traveling of the traveling device 4 or the operation of the tea leaf removing unit 12a at any time or in danger. The manager in the field 10 (tea plantation) or the like operates the remote control 2c to enable a desired stop, as needed. In addition, the engine that is the drive source 14 can also be stopped.

  The start switch 2e can be operated after setting the changeover switch 3n of the operation unit 3a to the automatic mode, and when the administrator turns on the start switch 2e, the unmanned automatic traveling work system 2 is activated and the traveling device 4 is operated. Automatic control of traveling and turning.

  As shown in FIG. 1, the first sensor 5 is installed on the crucible 11 in front of the traveling direction 1b of the mounting unit 3 (one-dotted chain arrow), and is an edge sensor that senses the edge of the crucible 11 first. is there. As the first sensor 5, for example, a position detection sensor such as a sound wave sensor can be exemplified. The same applies to the second, third and fourth sensors. Also, if it is difficult to detect with a sputum, a sensing device may be installed instead of the sputum.

  By detecting the end of the crucible 11a in operation by the first sensor 5, the traveling speed of the traveling device 4 is controlled to a low speed by an instruction of the control unit 2a. On the other hand, when entering the next work area 11b next to the work area, the end of the work area 11 is first detected, and the traveling speed of the traveling device 4 is controlled at high speed by the command of the control unit 2a.

  As shown in FIG. 1, the second sensor 6 is installed on the crucible 11 behind the traveling direction 1b of the placement unit 3 and senses the end of the crucible 11 again after the detection of the crucible end of the first sensor 5 It is an edge detection sensor.

  The traveling device 4 travels a predetermined distance under the control of the control unit 2a by the end detection (end point position 1c) of the crucible 11a during work by the second sensor 6, and travels at a low speed to the turning position 1d. Thereafter, the turning control system 2 q is executed.

  The third sensor 7 is installed at an appropriate position on the left outside of the traveling device 4 in the longitudinal direction with respect to the traveling direction 1b as shown in FIG. 1 (B), and as shown in FIG. It is a sensor for detecting the next crucible 11 after the first turning and notifying the control unit 2a of the position of the next crucible 11 to determine the second turning position. The fourth sensor 8 is also the same. Depending on the turning direction of the traveling device 4, the sensors (third and fourth sensors 7, 8) for determining the turning position to be used differ.

  The fourth sensor 8 is installed at an appropriate position on the right outside of the traveling device 4 in the longitudinal direction with respect to the traveling direction 1b, as shown in FIG. 1B, and as shown in FIG. It is a sensor for detecting the next crucible 11 after the first turning and notifying the control unit 2a of the position of the next crucible 11 to determine the second turning position.

  The stop sensor 9a is installed on the weir 11 behind the traveling direction 1b of the mounting unit 3 as shown in FIG. 1 (B), and placed at a desired stop position as shown in FIG. 1 (A) It senses the stop instruction member 9 and sends it to the control unit 2a. The control part 2a stops the traveling device 4 at least after the input of the stop position signal. Other devices may be shut down. For example, a light reflection sensor can be exemplified as the stop sensor 9a, and the reflected light of the stop instructing member 9 is sensed. The stop instructing member 9 can be installed at an appropriate position, and the stop sensor 9 a can be set at an appropriate position corresponding to the position of the stop instructing member 9. The stop instruction member 9 may be a device or the like that transmits a stop signal, and in this case, the stop sensor is a sensor that receives the stop signal.

Next, the output side will be described with reference to FIGS. 1-4.
The forward control system 2p is a position control of the steering wheel 3e when the traveling device 4 advances. Here, a desired traveling speed of the traveling device 4 is controlled by the control unit 2a, the valve 3l and the first actuator 3f shown in FIG.

  The turning control system 2 q is a position control of the steering wheel 3 e for turning the traveling device 4 in the left and right direction. Here, the desired turning operation of the traveling device 4 is controlled by the control unit 2a, the valve 3m, and the second actuator 3i shown in FIG.

  The machine stop 2 r is control for stopping the traveling of the traveling device 4 or the operation of the tea-plucking unit 12 a and other working devices.

  The engine stop 2 s is control for stopping the drive of the drive source 14 or control for blocking the transmission of the drive of the drive source 14.

  In addition, the unmanned automatic traveling work system 2 is provided with a direction sensor 2 f as shown in FIG. 1 (B), as necessary. The orientation sensor 2 f is a sensor for accurately determining the rotation angle at the time of turning based on the orientation. By providing the direction sensor 2 f, the turning angle accuracy of the traveling device 4 is enhanced.

  Furthermore, as shown in FIGS. 3 and 4, the unmanned automatic traveling work system 2 includes fifth to tenth sensors (2g to 2n) as shown in FIGS. These are operation confirmation sensors in the case where control of the handle 3e is performed by a two-axis (two-way) actuator, and when the actuator does not perform a prescribed operation, the control unit 2a gives another control instruction to each drive unit. It is a kind of safety device to instruct.

  More specifically, as shown in FIG. 3, the fifth sensor 2g, the sixth sensor 2h, and the seventh sensor 2i determine to the control unit 2a whether the rotation direction of the crawler of the traveling device 4 is correct or not. It is a sensor to transmit. More specifically, the position of the piston rod 3k of the second actuator 3i is monitored by a sensor for confirming the position of the handle 3e in the left-right direction, and the monitoring result is transmitted to the control unit 2a (dashed dotted arrow). Based on the monitoring result, the control unit 2a determines whether the current position of the piston rod 3k conforms to a desired operation. If the piston rod 3k is not at the desired position, the control unit 2a transmits a control command to the valve 3m (for example, a solenoid valve) that controls the operation of the second actuator 3i (the alternate long and short dash line arrow). Let

  More specifically, as shown in FIG. 4, the eighth sensor 2k, the ninth sensor 2m, and the tenth sensor 2n determine to the control unit 2a a determination signal as to whether or not the rotation speed of the crawler of the traveling device 4 is correct. It is a sensor to transmit. More specifically, the position of the piston rod 3h of the first actuator 3f is monitored by a sensor that confirms the forward position of the handle 3e, and the monitoring result is transmitted to the control unit 2a (dashed dotted arrow). Based on the monitoring result, the control unit 2a determines whether the current position of the piston rod 3h conforms to a desired operation. If the piston rod 3h is not at the desired position, the control unit 2a sends a control command to the valve 3l (for example, a solenoid valve) that controls the operation of the first actuator 3f (a dot-and-dash line arrow). Let

  The automatic traveling type tea picking machine 1 equipped with the unmanned automatic traveling work system can be turned by the unmanned automatic traveling work system 2 as shown in FIG. 1 (A). Hereinafter, traveling, turning, stopping, and control thereof will be described in detail with reference to FIG.

  The operator manually moves the automatic traveling type tea-picking machine 1 equipped with the unmanned automatic traveling work system to the start position 1 a of the field 10. Thereafter, the operator or the manager positions the handle 3e in the neutral position (see FIGS. 3 and 4) in both the forward direction and the left and right turning direction. Then, when the changeover switch 3n is switched to the automatic mode and the start switch 2e is turned on to start the unmanned automatic traveling work system 2, the control unit 2a advances the steering wheel 3e to the low speed forward position by the forward control system 2p (FIG. Transition control is performed to B) and low speed automatic traveling of the traveling device 4 is started.

  When the first sensor 5 senses the end of the eyelid 11 (work start position), the control unit 2a controls the forward movement control system 2p to shift the handle 3e to the forward high speed position (FIG. 3C), The high-speed automatic traveling of the traveling device 4 is started. While the automatic traveling type tea-picking machine 1 equipped with an unmanned automatic traveling work system is traveling along the working crucible 11a, the conventional automatic traveling system (left and right sensing plates 13a, 13b and its control system) In accordance with the side shape of the automatic forward traveling at high speed and start picking.

  While the traveling device 4 is traveling, the picking operation is advanced, and when the first sensor 5 detects the end position of the crucible 11a in operation, the control unit 2a controls the forward control system 2p to low speed control (FIG. 3B). Migrate. Thereafter, when the second sensor 6 senses the end position of the crucible 11a in operation (end point position 1c), the control unit 2a causes the traveling device 4 to go straight according to the preset movement distance, and the first turning position Position 1d. At this time, the operation of the tea leaf picking unit 12a may be stopped in synchronization with the end position detection of the eyelid 11a during the operation of the second sensor 6.

  In the first turning position 1d, the control unit 2a shifts the turning control system 2q to the right turning position (FIG. 4 (B)). Here, the traveling device 4 turns 90 ° which is set in advance in the control unit 2a. Alternatively, based on the information of the direction sensor 2f, the traveling direction of the traveling device 4 is directed in the direction orthogonal to the extension line of the adjacent weir 11b.

  When the traveling device 4 turns to the left, the control unit 2a controls the shift control system 2q to shift to the left turning position (FIG. 4C). The left turn at the second turn position is the same.

  The traveling device 4 travels at a low speed (FIG. 3 (B)) until the first turning of the traveling device 4 ends and the fourth sensor 8 senses the adjacent weir 11 b.

  When the fourth sensor 8 senses the adjacent hook 11b, the control unit 2a shifts the turning control system 2q to the right turning position (FIG. 4B) at the second turning position 1d. Here, the traveling device 4 turns 90 ° which is set in advance in the control unit 2a. Alternatively, based on the information of the direction sensor 2f, the traveling direction of the traveling device 4 is directed in the direction parallel to the extension line of the adjacent weir 11b. Under such control, the traveling device 4 turns along the turning track 1e. The traveling device 4 does not travel in the forward direction at the turning position 1 d, and can turn while the traveling device 4 travels, not the rotation of a point target. In that case, it becomes a semicircular turning track.

  Thereafter, the traveling device 4 travels at low speed until the first sensor 5 detects the start end of the adjacent hook 11b.

  The control unit 2a shifts the forward control system 2p to the high-speed position (FIG. 3C) at the position (restart position 1f) at which the first sensor 5 detects the start end of the adjacent crucible 11b. Thereafter, the traveling device 4 starts traveling automatically at high speed according to the side surface shape of the crucible 11 and starts picking according to the conventional automatic traveling system (right and left sensing plates 13a and 13b and its control system).

  If the traveling device 4 repeats the automatic traveling along the side surface shape of the rod during work and the above-mentioned turning, and the stop instruction member 9 placed at the end of the final rod 11c is sensed by the stop sensor 9a, that position The traveling device 4 is stopped at a predetermined position (end position 1g) by the control unit 2a by traveling a predetermined distance (or both of the advancing control system 2p and the turning control system 2q are neutral positions (FIG. 3 (A ), FIG. 4 (A)). The stop instructing member 9 can be installed at any place, and the traveling device 4 can be stopped at any place.

  The unmanned automatic traveling work system 2 can also be applied to agricultural working machines such as tractors that run on tires that do not include the left and right traveling devices 4a and 4b and the portal frame 4c.

  Hereinafter, the automatic turning control will be described in more detail with reference to FIGS. In addition, although the hydraulic cylinder was illustrated as an actuator here, in addition, an electric cylinder, a pulse motor, etc. are employable.

  First, control of the forward control system 2p will be described with reference to FIG. The forward control system 2p, as shown in FIG. 3A, includes a first actuator 3f, a valve 3l, the aforementioned eighth sensor 2k, and a ninth sensor 2m, which are fixed in position to the mounting portion 3 or the like. , And a tenth sensor 2n. The type and installation location of these sensors are not particularly limited as long as the position of the handle 3e can be determined.

  The first actuator 3f is a hydraulic cylinder, and comprises a fixed cylinder 3g and a piston rod 3h hydraulically inserted and removed at one end of the fixed cylinder 3g and connected at one end to the handle 3e. By inserting and removing the piston rod 3h, the front and back position of the handle 3e is automatically controlled, and the traveling speed of the traveling device 4 is automatically controlled.

  The valve 3l is a solenoid valve or the like that controls hydraulic fluid supply to and flow out from the fixed cylinder 3g, and is driven by a control command of the control unit 2a to control the insertion and removal of the piston rod 3h.

  First, FIG. 3 (A) shows the neutral position of the steering wheel 3e, in which the traveling device 4 is at rest. For example, it is the position of the steering wheel 3e when the automatic traveling type tea picking machine 1 equipped with the unmanned automatic traveling work system stops at the start position 1a, the turning position 1d, and the end position 1g in FIG. The neutral position of the handle 3e is monitored by a ninth sensor 2m, and the position is ensured by the control unit 2a.

  When low-speed advance of the traveling device 4 is necessary, for example, as shown in FIG. 1, the automatic traveling type tea-picking machine 1 equipped with an unmanned automatic traveling work system operates the first sensor As shown in FIG. 3 (B), the valve 3l is driven by the command signal of the control unit 2a until the end is sensed and stopped, or enters the adjacent crucible 11b, and hydraulic pressure is applied from the fixed cylinder 3g. The piston rod 3h is protruded, and the handle 3e is pushed to position the handle 3e at a position where the traveling device 4 travels at low speed. The movement is monitored by an eighth sensor 2k, and the position is secured by the control unit 2a.

  In order to position the handle 3e from the low speed position to the high speed position, the control unit 2a controls the operation of the next stage. On the other hand, in order to return the handle 3e to the neutral position, the valve 3l and the control unit 2a perform oil pressure adjustment to store the piston rod 3h in the fixed cylinder 3g.

  When high-speed advance of the traveling device 4 is necessary, for example, as shown in FIG. 1, the automatic traveling type tea-picking machine 1 equipped with an unmanned automatic traveling work system travels the weir 11 a in operation from the start position 1a. As shown in FIG. 3C, the valve 3l is driven by the command signal of the control unit 2a until the end position 1c is reached, and the piston rod 3h is protruded from the fixed cylinder 3g hydraulically. Further, the steering wheel 3e is pushed in to position the steering wheel 3e at a position where the traveling device 4 travels at high speed. The movement is monitored by the tenth sensor 2n, and the position is secured by the control unit 2a.

  In order to return the handle 3e from the high speed position to the low speed position, the valve 3l and the control unit 2a perform oil pressure adjustment to store the piston rod 3h in the fixed cylinder 3g.

  Next, control of the turning control system 2 q will be described with reference to FIG. 4. The swing control system 2q, as shown in FIG. 4A, includes a second actuator 3i, a valve 3m, the above-mentioned fifth sensor 2g, and a sixth sensor 2h, which are positionally fixed to the mounting portion 3 or the like. , And a seventh sensor 2i. The type and installation location of these sensors are not particularly limited as long as the position of the handle 3e can be determined.

  The second actuator 3i is a hydraulic cylinder and comprises a fixed cylinder 3j and a piston rod 3k which is hydraulically inserted and withdrawn at one end of the fixed cylinder 3j and one end is connected to the handle 3e. By inserting and removing the piston rod 3k, the left and right positions of the handle 3e are automatically controlled, and the turning direction of the traveling device 4 is automatically controlled.

  The valve 3m is a solenoid valve or the like that controls hydraulic fluid supply to and flow out from the fixed cylinder 3j, and is driven by a control command of the control unit 2a to control insertion and removal of the piston rod 3k.

  First, FIG. 4 (A) is the same as FIG. 3 (A) and shows the neutral position of the steering wheel 3e, and the traveling device 4 is in a stopped state. Naturally, the steering wheel 3e is in the left-right direction. It is not in the turning position. In addition, if only the turning control system 2q is seen, the straight traveling state of the traveling device 4 is the same. The neutral position of the handle 3e is monitored by a sixth sensor 2h, and the position is secured by the control unit 2a.

  When it is necessary to turn the traveling device 4 to the right, for example, as shown in FIG. 1, while the automatic traveling type tea-picking machine 1 equipped with an unmanned automatic traveling work system is turning at the turning position 1d, As shown in FIG. 4B, the valve 3m is driven by a command signal from the control unit 2a to cause the piston rod 3k to be hydraulically protruded from the fixed cylinder 3j, and the handle 3e is turned right (right from the neutral position). Push into The movement is monitored by the fifth sensor 2g, and the position is secured by the control unit 2a. In order to return the handle 3e to the neutral position, the valve 3m and the control unit 2a perform oil pressure adjustment to store the piston rod 3k in the fixed cylinder 3j.

  When it is necessary to turn the traveling device 4 to the left, for example, as shown in FIG. 1, the automatic traveling type tea-plucking machine 1 equipped with an unmanned automatic traveling work system turns to the weir 11 next to the start position 1a. During this time, as shown in FIG. 4C, the valve 3m is driven by the command signal of the control unit 2a, and the piston rod 3k is accommodated in the fixed cylinder 3j by hydraulic pressure, and the handle 3e is rotated leftward Pull from neutral to the left). The movement is monitored by the seventh sensor 2i, and the position is secured by the control unit 2a. In order to return the handle 3e to the neutral position, the valve 3m and the control unit 2a perform hydraulic pressure adjustment that causes the piston rod 3k to protrude from the fixed cylinder 3j.

  Such an unmanned automatic traveling work system is, for example, a conventional riding type agrochemical sprayer 15 (FIG. 7) that sprays pesticides in a field equipped with not only an automatic running tea picking machine but also a riding type fertilizer spreading machine, It can also be mounted on a riding type irrigation machine, a tea garden management machine such as a conventional riding type tea tree top surface foreign matter suction device 16 (FIG. 6) for sucking foreign substances on the top surface of the tea plant, and other agricultural machines. In such a case, the work group can be set by the program according to the work mode, such as moving every 2 、, every 3 ず instead of moving to the adjacent weir.

  When traveling straight along the weir in Patent Document 3, the traveling method using the sensing plate of Patent Documents 2 and 3 is adopted.

  In the traveling system of the traveling device according to Patent Documents 2 and 3, a person gets on the traveling device, and driving and correction control are performed, so that traveling along the weir is sufficiently possible by sensing the shape of the weir by the sensing plate. On the other hand, in the case of unmanned automatic traveling, traveling along a highly precise heel is required. On the other hand, in Patent Documents 2 and 3, the hydraulic pressure is adjusted by the information from the sensing plate, and the rotation of the left and right crawlers is controlled to assist the traveling along the heel.

  However, the sensing plates of Patent Documents 2 and 3 are located in a portal frame, and the information generation of the wedge shape is slow, and may not be in time for determining the proper traveling position of the traveling device, and the sensitivity and accuracy are low. Sometimes, it was not possible to run the traveling device stably along the weir.

Japanese Patent Application Laid-Open No. 09-322628 Unexamined-Japanese-Patent No. 11-168947 JP, 2015-181446, A

  Therefore, the present invention relates to a traveling position recognition system for grasping and controlling the traveling position of a traveling device in the width direction of a row of agricultural products, etc., a traveling vehicle for agricultural work traveling along a row using it, and unmanned automatic traveling operation The purpose is to provide cars and the like.

The present invention solves the above-mentioned problems by:
(1)
A travel position recognition system for grasping a travel position in a heel width direction of the heel of a travel device traveling along a heel, the travel position recognition system comprising:
A left and right sensor disposed forward of the traveling device in the traveling direction to detect the wrinkles;
A computer that calculates the traveling position of the traveling device in the heel width direction from the difference information between the left and right sensors and the distance to the object acquired by the left and right sensors;
A traveling position recognition system characterized by comprising:
(2)
A travel position recognition system for controlling a travel position in a heel width direction of the heel of a travel device traveling along a heel, the travel position recognition system comprising:
A left and right sensor disposed forward of the traveling device in the traveling direction to detect the wrinkles;
A computer for calculating the traveling position of the traveling device in the heel width direction from the difference information of the distance between the left and right sensors and the target acquired by the left and right sensors;
And control means for causing the traveling device to travel to a desired position on the heel width based on the calculated traveling position of the traveling device.
A traveling position recognition system characterized by comprising:
(3)
The travel position recognition system according to (1) or (2), wherein the distance of the object is an average value of the distances between the object obtained in a predetermined time and the left and right sensors.
(4)
The travel position recognition system according to any one of (1) to (3), wherein the distance of the object is a shortest distance value between the left and right sensors detected by the left and right sensors and the object.
(5)
The travel position recognition system according to any one of (1) to (4), wherein the left and right sensors detect an edge of the eyelid.
(6)
The left and right sensors are disposed with respect to the eyelid surface, in a direction in which the detection surface of the left and right sensors is to receive reflection perpendicularly, any one of (1) to (5) The travel position recognition system described in.
(7)
The traveling position recognition system according to any one of (1) to (6), further comprising a camera mounted thereon to remotely monitor traveling of the traveling device.
(8)
A traveling vehicle for agricultural work, which is an automatic traveling type equipped with the traveling position recognition system according to any one of (1) to (7).
(9)
An unmanned automatic traveling working vehicle equipped with the traveling position recognition system according to any one of (1) to (7).
(10)
The traveling position recognition system according to any one of (1) to (7) is mounted, and the rattan is a pot of a tea tree, and the traveling device is a tea picking machine capable of unmanned automatic traveling. Unmanned automatic traveling type tea picking machine.
(11)
A travel position control method of a travel device for controlling a travel position in a heel width direction of the heel of a travel device traveling along a heel, the method comprising:
The left and right sensors disposed forward in the traveling direction of the traveling device detect the heel and grasp the traveling position of the traveling device in the heel width direction from the acquired difference information of the distance to the left and right sensor and object A traveling position control method for a traveling device, comprising: traveling a traveling device to a desired position in the heel width.
And

  Since the present invention is the above-mentioned composition, the following effects are exhibited. That is, according to the present invention, the presence or absence of a heel and the positional deviation of the traveling device can be detected with high sensitivity and grasped at the front position in the traveling direction of the traveling device, and the vehicle can travel at a desired proper traveling position. Can travel the traveling device stably. Therefore, unmanned automatic traveling with high traveling accuracy can be enabled in the agricultural traveling vehicle.

  The present invention is a general position of a common agricultural product that is grown by forming a weir, regardless of the alley or the house, of a traveling position recognition system, position control using it, a traveling vehicle for agricultural work, and an unmanned automatic traveling vehicle. Applicable to the generality.

  Examples of agricultural crops to which the present invention is applied include the illustrated tea trees, and others, such as sweet potato, potato, chrysanthemum, and green soybeans. The application of the present invention is not limited to these exemplified crops. The left and right sensors detect or calculate the presence or absence of crops, crops, or the distance and height, and determine the position of the traveling device and control the position to a desired position to perform farming operations such as cultivating, sowing, planting, Fertilizer application, pesticide application, can be harvested.

  The mochi is a concept that includes not only soil-rich planting sites, but also crops and rows of crops planted in rows, mulch, etc., and it is a section that can be distinguished from the field mainly by height difference. According to the left and right sensor of the present invention, the position of the weir is detected regardless of the cross section of the arc shape, square shape, etc., regardless of the density of the crops, spotting and growth difference, and the traveling device travels the desired position. Can.

Operation | movement explanatory plan view in the field of the automatic traveling type tea-picking machine provided with the unmanned automatic traveling operation system of patent document 3 It is a top view (B) of only a tea-picking machine. It is a control block diagram of an unmanned automatic traveling operation system of patent documents 3. It is a schematic diagram of an example of steering wheel control at the time of the advance of automatic travel-type tea-picking provided with the unmanned automatic travel operation system of patent document 3. FIG. It is a schematic diagram of an example of steering wheel control at the time of automatic traveling type tea-picking left-right reversal provided with the unmanned automatic traveling work system of patent document 3. It is a photograph of the conventional self-traveling tea-picking machine. It is a photograph of the conventional passenger | crew-type type-of-a-trim upper surface foreign material suction apparatus. It is a photograph of the conventional pesticide type sprayer for passenger type bowls. It is an example of a traveling vehicle for agricultural work provided with a traveling position recognition system 20 according to the present invention. Specifically, the automatic traveling type tea-plucking machine 30 includes the traveling position recognition system 20 in the conventional automatic traveling type tea-plucking machine 12 disclosed in Patent Document 3. It is an unmanned automatic traveling type tea plucking machine 31 provided with a traveling position recognition system 20 according to the present invention. A traveling position recognition system 20 is added to the automatic traveling type tea-plucking machine 1 provided with the conventional unmanned automatic traveling work system disclosed in Patent Document 3. It is explanatory drawing of the remote control system 27 containing the camera 24 of FIG. It is a figure explaining the irradiation direction of the left-right sensors 21 and 22 with respect to the crucible 11 in which the upper surface 40a curved in cross-sectional arc shape. It is explanatory drawing of irradiation of the left-right sensors 21 and 22 in case the crucible 50 is square-shaped in cross section as a whole, and reflection. It is explanatory drawing of irradiation of the left-right sensors 21 and 22 in case the crucible 50 is a square cross-section as a whole, and other embodiment of reflection.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The present invention is not limited to the following examples.

  As shown in FIG. 8, the automatic traveling type tea picking machine 30 according to the present invention is a conventional automatic traveling type tea picking machine 12 which travels along the weir 11 of the tea tree 40 which requires the operation of the passenger. , Is equipped with a travel position recognition system 20. A remote control system 27 is provided as necessary.

  In the conventional automatic traveling type tea plucking machine 12, the operator adjusts the hydraulic pressure with the information from the left and right sensing plates 13a and 13b while operating the operation part 3a while getting on the boarding part 3b, and the left and right crawlers (left and right traveling devices The rotation of 4a, 4b) is controlled to assist traveling along the weir 11.

  However, since the conventional automatic traveling type tea-picking machine 30 has the left and right sensing plates 13a and 13b located near the crawlers (left and right traveling devices 4a and 4b), it senses the shape of the crucible 11 with high accuracy and timely. In some cases, automatic traveling along the weir 11 of the traveling device 4 reflecting the shape can not be performed sufficiently.

  The traveling position recognition system 20 is, for example, for grasping the traveling position in the direction of the width 43 of the heel 11 of the traveling device 4 traveling along the crucible 11 whose upper surface 40a is shaped into a substantially arc shape in cross section. Left and right sensors for detecting the presence or absence of two creases on the upper surface 40a of the weir 11, or the heel height (right and left heel heights 41, 42) disposed forward in the traveling direction 4 (forward when moving forward, backward when moving backward) 21 and 22 and the calculator 3 for calculating the traveling position of the traveling device 4 in the direction of the heel width 43 from the difference information of the left and right heel heights 41 and 42 acquired by the left and right sensors 21 and 22. Here, the weir 11 is shown only as a schematic view of the cross section. FIG. 11 is an enlarged cross-sectional schematic view seen from the direction of the crucible 11.

  The left and right sensors 21 and 22 are, for example, ultrasonic sensors, and the distances 21b and 22b to the top surfaces of the left and right sensors 21 and 22 and the crucible 11 can be measured from the speed of sound and propagation time of the ultrasonic waves 21a and 22a. Of course, other sensors capable of measuring distance can be adopted in the present invention, and the present invention is not limited to ultrasonic sensors. In the case where the traveling device 4 is moved forward and backward, it is more preferable to provide left and right sensors in front of and behind the traveling device 4, respectively.

  The left and right sensors 21, 22 are parallel to the eyebrow surface if the eyebrow surface is flat (Fig. 13) if the detection surface of the left and right sensors 21, 22 is flat with respect to the eyebrow surface (Fig. 13); And parallel (FIGS. 8, 10, 11), that is, in a direction to receive the reflection 22d vertically (FIG. 12).

  If the left and right sensors 21 and 22 are arranged at the same distance from the width center of the traveling device 4 and at the same height from the plane ground, the center of the traveling device 4 is depressed when the measured distances 21a and 22b coincide. It will be located at the approximate center 44 of the width 43. This is because the upper surface 40 a of the bale 11 of the tea tree 40 is symmetrical with respect to the approximate center 44 of the brow width 43.

  Therefore, in this case, the left and right heel heights 41, 42 of the weir 11 can be calculated by subtracting the distances 21a, 22a from the mounting heights of the left and right sensors 21, 22. The difference between the left and right heel heights 41 and 42 can also be grasped.

  Based on the information acquired by the left and right sensors 21 and 22 and the difference information of the distances 21a and 22a, that is, the left and right heel heights 41 and 42, the computer 23 uses the traveling position of the traveling device 4 in the direction of the heel 43 and the setting and target values. Calculate the deviation of

  As the calculation method, first, the distances 21a and 22a to the object are calculated. For example, the average value of the distances between the object obtained in a predetermined time and the left and right sensors 21 and 22 is used. More specifically, the integrated value of the distance within the predetermined time can be divided by the number of integration timings to obtain the value of the distance used for the left and right comparison. By using the average value, irregular values can be buried in the average value even if there are unevenness, presence or absence of crops, and variation in growth on the surface of the eyebrow, and the height of the unevenness of the crop with unevenness can be grasped.

  Then, as the distance to the object, it is preferable to use the shortest distance value between the left and right sensors 21 and 22 detected by the left and right sensors 21 and 22 and the object. When using the shortest distance, if the ridge is square, the edge is detected (FIG. 12) or the presence or absence of the ridge 50 (crop) is detected (FIG. 13).

  In FIG. 12, FIG. 12 (A) shows a case where the traveling device 4 (not shown) is properly positioned at a desired position and travels along the weir 50.

  The left and right sensors 21, 22 detect the reflection 22d of the ultrasonic wave 22a applied around the left and right edges 50a, 50b of the ridge 50 having a rectangular cross section. Based on the detection, the computer 23 (not shown) obtains the distance between the left and right sensors 21 and 22 and the edges 50a and 50b or defines the time from the irradiation of the ultrasonic wave 22a to the detection of the reflection 22d as a distance.

  Then, the respective distances obtained by the left and right sensors 21 and 22 are compared, and the position of the traveling device 4 is grasped according to the difference, and the traveling device 4 is at the desired position. The traveling position is controlled so that the difference between the left and right sensors 21 and 22 and the left and right edges 50a and 50b is 0 so that the center in the width direction matches, and the traveling device 4 travels along the ridge 50 To realize.

  The reflection 22d may have the shortest distance. In this case, by measuring the shortest distance, it can be grasped from the phenomenon shown in FIGS. 12 (B) and 12 (C) how much the left and right sensors 21 and 22 deviate with reference to the set distance.

  In FIG. 12B, the traveling device 4 is shifted to the right side (the right sensor 22 side) of the weir 50. In this case, the reflection 22 e from the ultrasonic wave 22 a of the left sensor 21 (reflection applied to a flat surface) is not detected by the left sensor 21. However, the weir 50 is a crop, and when viewed locally, the crop leaves point in multiple directions, and there is also a reflection 22 d that can be detected by the left sensor 21. In that case, the reflection 22d from the edge 50a detected by the left sensor 21 shown in FIG. 12A at the normal position can not be distinguished.

  On the other hand, the ultrasonic wave 22a from the right sensor 22 strikes the right side of the crucible 50, and its reflection 22f exhibits a longer distance than the reflection 22d from the edge 50b. Therefore, the difference in reflection (distance) between the left sensor 21 and the right sensor 22 is reflection 22 d (left sensor 21) −reflection 22 f (right sensor 22) <0, so the vehicle travels off toward the right sensor 22 There is. If the traveling position of the traveling device 4 is controlled so that the difference becomes 0, the traveling device 4 can travel along the center of the weir 50.

  Further, in FIG. 12C, the traveling device 4 is shifted to the left side (the left sensor 21 side) of the weir 50. In this case, the reflection from the ultrasonic wave 22 a of the right sensor 22 (reflection applied to a flat surface) is not detected by the right sensor 22. However, the weir 50 is a crop, and when viewed locally, the crop leaves point in multiple directions, and there is also a reflection 22d that can be detected by the right sensor 22. In that case, the reflection 22d from the edge 50b detected by the right sensor 22 shown in FIG. 12A at the normal position can not be distinguished.

  On the other hand, the ultrasonic wave 22a from the left sensor 21 hits the left side surface of the crucible 50, and its reflection 22f shows a longer distance than the reflection 22d from the edge 50a. Therefore, the difference in reflection (distance) between the left sensor 21 and the right sensor 22 is traveling with a shift to the left sensor 21 side since reflection 22 f (left sensor 21) −reflection 22 d (right sensor 22)> 0. . If the traveling position of the traveling device 4 is controlled so that the difference becomes 0, the traveling device 4 can travel along the center of the weir 50.

  In FIG. 13, FIG. 13 (A) shows the case where the traveling device 4 (not shown) is properly positioned at the desired position and traveling along the weir 50. The detection surfaces of the left and right sensors 21 and 22 are located in parallel with the surface of the crucible 50 (the flat surface 50c).

  The left and right sensors 21 and 22 detect the reflection 22d of the ultrasonic wave 22a applied to different points (here, right and left end portions) of the flat surface 50c of the wedge 50 having a rectangular cross section. Based on the detection, the computer 23 (not shown) obtains the distance between the left and right sensors 21 and 22 and the plane 50c, or defines the time from the emission of the ultrasonic wave 22a to the detection of the reflection 22d as a distance.

  Then, based on the distance information obtained by the left and right sensors 21 and 22 or the presence or absence of a ridge, the position of the traveling device 4 is grasped, and the traveling device 4 is at the desired position. The traveling position is controlled so that the distance between the left and right sensors 21 and 22 can be determined to have a ridge 50 so that the width direction centers of 4 coincide with each other, and the traveling device 4 realizes traveling along the ridge 50 Do.

  The reflection 22d may have the shortest distance. By absorbing the unevenness of the flat surface 50c of the weir 50 depending on the growth degree of the crop and the presence or absence of the branches and leaves, the difference in distance from the no crop is maximized, and the accuracy of judging the presence or absence of the weir 50 is enhanced. From the phenomenon shown in FIGS. 13 (B) and 13 (C), it can be grasped whether it is located at a predetermined position.

  In FIG. 13 (B), the traveling device 4 is shifted to the right side (the right sensor 22 side) of the rod 50. In this case, the reflection 22d from the ultrasonic wave 22a of the left sensor 21 is the same as the reflection 22d detected by the left sensor 21 shown in FIG. 13A, and indicates an assumed distance. That is, the existence of the eyelid 50 is recognized.

  On the other hand, the ultrasonic wave 22a of the right sensor 22 does not hit the weir 50 but strikes the ground, and its reflection 22g shows a distance longer by a high difference of the weir 50 than the reflection 22d from the plane 50c. Therefore, the difference in reflection (distance) between the left sensor 21 and the right sensor 22 is reflection 22 d (left sensor 21) −reflection 22 g (right sensor 22) <0, so the vehicle travels in the direction away from the left sensor 22 ing. The traveling device 4 can travel along the center of the rod 50 if the traveling position of the traveling device 4 is controlled so that the difference becomes 0 or that both the left and right sensors 21 and 22 continue to recognize the rod 50 .

  In FIG. 13C, the traveling device 4 is shifted to the left side (the left sensor 21 side) of the weir 50. In this case, the reflection 22d from the ultrasonic wave 22a of the right sensor 22 is the same as the reflection 22d detected by the right sensor 22 shown in FIG. 13A, and indicates an assumed distance. That is, the existence of the eyelid 50 is recognized.

  On the other hand, the ultrasonic wave 22a of the left sensor 21 does not hit the weir 50 but strikes the ground, and its reflection 22g shows a distance longer by a high difference of the weir 50 than the reflection 22d from the plane 50c. Therefore, the difference in reflection (distance) between the left sensor 21 and the right sensor 22 is shifted to the right sensor 22 side since reflection 22 g (left sensor 21) −reflection 22 d (right sensor 22) <0. By controlling the traveling position of the traveling device 4 so that the difference becomes 0 (meaning that both the left and right sensors 21 and 22 continue to recognize the rod 50), the traveling device 4 can travel along the rod 50 .

  By the detection of the left and right sensors 21 and 22 described above, it is possible to grasp how far the traveling device 4 is not along the weir 11, correct the various traveling positions and travel control of the information, that is, the calculated traveling device Based on the traveling position of 4, it is possible to control the traveling device 4 to travel along a desired position in the heel width 43, for example, the approximate center 44 in the width direction of the traveling device 4.

  As the control means, for example, signals 21c and 22c corresponding to acquisition information of the left and right sensors 21 and 22 are sent to the computer 23, and the computer 23 controls the left and right distances 21b and 22b (the left and right heel heights 41 and 42 calculated therefrom). From the difference, the position of the traveling device 4 with respect to the rod 11 is calculated, and how much the traveling device 4 deviates from the position desired position is determined. If necessary, the deviation is controlled to be close to zero.

  As a specific control, for example, in FIG. 8, the control signal 2u is sent from the computer 23 to the operation unit 3a or to the hydraulic pressure of the existing crawler (the left and right traveling devices 4a, 4b). Since it is only a matter of which position to position, it is possible to replace the existing position control or use the information acquired by the left and right sensors 21 and 22 as a correction coefficient for position control. Furthermore, the control based on the information in the existing left and right sensing plates 13a and 13 can also be used as a correction when the traveling device 4 largely deviates from the weir 50.

  A travel position recognition system 20 is provided, and the position of the travel device 4 with respect to the heel width 43 is grasped by the left and right sensors 21 and 22, and a desired position, for example, the center of the vehicle width of the travel device 4 With the position and control, the traveling device 4 can be automatically traveled along the weir 11 more accurately. The automatic traveling here does not include the operation of automatically rotating the traveling device 4 at the end of the weir 11, and the rotation is assumed to be operated by the passenger.

  Next, remote control of the automatic travel type tea-picking machine 30 and the traveling device 4 will be described. The camera 23 connected to the computer 23 or an existing control device is provided. The camera 24 captures a view in the forward direction of the traveling device 4 and a situation image, sends it to the computer 23, and the terminal 26 confirms the image of the camera 24 in real time. The computer 23 is connected to the Internet line 25 by the communication 25a, and the terminal 26 instructing an emergency stop of the traveling device 4 is also connected thereto via the communication 26a.

  The terminal 26 confirms the image of the camera 24, sends an emergency stop signal to the computer 23 via the Internet line 25, and the computer 23 makes an emergency stop of the traveling device 4 and the automatic traveling type tea-plucking machine 30 Can. Further details will be described later with reference to FIG.

  As shown in FIG. 9, the traveling position recognition system 20 of the present invention is introduced into the automatic traveling type tea-plucking machine 1 provided with the unmanned automatic traveling operation system 2 disclosed in Patent Document 3, thereby following the habit 11 Not only traveling but also automatic rotation at the end of 畝 11 becomes possible. The position of the traveling device 4 is grasped by the computer 23 from the signals 21c and 22c of the left and right sensors 21 and 22 and the result is reflected on the control signal 2 to obtain the third sensor 7 and the fourth sensor which are conventional sensing plates. The traveling device 4 can be unmanned and automatically travels at a desired position on the weir 11 in cooperation with the control signal 2 with the eight signals or reinforced or mainly along the shape of the weir 11. The left and right sensing plates 13a and 13b can also be used as a stopper when the traveling device 4 is largely deviated from the weir 11.

  Next, with reference to FIG. 10, remote control of the unmanned automatic traveling type tea-plucking machine 31 and the traveling device 4 by the remote control system 27 including the camera 24 will be described. The camera 24 can capture an image of an image in front of the traveling device 4 in the traveling direction, and confirm the image on the terminal 26 of the surveillance person away from the work vehicle. In the case of a short distance (about 300 m or less), the terminal and the camera 24 are connected via the Wi-Fi 26 b, and in the case of a longer distance, communication 25 a, 26 a and the Internet 25.

  Here, the camera 24 is connected to the terminal 26 via the unmanned automatic travel system 2 via the Internet 25 and Wi-Fi 26b, but may be directly connected to the Internet 25 and Wi-Fi 26b from the camera 24. The emergency stop signal can also be instructed from the camera 24 to the unmanned automatic traveling work system 2 through the signal 24 a.

  The terminal 26 is a mobile PC, a smart phone, a mobile phone, etc., and can communicate, connect the Internet, Wi-Fi, and can display an image. The existing telephone company line can be used.

  By providing such a network and a video surveillance system, even in an unmanned traveling system, when an emergency situation occurs in the video of the camera 24, the supervisor can operate the unattended automated travel work system 2 from the terminal 26, the control signal 2u. You can stop driving and machine work through.

1 Automatic traveling type tea picking machine 1a equipped with an unmanned automatic traveling work system Start position 1b Driving direction 1c Ending point position 1d Turning position 1e Turning position 1e Revolving track 1f Restart position 1g End position 2 Unmanned automatic traveling work system 2a Control part 2b Emergency stop switch 2c Remote control 2d Electric wave 2e Start switch 2f Direction sensor 2g Fifth sensor 2h Sixth sensor 2i Seventh sensor 2k Eighth sensor 2m Nineth sensor 2n Tenth sensor 2n Forward control system 2q Turning control system 2r Machine stop 2r Engine stop 2s Input signal 2u Control Signal 3 Mounting Unit 3a Operating Unit 3b Boarding Unit 3e Handle 3f First Actuator 3g Fixed Cylinder 3h Piston Rod 3i Second Actuator 3j Cylinder 3k Piston Rod 3l Valve 3m Valve 3n Switching Switch 4 Drive 4a Left Drive 4b Right Traveling device 5 first sensor Second sensor 7 Third sensor 8 Fourth sensor 9 Stop indication member 9a Stop sensor 10 Field 11 畝 11a Working weir 11b Next weir 11c Final weir 11d Tangent line 12 Conventional automatic traveling type tea picking machine 12a Tea leaf picking part 13a Left sensing plate 13b Right sensing plate 14 Drive source 14a Battery 15 Conventional riding type pesticide sprayer 16 Conventional riding type tea tree top surface foreign object suction device 20 Driving position recognition system 21 Left sensor 21a Ultrasonic wave 21b Distance 21c Signal 22 Right sensor 22a Ultrasonic wave 22b Distance 22c Signal 22d Reflection 22e Reflection 22f Reflection 22g Reflection 23 Computer 24 Camera 24a Signal 25 Internet line 25a Communication 26 Terminal 26a Communication 26b Wi-Fi
27 remote control system 30 automatic traveling type tea picking machine 31 unmanned automatically traveling type tea picking machine 40 畝 40 a upper surface 41 left side height 42 right side height 43 side width 44 approximately center 50 畝 50 a edge 50 b edge 50 c flat surface

Claims (11)

A travel position recognition system for grasping a travel position in a heel width direction of the heel of a travel device traveling along a heel, the travel position recognition system comprising:
A left and right sensor disposed forward of the traveling device in the traveling direction to detect the wrinkles;
A computer that calculates the traveling position of the traveling device in the heel width direction from the difference information between the left and right sensors and the distance to the object acquired by the left and right sensors;
A traveling position recognition system characterized by comprising: A travel position recognition system for controlling a travel position in a heel width direction of the heel of a travel device traveling along a heel, the travel position recognition system comprising:
A left and right sensor disposed forward of the traveling device in the traveling direction to detect the wrinkles;
A computer for calculating the traveling position of the traveling device in the heel width direction from the difference information of the distance between the left and right sensors and the target acquired by the left and right sensors;
And control means for causing the traveling device to travel to a desired position on the heel width based on the calculated traveling position of the traveling device.
A traveling position recognition system characterized by comprising: The travel position recognition system according to claim 1 or 2, wherein an average value of distances between the target and the left and right sensors obtained at a predetermined time is used as the distance of the target. The travel position recognition system according to any one of claims 1 to 3, wherein the distance of the object is a shortest distance value between the left and right sensors detected by the left and right sensors and the object. The travel position recognition system according to any one of claims 1 to 4, wherein the left and right sensors detect an edge of the eyelid. The said left and right sensor is located in the direction which receives the detection surface of the said left and right sensor with respect to the said eyelid surface perpendicularly | vertically, and is arrange | positioned, The any one of the Claims 1-5 characterized by the above-mentioned. The travel position recognition system described in. The travel position recognition system according to any one of claims 1 to 6, further comprising a camera mounted thereon to remotely monitor traveling of the traveling device. An agricultural traveling vehicle comprising an automatic traveling type equipped with the traveling position recognition system according to any one of claims 1 to 7. An unmanned automatic traveling working vehicle equipped with the traveling position recognition system according to any one of claims 1 to 7. The travel position recognition system according to any one of claims 1 to 7, wherein the rattan is a brow of a tea tree, and the traveling device is an unmanned and automatically travelable tea picking machine. Unmanned automatic traveling type tea picking machine. A travel position control method of a travel device for controlling a travel position in a heel width direction of the heel of a travel device traveling along a heel, the method comprising:
The left and right sensors disposed forward in the traveling direction of the traveling device detect the heel and grasp the traveling position of the traveling device in the heel width direction from the acquired difference information of the distance to the left and right sensor and object A traveling position control method for a traveling device, comprising: traveling a traveling device to a desired position in the heel width.