JP2524689Y2 - Overhead type automatic traveling device for work traveling vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an overhead traveling type automatic traveling apparatus for a traveling vehicle such as an agricultural tractor.

[Problems to be Solved by the Related Art and the Invention] Generally, some traveling vehicles of this type include an overhead traveling-type automatic traveling apparatus that automatically travels a traveling body following a traveling overhead line that is disposed in a field in advance. However, when the work vehicle is to be automatically driven, a marker is attached to a predetermined position of the overhead wire in order to automatically raise and lower the work machine at a predetermined position, and the work machine is raised and lowered based on the detection of the marker. And so on. However, conventionally, marker detection is performed by a detection switch fixedly mounted near the overhead wire detection unit. Therefore, when a plurality of markers are detected, the number of detection switches is particularly large and the number of parts is particularly large. The increase of points becomes a problem.

[Means for Solving the Problems] The present invention has been conceived in view of the above-described circumstances and to provide an overhead traveling wire type automatic traveling apparatus for a work vehicle that can eliminate these disadvantages. Then, an aircraft position detecting device that contacts an overhead line previously disposed in a field and detects the left and right position of the traveling aircraft with respect to the overhead line, and an actuator for automatic traveling of the traveling aircraft based on the detection of the aircraft position detecting device. An automatic traveling control device that outputs a movement command, a work vehicle including the aircraft position detecting device, the traveling line is moved in a predetermined width set in the left-right direction with respect to the straight traveling direction of the traveling aircraft and the overhead line. While the overhead traveling line detector is configured to include an overhead wire detector that detects the contact of the overhead wire and a detector body position unit that detects a position at which the overhead wire detector contacts the overhead wire, the overhead traveling wire detector moves in the predetermined width in the automatic traveling control device. While doing When a plurality of detection signals are output, it is determined based on the output pattern of the detection signals whether or not there is a contact with a control command marker arranged side by side on the overhead wire. A marker discriminating means for performing control to be set is provided.

According to the present invention, the marker detection can be performed by this configuration.
By using a detection switch provided for detecting an overhead wire, the number of switches can be reduced.

Next, an embodiment of the present invention will be described with reference to the drawings.
In the drawings, reference numeral 1 denotes a traveling body of a tractor, and a rotary tilling type working machine 3 is connected to a rear portion of the traveling body 1 via an elevating link mechanism 2. It is moved up and down by the swing of the lift arm 5 accompanying the operation, and these configurations are the same as those of the related art.

Reference numeral 6 denotes an unmanned operation device mounted on the foot of the driver's seat of the traveling body 1, and the unmanned operation device 6 is fixed to a bracket 8 previously mounted on a steering column 7. An unmanned operation mechanism for operating the steering wheel 9, the left and right brake pedal 10, the clutch pedal 11, the stroking lever 12, and the working unit elevating lever 13 based on the operation of the actuator, respectively, is incorporated.

Reference numeral 14 denotes a wire detection device.
Is vertically movable via a pair of parallel links 16 with respect to a support arm 15 fixed to the bracket 8, and is always upwardly directed by a bullet 17 provided on the parallel link 16 portion. Being energized.

Reference numeral 18 denotes a wire guide provided on the wire detecting device 14, and the wire guide 18 is a long arc-shaped guide portion left and right.
18a and a front guide portion 18b protruding forward from the center of the arc-shaped guide portion 18a.
The left and right end portions and the front guide portion 18b are inclined so as to guide the wire detection device 14 below the wire K against the urging force of the control ammunition 17 when the wire K comes into contact with the wire K previously arranged in the field. (The inclination becomes lower toward the outside).

Reference numeral 19 denotes a swing arm that constitutes the wire detection device 14. The swing arm 19 is supported by a frame 14a so as to be able to swing left and right, and is driven by a motor 22 that is linked through a connecting rod 20 and a crank 21. At the tip (position at a distance of 1 from the center of the swing) at the tip of the wire K.
(Or a marker M described later) is provided with a retractable detection switch 23, and an arm angle detection sensor 24 for detecting the swing angle of the swing arm 19 is provided at the base end.
Are linked. That is, the wire detection device 14 detects the contact between the wire K and the detection switch 23 and the arm angle θ contacted with the wire K, thereby detecting the traveling body 1 with respect to the wire K.
The deviation ΔL is detected in the wire tracing control of the automatic traveling control unit 25 described later.
(ΔL = lsinθ) is calculated and the steering operation mechanism is operated and controlled so that the deviation amount ΔL is set to 0, thereby causing the traveling body 1 to travel along the wire K.

Further, the wire detecting device 14 is arranged such that the left and right center (the swing center of the swing arm 19) is deviated to the left by a predetermined distance from the center of the body. That is, assuming that the working width of the working machine 3 is W and the overlapping working width is C, the wire detection device 14 is shifted from the center of the machine by a predetermined distance calculated by W / 2-C / 2. The traveling body 1 can be reciprocated by following the same wire K.

On the other hand, reference numeral 26 denotes a column detection device protruding from the right side of the unmanned operation device 6, and the column detection device 26 is horizontally moved by a support frame 27 fixed to a bracket 6a of the unmanned operation device 6. A detection bar 29 is provided via a pair of parallel links 28, and the detection bar 29 is provided by a spring 31 provided between a plate 30 which is integrally fixed to the base end of the front link 28 and the support frame 27. A pair of the detection switches 3 is configured to constantly bias the detection bar 29 outwardly, but the displacement amount of the detection bar 29 that is displaced by contact with the column P disposed in the field is changed.
The distance between the traveling body 1 and the pillar P can be detected by detecting at 2, 33.

Incidentally, the automatic traveling control unit 25 is configured using a microcomputer or the like, which is provided in the detection switch 23, the arm angle detection sensor 24, and the column detection device 26 provided in the wire detection device 14. Based on the input signals from the detection switches 32, 33, etc., the unmanned operation device 6
An operation command is output to various unmanned operation mechanisms incorporated in the device.

Next, a control procedure of the automatic traveling control unit 25 will be described with reference to FIGS. 10 to 12.
-C (W + D when the pillar P is interposed) and linearly juxtaposed, and the marker M is attached to the predetermined set position of the wire K by the marker fixture 34 in three patterns. K
(A left turning pattern attached to the left side, a right turning pattern attached to the right side, and a work machine descending pattern attached to both the left and right sides).

By the way, in the automatic driving control unit 25, after performing the initial setting,
The above-described control such as the wire scanning control, the marker discrimination control, and the turning control are repeatedly performed. In the marker discrimination control, first, the detection switch 23 is turned on several times while the swing arm 19 swings once. This is stored in the switch counter, and the arm angle data when the detection switch 23 is turned on is stored. When the swing of the swing arm 19 is completed once, it is determined whether the switch counter is "1,""2," or "3," and the subsequent control is branched. Other than that, that is, if it is “0”, it is determined that the traveling body 1 has deviated from the wire K, and the traveling body 1 is temporarily stopped by the clutch OFF (in the embodiment, the swing arm 19 swings once. Since the clutch OFF operation requires 2 seconds while 1 second is required, the traveling body 1 does not substantially stop traveling if the wire K is detected in the next swing.)
I'm going to do it. On the other hand, when the switch counter is “3”, the marker M
Is determined, the work implement 3 is immediately lowered, and the work implement down flag is set and the turning prediction flag is reset. When the switch counter is "2", it is determined that the marker M of the turning pattern is attached, the two arm angle data 1 and 2 are stored, and the turning prediction flag is set. As shown in FIG. C, the switch counter is set to "2" at the marker mounting portion of the work implement descending pattern.
Therefore, after confirming that the work implement down flag is in the reset state, the turning prediction flag is set. Further, when the switch counter is "1", it is first determined whether or not the turning prediction flag is in a set state. If it is determined that the turning state is the reset state, the work implement down flag is reset as necessary and the arm angle data is stored. When the turning prediction flag is in the setting state, the marker M is displayed. It is determined whether the wire K is attached to the left or right side, and the left turning flag or the right turning flag is set. That is, when it is determined that the turning prediction flag is in the set state, the current arm angle data is stored as arm angle data, and the average value of the arm angle data and the arm angle data is calculated. Next, the marker position L is calculated by subtracting the arm angle data and the average value of the arm angle data from the sum of the data 1 and 2 stored when the switch counter becomes “2”. (Average value of the wire position is calculated by averaging the arm angle data and the arm angle data, and the marker position is calculated by subtracting the approximate value from the sum of data 1 and 2). By comparing the position L with the arm angle data and the average value (wire position) of the arm angle data, it is determined whether the marker M is provided on the left or right of the wire K. Further, in the magnitude comparison between the marker position L and the wire position, the non-recognizable area is set with a width of ± α. This is because when the marker position L and the wire position are close to each other, Detection error or detection switch 23
In this case, the traveling body 1 is stopped to avoid danger.

Further, in the turning control following the marker determination control,
First, it is determined whether the left turn flag or the right turn flag is set. If it is determined that the left turning flag is in the set state, the timer 1 flag is set and the timer 1 is turned on. Thereafter, the left brake is operated and the steering is turned to the left to turn the traveling body 1 left. Turn, and release the left brake based on timer 1 = 0, and operate the steering straight,
Further, the left turn is terminated by resetting the timer 1 flag and the left turn flag. On the other hand, when the right turn flag is set, the traveling body 1 is turned right by the opposite operation to the left turn described above, but the right brake is operated at the position of the detection bar 29 of the column detection device 26. On the basis of what is going on. In other words, since there is a case where the pillar P exists at the turning center in the right turn, if the detection bar 29 is determined to be in the range of “A” based on the ON-OFF of the detection switches 32 and 33, the turning is performed. Operate the right brake to reduce the radius, and when it is determined that the detection bar 29 is in the range of "b", release the right brake to increase the turning radius to maintain a predetermined distance from the column P. However, if the detection bar 29 reaches the range of "C", it is predicted that the traveling body 1 will collide with the column P. The traveling body 1 is stopped by a clutch operation. When the turning flag is set, the wire copying control is released.

In the embodiment of the present invention configured as described above, the wires K are arranged in the field in advance at predetermined intervals, and the markers M are attached at predetermined positions of the wires K in three patterns. When the traveling body 1 is set to the work start position and automatic traveling starts, the wire detecting device 14
The wire K is detected as the swing arm 19 swings left and right, and angle data of the swing arm 19 at the time of the detection is output.
Then, the automatic traveling control unit 25 that has input the angle data performs the automatic traveling of the traveling body 1 following the wire K based on the wire following control, but the detection switch 23 of the wire detection device 14 is connected in parallel with the wire K. Marker M mounted in a shape
, The automatic travel control unit 25 determines whether the marker M is attached to the wire K on the left or right or on both the left and right sides based on the plurality of input angle data, and By outputting an operation command to the corresponding unmanned operation mechanism, turning left, turning right,
Predetermined control such as lowering of the work machine is performed.

As described above, in the present invention, the traveling body 1 is caused to automatically travel in accordance with the wire K provided in advance in the field, but the predetermined setting of the wire K is performed in order to perform the body turning and the lowering of the work machine. The marker M arranged in parallel with the position is detected by a detection switch 23 provided on a swing arm 19 that swings left and right to detect the wire K, and based on the arm angle when the detection switch 23 is activated. It is determined whether the wire K is provided on the left or right, or on both the left and right sides. Therefore, the markers M juxtaposed on the left and right of the wire K are detected by the detection switch 23 of the swing arm 19 provided for detecting the wire K without being detected by the detection switch provided especially specially. As a result, the number of detection switches can be reduced, so that the number of parts can be significantly reduced and the structure can be simplified.

Moreover, even if the number of mounting patterns of the marker M is increased as required, the versatility can be dealt with only by rewriting the control program in the automatic cruise control unit 25 without increasing the number of detection switches as in the conventional case. It can be significantly improved.

Further, in the embodiment, when the detection switch 23 outputs a plurality of detection signals during one swing, it is not immediately determined that the marker detection is performed, but the determination is made with reference to the detection signals before and after. It is possible to reliably prevent a problem in which an erroneous detection caused by the swing of the wire K or the like is erroneously determined to be a marker detection as it is, and a marker detection with extremely high accuracy can be performed.

The present invention is not limited to the above embodiment,
For example, the overhead line detecting body of the aircraft position detecting device may be any device that detects a contact with the overhead line by moving between predetermined widths set in the left-right direction with respect to the straight traveling direction of the traveling aircraft and detecting the contact with the overhead line. The object is not limited to the one that swings left and right as in the example, but may be one that reciprocates linearly right and left or one that moves circularly.

[Effects] In summary, since the present invention is configured as described above, the traveling machine is caused to automatically travel in accordance with the overhead wire arranged in advance in the field, but in order to raise and lower the working machine. The marker arranged side by side at the set position of the overhead wire is detected by an overhead wire detector that moves between left and right predetermined widths to detect the overhead wire. If a plurality of detection signals are output while the overhead wire detector moves between the left and right predetermined widths, the automatic travel control device determines whether or not marker detection is performed based on an output pattern of the detection signals, and determines whether or not the detection is a marker detection. Will be controlled. Therefore, the markers arranged side by side on the overhead line can be detected by the overhead wire detecting body provided for detecting the overhead line without being detected by the detection switch provided especially exclusively, and as a result, the number of detection switches And the number of parts can be significantly reduced. In addition, when it is necessary to increase the number of markers, it is possible to easily cope with the problem by rewriting the control software in the automatic cruise control device without increasing the number of detection switches as in the related art. be able to.

[Brief description of the drawings]

1 is a side view of a tractor, FIG. 2 is a plan view of the tractor, and FIG. 3 is a wire. 4A and 4B are a plan view and a front view, respectively, of the wire detecting device. FIGS. 5A, 5B and 5C are a side view, a plan view, and a front view, respectively, of a marker mounting portion. Is a plan view of a tractor showing a turning state, FIG. 7 is a plan view of a column detecting device, FIG. 8 is an explanatory diagram of an operation of the column detecting device, FIG. 9 is a plan view of a field showing the operation, and FIG. FIG. 11 is a flowchart showing marker discrimination control, FIG. 12 is a flowchart showing turning control, FIG. 13 is a plan view of a marker mounting portion showing the operation of the wire detection device, FIG. A, B, and C are right turn markers, left turn markers, and work implement descent markers, respectively, that indicate the action of the wire detection device. Rear view, FIG. 15 is a block diagram showing an outline of a control mechanism. In the figure, 1 is a traveling body, 3 is a working machine, 6 is an unmanned operation device,
14 is a wire detection device, 19 ... swing arm, 23 is a detection switch, 25 is an automatic traveling control unit, 26 is a column detection device, K is a wire, M is a marker, and P is a column.

Claims (1)

(57) [Scope of request for utility model registration] An aircraft position detecting device for detecting a left and right position of a traveling body with respect to an overhead line by contacting an overhead line previously arranged in a field, and an actuator for automatic traveling of the traveling aircraft based on the detection of the aircraft position detecting device. An automatic traveling control device that outputs an operation command to a traveling vehicle, wherein the aircraft position detecting device is moved by a predetermined width set in the left-right direction with respect to the straight traveling direction of the traveling aircraft, and the overhead wire. The overhead traveling line detecting body detects the contact with the overhead line, and the detecting body position detecting means for detecting a position where the overhead line detecting body contacts the overhead line. When a plurality of detection signals are output while moving, it is determined whether or not it is a contact with a control command marker arranged side by side on the overhead wire based on the output pattern of the detection signal, and if it is a marker If it is determined, Working vehicle of overhead wires automatic traveling apparatus characterized in that a marker determination means for controlling to be set.