JP2569458B2 - Moving agricultural machine - Google Patents
Moving agricultural machineInfo
- Publication number
- JP2569458B2 JP2569458B2 JP60030881A JP3088185A JP2569458B2 JP 2569458 B2 JP2569458 B2 JP 2569458B2 JP 60030881 A JP60030881 A JP 60030881A JP 3088185 A JP3088185 A JP 3088185A JP 2569458 B2 JP2569458 B2 JP 2569458B2
- Authority
- JP
- Japan
- Prior art keywords
- azimuth
- traveling direction
- switch
- traveling
- control target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Description
この発明は、機体の進行方向を制御する装置を備えた
移動農機に関する。The present invention relates to a mobile agricultural machine provided with a device for controlling a traveling direction of an aircraft.
特開昭55−28184号公報に、機体の対地絶対方位を検
出するコンパスと、任意の時点における機体の検出方位
を記憶する回路と、記憶した方位と検出した方位の偏差
を検出する演算装置と、この検出偏差に基づいて機体の
操向を行なう自動操向制御機構とを具備した移動農機が
開示されている。Japanese Patent Application Laid-Open No. 55-28184 discloses a compass for detecting an absolute azimuth relative to the ground, a circuit for storing a detected azimuth of the aircraft at an arbitrary time, and an arithmetic unit for detecting a deviation between the stored azimuth and the detected azimuth. A mobile agricultural machine having an automatic steering control mechanism for steering the aircraft based on the detected deviation is disclosed.
上記従来技術を具体的に構成するにあたり、機体の進
行方向の人為的な操作と進行方向制御による操作との関
連において、以下の課題がある。 即ち、進行方向制御での制御目標方位の設定は、まず
機体の進行方向を人為的に操作する人為舵取操作具によ
り機体の進行方向を決定し、その決定した機体の進行方
向を人為舵取操作具で維持しながら制御目標方位の設定
を行なうが、このときに人為舵取操作具の操作が乱れる
と制御目標方位が適切に設定されなくなる問題がある。 また、不適切な設定が行なわれたため制御目標方位を
再度適切に設定し直す場合や、変形圃場のために途中で
制御目標方位を変更する場合において、進行方向制御の
入・切の操作と制御目標方位の設定・解除の操作が別々
に操作される構成となっていると操作が煩雑となり、制
御目標方位の変更を迅速且つ的確に行ないにくい問題が
ある。更に、進行方向の変更が迅速且つ的確に行なわれ
ないと、不本意な方向へ機体が進行してしまう事態が生
じる可能性があり、安全性の面でも問題がある。In concretely configuring the above-described related art, there are the following problems in relation to an artificial operation in the traveling direction of the body and an operation by traveling direction control. That is, in setting the control target direction in the traveling direction control, first, the traveling direction of the aircraft is determined by an artificial steering operation tool that artificially operates the traveling direction of the aircraft, and the determined traveling direction of the aircraft is artificially steered. The control target azimuth is set while being maintained by the operating tool. At this time, if the operation of the artificial steering operating tool is disturbed, there is a problem that the control target azimuth cannot be set properly. In addition, when the control target direction is appropriately set again due to improper setting, or when the control target direction is changed on the way for a deformed field, the operation and control of turning on / off the traveling direction control. If the operation of setting and canceling the target azimuth is configured to be operated separately, the operation becomes complicated, and there is a problem that it is difficult to change the control target azimuth quickly and accurately. Further, if the change of the traveling direction is not performed quickly and accurately, there is a possibility that the aircraft may proceed in an unintended direction, and there is also a problem in terms of safety.
上記課題を課題を解決するために、この発明は、機体
の絶対方位を検出する方位検出器１と、任意の時点にお
ける機体の検出方位を記憶する記憶装置３と、該記憶装
置３に記憶した方位を制御目標方位としてその方位と前
記方位検出器１により検出される方位との相違角度に基
づき機体の進行方向を補正するよう舵取作動装置を作動
させる進行方向制御装置を備えた移動農機において、前
記進行方向制御装置の作動を入・切するとともに前記制
御目標方位を設定・解除するスイッチ10を設け、該スイ
ッチ10を機体の進行方向を人為的に操作する人為舵取操
作具９の近傍に設けたことを特徴とする移動農機とし
た。In order to solve the above-described problems, the present invention provides an azimuth detector 1 for detecting an absolute azimuth of an airframe, a storage device 3 for storing a detected azimuth of the airframe at an arbitrary time, and a storage device 3 for storing the detected azimuth. A mobile agricultural machine having a traveling direction control device that operates a steering operation device so as to correct the traveling direction of the aircraft based on a difference angle between the azimuth as a control target azimuth and the azimuth detected by the azimuth detector 1. A switch 10 for turning on / off the operation of the traveling direction control device and setting / releasing the control target direction, and operating the switch 10 near an artificial steering operation tool 9 for artificially operating the traveling direction of the body. A mobile agricultural machine characterized by being provided in
この発明の移動農機は、進行方向制御装置を作動させ
るに際し、まず、人為舵取操作具９を操作して、機体の
方位を進行方向制御する制御目標方位に向ける。そし
て、その方位を人為舵取操作具９で維持しながら、スイ
ッチ10を入に操作する。このスイッチ10の入により、進
行方向制御装置の作動が入になると共に、このスイッチ
入時に検出される機体の方位が記憶装置３に記憶されて
制御目標方位が設定される。スイッチ10は人為舵取操作
具９の近傍に設けられているので、人為舵取操作具９の
操作が乱れにくい。以上のようにして、この移動農機
は、制御目標方位と方位検出器１により検出される方位
との相違角度に基づき機体の進行方向を補正するよう舵
取作動装置を作動して進行方向制御が行われて進行して
いく。 尚、不適切な設定が行なわれたため制御目標方位を再
設定する場合や、変形圃場のために途中で制御目標方位
を変更する場合は、スイッチ10を一旦切に操作する。こ
のスイッチ10の切により進行方向制御装置の作動が切に
なると共に先に設定されていた制御目標方位が解除され
る。そして、再び、前記と同様に、人為舵取操作具９で
機体の進行方向を決め直してスイッチ10を入に操作す
る。よって、人為舵取操作具９の近傍に設けられたスイ
ッチ10のみの入・切操作で制御目標方位の変更が行え
る。 よって、この移動農機は、人為舵取操作具９の近傍に
設けられたスイッチ10のみの入操作で、進行方向制御装
置の作動を入にすると共に制御目標方位を設定するの
で、進行方向制御装置の作動を容易且つ迅速に開始で
き、また、人為舵取操作具９の操作が乱れにくいので制
御目標方位の設定も適切に行われる。 また、制御目標方位を変更する場合において、進行方
向制御の入・切の操作と制御目標方位の設定・解除の操
作が人為舵取操作具９の近傍に設けられたスイッチ10の
みの入・切操作で行えるので、操作が簡単で、迅速且つ
的確な制御目標方位の変更ができる。更に、不本意な方
向へ機体が進行してしまう事態も発生しにくく、安全性
の面でも良い。When operating the traveling direction control device, the mobile agricultural machine of the present invention first operates the artificial steering operation tool 9 to direct the azimuth of the body to the control target direction for controlling the traveling direction. Then, the switch 10 is turned on while the direction is maintained by the artificial steering operation tool 9. When the switch 10 is turned on, the operation of the traveling direction control device is turned on, and the azimuth of the body detected when the switch is turned on is stored in the storage device 3 to set the control target azimuth. Since the switch 10 is provided near the artificial steering operation tool 9, the operation of the artificial steering operation tool 9 is not easily disturbed. As described above, the traveling agricultural machine operates the steering operation device so as to correct the traveling direction of the aircraft based on the difference angle between the control target direction and the direction detected by the direction detector 1 so that the traveling direction control is performed. It is done and progresses. When resetting the control target direction due to improper setting, or when changing the control target direction halfway for a deformed field, the switch 10 is once turned off. When the switch 10 is turned off, the operation of the traveling direction control device is turned off, and the previously set control target direction is released. Then, in the same manner as described above, the traveling direction of the body is re-determined by the artificial steering operation tool 9 and the switch 10 is turned on. Therefore, the control target direction can be changed by turning on / off only the switch 10 provided in the vicinity of the artificial steering operation tool 9. Therefore, this mobile agricultural machine turns on the operation of the traveling direction control device and sets the control target direction by turning on only the switch 10 provided in the vicinity of the artificial steering operation tool 9, so that the traveling direction control device is controlled. Can be started easily and quickly, and since the operation of the artificial steering operation tool 9 is hardly disturbed, the control target direction is set appropriately. When changing the control target direction, the operation of turning on / off the traveling direction control and the operation of setting / releasing the control target direction are performed only by turning on / off the switch 10 provided near the artificial steering operation tool 9. Since the operation can be performed by the operation, the operation is simple, and the control target direction can be changed quickly and accurately. Further, it is unlikely that the aircraft will advance in an undesired direction, and safety may be improved.
この発明の一実施例を図面に基づいて説明する。 走行機体２の一部に磁石針１、記憶装置３、演算装置
４とを各々設け、磁石針１の指す一定方位角度と走行機
体２の進行方向（イ）とのなす角度との相違角度を、ア
ナログ信号にて取出すべく前記磁石針１と連結して角度
センサを設け、前記角度センサから取出したアナログ信
号をディジタル信号に変換するＡ−Ｄ変換器６を前記角
度センサ５に接続して設け、前記Ａ−Ｄ変換器６から取
出したディジタル信号を、前記演算装置４の入力端子７
へ接続する。前記演算装置４と前記演算装置３とは、相
互に交信可能に接続し、前記演算装置４によって演算さ
れた結果を、出力側へ送信するべく前記演算装置４の出
力端子８からリレー装置を経て、舵取作動装置を作動さ
せるべく接続する。また、前記走行機体２のステアリン
グハンドル９の近傍に、この進行方向制御装置の作動を
入・切するスイッチ10を設け、該スイッチ10と前記入力
端子７とを接続する。 圃場の一側において、まず走行機体２をその必要とす
る方向へ試行的に走行させ、走行機体２の進行方向
（イ）を決定した後に、スイッチ10を入にすることによ
って、進行機体２の進行方位角度と磁石針１の方位角度
との相違角度を、角度センサ５によって感知し、アナロ
グ信号としてＡ−Ｄ変換器６に送り、Ａ−Ｄ変換器６か
らディジタル信号に変換して、入力端子７を経て演算装
置４へ送り、更に演算装置４から記憶装置へ送込み記憶
させる。一旦、記憶装置３によって記憶されたデータ
は、次にスイッチ10を切にするまでは保持され持続す
る。磁石針１の一定した方位角度を基準とした記憶デー
タは、演算装置４によって演算され、その結果が出力端
子８から舵取作動装置へ送られ、走行機体２は設定され
た進行方向（イ）に向かって圃場条件の影響等も加味し
ながら、その瞬間瞬間において補正を行ないつつ、進行
方向（イ）を制御して直進することができる。また、走
行機体２が畦畔際等において回向（ロ）する場合は、走
行機体２の回向操作具、例えば、作業機を上昇する油圧
操作レバーの上昇操作や作業機の伝動「切」操作によっ
て一時的に進行方向制御が中断され、通常の手動操作に
戻るが、回向（ロ）が終了して回向操作具を元に戻し直
進を開始すると同時に、記憶されているデータに基づい
て再び進行方向制御が開始される。なお、回向（ロ）を
行なった場合には、磁石針１の方位が反転するが、磁石
針１の指針との相対角を感知するようにしているので、
進行方向（イ）が反転しても支障なく進行方向制御が作
動する。 また、変形圃場等において、途中で進行方向（イ）を
変更する必要が生じるような場合には、スイッチ10を一
旦切にすると、記憶装置３による記憶が消滅するので、
あらためて新しい設定方向を決定して、スイッチ10を入
にすることにより、新しい設定方向の進行方向制御が作
用する。 このように比較的安価な装置で、スイッチ10を入・切
する操作によって、簡単に走行機体２の進行方向制御を
作用させることができるものである。An embodiment of the present invention will be described with reference to the drawings. A magnet needle 1, a storage device 3, and a computing device 4 are provided in a part of the traveling body 2, respectively, and a difference angle between a fixed azimuth angle indicated by the magnet needle 1 and an angle formed by the traveling direction (A) of the traveling body 2 is determined. An angle sensor is provided in connection with the magnetic needle 1 to take out an analog signal, and an A / D converter 6 for converting an analog signal taken out from the angle sensor into a digital signal is provided in connection with the angle sensor 5. The digital signal extracted from the A / D converter 6 is input to an input terminal 7 of the arithmetic unit 4.
Connect to The arithmetic unit 4 and the arithmetic unit 3 are communicably connected to each other, and a result calculated by the arithmetic unit 4 is transmitted from an output terminal 8 of the arithmetic unit 4 via a relay device to be transmitted to an output side. Connected to operate the steering actuating device. A switch 10 for turning on / off the operation of the traveling direction control device is provided near the steering handle 9 of the traveling body 2, and the switch 10 is connected to the input terminal 7. On one side of the field, the traveling body 2 is first run on a trial basis in a required direction, and after the traveling direction (A) of the traveling body 2 is determined, the switch 10 is turned on. A difference angle between the traveling azimuth angle and the azimuth angle of the magnet needle 1 is sensed by the angle sensor 5 and sent to the A / D converter 6 as an analog signal. The analog signal is converted from the A / D converter 6 into a digital signal. The data is sent to the arithmetic unit 4 via the terminal 7, and further sent from the arithmetic unit 4 to the storage device for storage. The data once stored by the storage device 3 is retained and maintained until the next time the switch 10 is turned off. The stored data based on the fixed azimuth angle of the magnet needle 1 is calculated by the arithmetic unit 4 and the result is sent from the output terminal 8 to the steering operation device, and the traveling body 2 is set in the set traveling direction (a). , While taking into account the influence of field conditions, etc., while making corrections at that moment, the vehicle can go straight by controlling the traveling direction (A). Further, when the traveling body 2 is turned (b) at the time of a ridge or the like, a turning operation tool of the traveling body 2, for example, a lifting operation of a hydraulic operating lever that raises the working machine or a transmission “off” of the working machine. The operation temporarily suspends the control of the traveling direction and returns to the normal manual operation. However, the turning (b) ends, the turning operation tool is returned to its original position, and straight ahead starts. Then, the traveling direction control is started again. In the case of turning (b), the azimuth of the magnet needle 1 is reversed, but since the relative angle of the magnet needle 1 to the pointer is sensed,
Even if the traveling direction (a) is reversed, the traveling direction control operates without any trouble. Further, when it is necessary to change the traveling direction (a) in the middle of a deformed field or the like, once the switch 10 is turned off, the storage in the storage device 3 is lost,
By re-determining a new setting direction and turning on the switch 10, the traveling direction control of the new setting direction operates. In this way, a relatively inexpensive device can easily control the traveling direction of the traveling machine body 2 by turning on and off the switch 10.
図は、この発明の一実施例を示すもので、第１図は電気
系統のブロック回路図、第２図は走行機体の進行順路
図、第３図は一部の側面図である。 図中、符号１は磁石針、２は走行機体、３は記憶装置、
４は演算装置、10はスイッチを示す。FIG. 1 shows an embodiment of the present invention. FIG. 1 is a block circuit diagram of an electric system, FIG. 2 is a traveling route diagram of a traveling body, and FIG. 3 is a partial side view. In the figure, reference numeral 1 denotes a magnet needle, 2 denotes a traveling body, 3 denotes a storage device,
Reference numeral 4 denotes an arithmetic unit, and reference numeral 10 denotes a switch.
Claims (1)
と、任意の時点における機体の検出方位を記憶する記憶
装置３と、該記憶装置３に記憶した方位を制御目標方位
としてその方位と前記方位検出器１により検出される方
位との相違角度に基づき機体の進行方向を補正するよう
舵取作動装置を作動させる進行方向制御装置を備えた移
動農機において、前記進行方向制御装置の作動を入・切
するとともに前記制御目標方位を設定・解除するスイッ
チ10を設け、該スイッチ10を機体の進行方向を人為的に
操作する人為舵取操作具９の近傍に設けたことを特徴と
する移動農機。An azimuth detector for detecting an absolute azimuth of an airframe.
And a storage device 3 for storing the detected orientation of the aircraft at an arbitrary point in time, based on a difference angle between the azimuth stored in the storage device 3 as a control target azimuth and the azimuth detected by the azimuth detector 1. A switch 10 for turning on / off the operation of the traveling direction control device and setting / releasing the control target direction in a mobile agricultural machine provided with a traveling direction control device for operating a steering operation device to correct the traveling direction of the aircraft. And the switch 10 is provided in the vicinity of an artificial steering operation tool 9 for artificially operating the traveling direction of the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60030881A JP2569458B2 (en) | 1985-02-18 | 1985-02-18 | Moving agricultural machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60030881A JP2569458B2 (en) | 1985-02-18 | 1985-02-18 | Moving agricultural machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61187707A JPS61187707A (en) | 1986-08-21 |
| JP2569458B2 true JP2569458B2 (en) | 1997-01-08 |
Family
ID=12316077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60030881A Expired - Lifetime JP2569458B2 (en) | 1985-02-18 | 1985-02-18 | Moving agricultural machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2569458B2 (en) |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5528184A (en) * | 1978-08-21 | 1980-02-28 | Kubota Ltd | Movable agricultural unit |
-
1985
- 1985-02-18 JP JP60030881A patent/JP2569458B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61187707A (en) | 1986-08-21 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |