JP2534084B2 - Automatic control device for paddy work machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatic control device for a paddy field working machine such as a rice transplanter and a direct flooding machine, and more particularly, to an automatic controller for controlling the working machine when turning a headland. Regarding the control device.

(B) Conventional technology Generally, a paddy field working machine, for example, a rice transplanter, travels in a field while towing a planting unit mounted on a traveling body so as to be swingable in the left-right direction, and drives a large number of planters to seed a rice field. Are planted. Then, at the time of the planting work, it is desirable to align each shoot row in order to improve the growth of seedlings.

Therefore, the planting part is attached to the traveling machine body so that it can slide freely in the left and right directions by the parallel links, and the left and right positions can be adjusted by the hydraulic actuator for shifting. Even if the planting position is misaligned due to traveling on the tiller and rocking, the shift hydraulic actuator is activated to adjust the left and right position of the planting part in a timely manner, so that seedlings can be grown without bending the row. An automatic control device for rice transplanters has been devised, which is configured so that it can be planted properly.

(C) Problems to be Solved by the Invention However, the above-described conventional automatic control device for a rice transplanter does not work when the planting part is shifted in the left-right direction at the time of headland turning at the end of the field. However, the position of the planting part after turning the traveling body 180 degrees will be larger on the opposite side than before turning, so when the planting work is started again, it is appropriate to plant according to the existing seedling row. It requires a lot of time until the planting becomes appropriate, and a problem such as uneven seedling row occurs until the planting becomes appropriate.

(D) Means for Solving the Problem The present invention is intended to solve the above-mentioned problems, and for example, as shown in FIG. 1 and FIG. In the paddy work machine 1 which is provided with the work machine 6 and is shifted in the left-right direction by the shift actuator 7, a shift amount memory for storing the shift amount 1 of the work machine 6 when the traveling machine body 5 turns. Means 23 is provided,
After the traveling machine body 5 is turned, the shift actuator 7 is operated based on the shift amount storage means 23 to shift the working machine 6 to the opposite side by the same amount as the shift amount 1 before turning. It is characterized by that.

(E) Action Based on the above configuration, when the traveling machine body 5 is turned by reaching a headland during work such as planting using the paddy field work implement 1, the shift amount l of the working unit 6 at the time of the turn Is stored in the shift amount storage means 23. When the traveling machine body 5 completes the turning motion, the shift actuator 7 is operated based on the shift amount storage means 23 to shift the working unit 6 to the opposite side by the same amount as the shift amount l. After turning, it is quickly moved to the proper planting position.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

The rice transplanter 1 has a front wheel 2 and a rear wheel 3 as shown in FIG.
Has a traveling machine body 5 supported by, and a planting portion 6 is connected and supported behind the machine body 5 so as to be swingable in the left-right direction via a parallel link (not shown). A planting part shifting actuator 7 is disposed between the parallel link and the fixed side of the traveling machine body 5, and the planting part 6 is provided.
It is configured so that the left and right positions of can be adjusted. Also,
A front wheel steering actuator 9 that steers the front wheels 2 is provided at the front of the traveling machine body 5, and a rear wheel steering actuator 10 that steers the rear wheels 3 is provided at the rear of the traveling machine body 5. . A ridge detection sensor 12 for detecting a ridge 11 is arranged at the tip of the machine body 5, and a direction sensor 13 for detecting a traveling direction, which is constituted by a magnetic sensor or the like, is provided at a turning center position of the machine body 5. It is arranged. Further, the planting section 6 has a seedling stand 15, a plurality of planting rods and a float (both not shown), and the floats on both sides of the machine body 5 project in a lateral direction and have a plurality of light emitting sections. Seedling row detection sensors 16, 16 including a light receiving section are provided.

Then, the rice transplanter 1 controls the control unit 19 as shown in FIG.
The control unit 19 includes a central processing unit (CPU),
It is composed of a ROM storing a program for controlling the CPU and a RAM serving as a main memory (both not shown). Further, the control unit 19 is provided with a ridge detection sensor 12, a direction sensor 13, and a seedling detection sensor 16, 16 via an input interface 20.
, And the planting part shift actuator 7, the front and rear wheel steering actuators 9 and 10, and the planting part vertical movement actuator 22 are connected via an output interface 21. Further, the control unit 19 is provided with a shift amount storage means 23, and the storage means 23 is a ridge detection sensor 12
When the traveling vehicle body 5 turns when the ridge is detected,
It stores how much the center of the planting unit 6 is relative to the traveling machine body 5.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG.

Whether or not the rice transplanter 1 running from the starting point A for planting work while planting the seedlings on the seedling stand 15 on the rice field by the planting rod reaches the turning position B by detecting the ridges with the ridge detection sensor 12. Is judged (S1), and when the turning position is reached,
It is measured how much the center of the planting unit 6 is deviated from the traveling machine body 5 at the time of entering the turning (S3), and the shift amount 1 is stored in the shift amount storage means 23 (S4). Then, the planting work is stopped (S5), and the planting section 6 is moved up by the operation of the actuator 22 for vertically moving the planting section (S6),
Further, the traveling vehicle body 5 is turned (S7). Then, when the turning is completed, the planting section 6 is lowered (S8). At this time, if the planting section 6 is not displaced from the traveling vehicle body 5, a flag is set (S9). Is started (S1
0) If the shift amount is deviated by l, the planting part shift actuator 7 is operated based on the shift amount storage means 23 to shift the planting part 6 by −l with respect to the traveling direction of the traveling machine body 5. Yes (S11). Then, the flag is reset (S12), and the planting work is restarted (S13).

Further, in the present embodiment, the seedling row detection sensor 16 is used to detect the existing seedling row, but an example of the seedling row detection sensor 16 will be described with reference to FIGS. 4 to 12.

As shown in FIG. 12, the seedling row detection sensors 16 and 16 provided on both sides of the airframe 5 of the rice transplanter 1 so as to project in the lateral direction are, as shown in FIGS. 4 and 8, a light emitting diode 26 and a phototransistor. 27, and has a left gate, a center gate and a right gate composed of the light emitting diode 26 and the phototransistor 27, that is, a seedling detection sensor (a), a seedling detection sensor (b) and a seedling detection sensor (c). are doing.

Further, as shown in FIG.
The seedling detection sensor (a) is connected to the input port (hereinafter referred to as a microcomputer) via the signal conversion circuit 29 and the counter circuit 30, and the seedling detection sensor (b) is also connected to the signal conversion circuit 31 and the counter circuit. 32, the seedling detection sensor (c) is connected via the signal conversion circuit 33 and the counter circuit 35, and the planting part shift angle detection sensor 36 is also connected. In addition, the output port of the microcomputer 25,
The expansion side solenoid 37a and the contraction side solenoid 37b of the planting section shift electromagnetic switching valve 37 for operating the planting section shift actuator 7 are connected, and a reset circuit 39 is also provided.
Is connected.

Therefore, when the seedling row detection sensor 16 is planted along the existing seedling row P, the light emitting diode 26 and the phototransistor 27 detect the seedlings p ₁ , p ₂ , p ₃ ... Of the existing seedling row P. While proceeding in the direction of arrow A in FIG. 9, a signal D for outputting a group of pulses is output at every time T as shown in FIG. Then, the signal D is an integrating circuit 4 as shown in FIG. 5, for example.
The signal is converted by the signal conversion circuits 29, 31, 33 including 0, the differentiation circuit 41, and the one-shot multivibrator 42. At this time, the integration circuit 40 converts it into the signal E of FIG. 9 is converted into a signal F, and further converted into a signal G which emits a pulse every time T by the one-shot multivibrator 42, whereby the seedlings p ₁ , p ₂ ... Are arbitrarily selected by the counter circuits 30, 32, 35. The number of stocks is counted up to n. Then, a reset circuit controlled based on the outputs from the counter circuits 30, 32, 35 and the microcomputer 25.
By 39, the oldest pulse signal is skipped out every time the newest signal of the seedling detection signals comes in.

7 and 8 show a state in which the seedling p ₁ ... Passes through the seedling detection sensor, and 45 indicates that the seedling p shown in FIG. It shows the signal that appears on the time axis when it passes through b) and the seedling detection sensor (b) at the same time.

Then, FIG. 10 shows the count number output from each sensor when the seedling detection sensor is operated, and the signal thereof as states 1 to 18 on the time axis, and further the seedling count number and count output Based on the result of the comparison of the above on the time axis, the microcomputer 25 determines the precise position of the seedlings, and based on this, the control shown in FIG. 11 is performed.

As shown in FIG. 10, for example, in the state 1-a, both the seedling detection sensor (a) and the seedling detection sensor (b) are transmitting signals at the same time, so that the seedling row has a seedling detection sensor (a). And the seedling detection sensor (b) is in between, and the operation shown by 1-a in FIG. 11 is performed. Also, as shown in FIG.
In a, 2-b, 2-c, it is judged that the existing seedling row P is slightly displaced to the left with respect to the sensor traveling direction, and 2-a, shown in FIG.
Performs 2-b and 2-c operations. Furthermore, the states 3-a, 3 in FIG.
In -b, 3-c, it is judged that the seedling row P is displaced to the left with respect to the sensor traveling direction, and 3-a, 3-b, 3 shown in FIG.
-C operation is performed. Furthermore, for example, the state 14- shown in FIG.
In b, 14-c, 14-e, 14-f, 14-g, the existing seedling rows P are slightly variable to the left and right with respect to the sensor traveling direction, but it is judged that they are planted in series as a whole. , The planting unit 6 (or the traveling machine body 5) is not shifted. Furthermore, the state 14- shown in FIG.
At a, it is determined that the seedling row P is being shifted to the left with respect to the sensor traveling direction, and the operation shown by 14-a in FIG. 11 is performed. Further, in the state 14-d, it is determined that the existing seedling row P is being shifted to the right with respect to the sensor traveling direction, and the operation 14-d shown in FIG. 11 is performed. The microcomputer 25 also determines the other states in FIG. 10 in the same manner as above and shifts the planting unit 6 (or the traveling machine body 5).

Therefore, since the seedling detection pulse can be converted into one pulse per one strain and counted, the latest number of seedlings and the latest information of the counting position are always compared on the time axis when the sensor passes n strains of seedlings. Therefore, the seedling position can be accurately determined and continuous seedling detection control can be performed.

(G) Effect of the Invention As described above, according to the present invention, after the traveling machine body 5 is turned, the shift actuator 27 is operated based on the shift amount storage means 23 to shift the working machine 6 before the turning. l
Since it is configured to shift to the opposite side by the same amount as
Even if the working unit 6 is shifted in the left-right direction at the time of turning a headland, it is possible to prevent the position of the working unit 6 after the turning from being largely deviated compared to before turning, so that the planting or the like can be prevented again. When starting the work, the work can be properly performed by quickly adjusting to the existing seedling row and the like.

[Brief description of drawings]

FIG. 1 is a control block diagram according to the present invention. And
FIG. 2 is a plan view showing a rice transplanter according to the present invention and its operation, and FIG. 3 is a flow chart showing its operation. In addition, FIG. 4 is an enlarged view showing an example of a seedling detection sensor, and FIG.
Fig. 6 is a diagram showing an example of the waveform shaping circuit, Fig. 6 is a diagram showing its control block diagram, Fig. 7 is a diagram showing a part of the sensor count output on the time axis, and Fig. 8 is one stock. Fig. 9 shows a state where the seedlings of the seedling are crotch on two seedling detection sensors, Fig. 9 shows the process of shaping the waveform of seedling detection, and Fig. 10 shows the sensor count output on the time axis. , Fig. 11 shows 10
It is a figure which shows the shift control of the planting part based on a figure, and FIG. 12 is a whole top view which shows a riding rice transplanter. 1 ... Paddy working machine (rice transplanter), 5 ... Running machine, 6 ...
Working machine (planting part), 7 ... Shift actuator (planting part shift actuator), 23 ... Shift amount storage means, l ... Shift amount.

Claims (1)

(57) [Claims] 1. A paddy working machine comprising a traveling machine equipped with a working machine, and the working machine being shifted in the left-right direction by a shift actuator, wherein a shift amount of the working machine when the traveling machine body turns is stored. Shift amount storage means is provided, and after turning of the traveling machine body, the shift actuator is operated based on the shift amount storage means to shift the working machine to the opposite side by the same amount as the shift amount before turning. An automatic control device for a paddy work machine, which is configured as described above.