JP2919138B2 - Automatic steering control device for mobile farm machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic steering control device for a mobile agricultural machine for performing intermediate management operations such as fertilization, control, weeding, and grooving.

[0002]

2. Description of the Related Art Recently, in a mobile agricultural machine for performing intermediate management work such as fertilization and pest control, a traveling machine is provided with a pair of left and right sensors for detecting a crop streak. It has been proposed to perform automatic steering control of a traveling body by comparing detection values. In the past, however, since the crop streak was detected by a digital contact sensor (such as a detection switch that detects the swing angle of the detection bar in a stepwise manner), the sensitivity was inevitably reduced and high-precision automatic steering control could be performed. There was no reality. Therefore, it is conceivable that the detection sensor is configured by an analog contact sensor to perform high-precision detection. In this case, although a fine detection value can be obtained, the recoil and vibration of the detection bar are also strict. Even if the provisional peak hold value is compared, in the simple comparison state after the end of the hold time, the reversal phenomenon of the left and right detection values frequently occurs based on the sharp fluctuation of the detection value. If there is a shift in the planting position of the left and right detection crop strips, it is not possible to perform smooth control, and there is a disadvantage that an appropriate detection value cannot be obtained, which has been a problem.

[0003]

SUMMARY OF THE INVENTION In view of the above-mentioned circumstances, the present invention has been made with the object of providing an automatic steering control device for a mobile agricultural machine capable of eliminating these disadvantages. According to the first invention, a pair of left and right analog contact sensors that detect crops is compared with a pair of left and right analog contact sensors that detect crops, and the traveling body is automatically operated by comparing the left and right detection values of the contact sensors. Detection value input means for inputting a detection value of a contact sensor to the automatic steering control unit at predetermined time intervals (1 / fs); Detection value storage means for sequentially storing the detected values in different storage areas, and detection values for a predetermined number of past times (n) of the stored detection values are added to obtain comparison data for automatic steering control To provide value calculation means
The predetermined number of times (n) in the past is the detection interval of the contact sensor.
To the integer multiple of the inter-stock period (t) calculated from
Reciprocal (fs) of a predetermined time when the detection value of the tactile sensor is input
And a number calculated by multiplying the number . Further, the second invention is to automatically steer the traveling body by comparing a pair of left and right analog contact sensors for detecting the crop with the traveling body traveling between the existing crop lines and the left and right detection values of the contact sensor. In a mobile agricultural machine provided with an automatic steering control unit for controlling, a detection value input means for inputting a detection value of a contact sensor to the automatic steering control unit every predetermined time (1 / fs); Detection value storage means for sequentially storing detection values in different storage areas; and a maximum value or a minimum value extracted from detection values of a predetermined number of times (n) in the past among the stored detection values for automatic steering control. In providing detection value extraction means as comparison data, the predetermined number of times (n) in the past
Multiply the inter-stock period (t) calculated from the sensor detection interval by an integer
A predetermined time during which the detection value of the contact sensor is input to the
The number is calculated by multiplying the reciprocal (fs) of . According to the present invention, with this configuration, smooth automatic steering control can be performed.

[0004]

Next, a first embodiment of the present invention will be described with reference to the drawings. In the drawing, reference numeral 1 denotes a traveling machine of a riding type rice transplanter. The traveling machine 1 has a spraying machine (a lifting machine 2) at a rear portion thereof through an elevating link 2 for performing a pest control operation in a field where crops are already planted. A boom sprayer 3 is connected, and each of the operation units such as a steering wheel, a brake, an accelerator, and a clutch operated by an operator is provided with an unmanned operation mechanism having an actuator.

[0005] Reference numeral 4 denotes a pair of left and right support stays provided at the front end of the fuselage.
Inclined downward and rearward from the front end of the fuselage so as to be located in front of the front wheels F traveling between the existing crop streaks and between the crop streaks adjacent to the inside of the machine with respect to the crop staves where the front wheel F runs. A detection bar 5a protruding left and right outward and an analog angle for detecting a change in the angle of the detection bar 5a (a swing angle based on contact with a crop). The detection sensor 5 including the sensor 5b is provided.

On the other hand, reference numeral 6 denotes a control box provided at the rear of the driver's seat 7, and the control box 6 is provided to house a control unit 8 to be described later. Is provided with a sensor box 9 containing a receiver and various sensors, and a driver box 10 containing various driver circuits is provided below the driver's seat 7 which is a lower front position of the control box 6.

The control section 8 is constituted by using a so-called micro computer unit (including a CPU, a RAM, a ROM, etc.), which inputs signals from the receiver, the detection sensor 5 and the like. On the other hand, an operation signal is output to each unmanned operation mechanism based on the determination based on these input signals. That is, the control unit 8 compares the detection values of the left and right detection sensors 5 with the remote operation control for controlling each unmanned operation mechanism based on the remote operation signal issued from the transmitter so that the two detection values match. Automatic heading control for steering operation, and headland processing for judging a headland by period measurement (inter-stock period) based on the detection value of the detection sensor 5 and automatically stopping or automatically turning the traveling body 1 based on the judgment. Although various controls such as control are configured to be performed, the automatic steering control which is the gist of the present invention among these controls will be described in detail based on a flowchart.

The automatic steering control includes an interrupt routine for reading a detected value, a calculation routine for calculating the read detected value, and an unmanned steering based on the calculated data. The automatic steering routine controls the actuator of the operation mechanism.The automatic steering routine compares the left and right detection data while taking the dead zone α into consideration, and based on the data comparison, the automatic steering routine of the unmanned steering operation mechanism. This is a general actuation of the actuator.

On the other hand, the interrupt routine is executed at predetermined time intervals (1 /
fs), the detection values DθL, DθR of the left and right detection sensor 5 are read, and the read detection values DθL, DθR are stored in the memory, respectively. In the interrupt routine of the present invention, the detection values DθL, DθR Each time data is read, the storage counter STRCNT is incremented, and the storage counter STRCNT is read from the start address DθL00, DθR.
Detected values DθL, D
Since each of θR is configured to be stored, not only the detection value read this time but also the read data of the past m times are sequentially stored and held. When the storage addresses reach the final addresses DθLm and DθRm, the storage counter STRCNT is reset to store the detected values again from the top addresses DθL00 and DθR00.

Further, the calculation routine calculates the final detected data used in the automatic steering routine by calculating the stored detection values DθL and DθR. In the calculation routine of the present invention, , The number of sampling data n is calculated, and the stored detection values for the past n times are cumulatively added to set the final comparison data LSUM and RSUM. That is, the comparison data LSUM and RSUM are calculated based on the stored detection values for the past n times to smooth the comparison data. Note that the cumulative addition for the past n times is based on the previous storage address (the storage counter STRCNT is changed to the top address DθL00, DθR00
The calculation is performed by going back n times in the negative direction from the above, and the storage address of the added data is the top address DθL.
When it reaches 00 and DθR00, cumulative addition is continuously performed in the minus direction from the final addresses DθLm and DθRm.

The number of sampling data n
Is set to the number of detection values stored while traveling an integer multiple of the inter-stock distance (in the embodiment, twice).
That is, the inter-stock period t measured in the headland processing control.
Is multiplied by an integer to obtain the required travel time T, and is calculated by multiplying the required travel time T by the interrupt frequency fs. Since the addition is performed to set the comparison data, it is possible to allow a deviation in the planting position between the left and right crop detection lines.

In the first embodiment of the present invention configured as described above, the control unit 8 controls the automatic steering of the traveling body 1 based on the detection of the left and right detection sensor 5 which is an analog contact sensor. However, the detection values of the left and right detection sensors 5 are sequentially stored in the memory at predetermined time intervals, and are cumulatively added by n times in the past, and then adopted as comparison data in the automatic steering routine. Therefore, as in the related art in which the current value of the detection sensor 5 is used as it is in the data of the automatic steering routine, the fluctuation of the detection value based on the reaction or vibration of the detection bar 5a is directly reflected in the automatic steering control. If it is possible to reliably prevent the failure, it is also possible to eliminate the frequent occurrence of the reversal phenomenon of the left and right detection values based on the sharp fluctuation of the detection value, and as a result, the smoothed comparison data Based on this, extremely smooth automatic steering control can be performed.

Moreover, since the detection values are cumulatively added, the detection results are effectively used without wasting the detection results as in the case of using only the peak value among the detection values. Can be improved.

Further, in this apparatus, since the detection values during the required travel time of an integral multiple of the inter-stock distance are cumulatively added and set as comparison data, even if the provisional left and right detection crops have a misalignment of the planting position, this is removed. Allowable and smooth automatic steering control can be performed.

Next, a second embodiment of the present invention will be described with reference to the drawings. However, since the only difference from the first embodiment lies in the operation routine, the description of other components will be omitted. In the calculation routine of the second embodiment, the number of sampling data n is calculated in the same manner as in the first embodiment. However, instead of cumulatively adding the storage detection values of the past n times, the storage detection of the past n times is performed. The value is retrieved, the maximum value is picked up, and the final comparison data is set. That is, setting the comparison data based on the detected values of the past n times so that the comparison data does not fluctuate drastically has the same meaning as in the first embodiment. Even in the case of the first embodiment, since the past maximum value is held, it is possible to prevent the erroneous steering control based on the detection of the lack of stock from being performed, which is an effect that cannot be achieved in the first embodiment. Can be provided.

The present invention is, of course, not limited to the above-described embodiment, and it goes without saying that the sampling frequency, the multiple of the distance between the stocks and the like can be changed as appropriate, and the running speed is kept constant. For example, the number of sampling data n can be set to a constant value. Further, the comparison data picked up in the second embodiment is not necessarily limited to the maximum value, and smooth comparison data can be obtained even if the minimum value is picked up. Furthermore, the calculation routines of the first embodiment and the second embodiment do not necessarily need to be independent. For example, both control routines are provided in the control unit, and the calculation routine of the first embodiment is always used. If there is a stock, the operation may be switched to the calculation routine of the second embodiment.

[0017]

In summary, since the present invention is constructed as described above, it is possible to compare the left and right detection values of an analog type contact sensor for detecting a crop with a traveling machine running between existing crop streaks. While the automatic steering control is being performed, the contact values input every predetermined time are sequentially stored in different storage areas, and the detected values for the past predetermined number of times of the stored detection values are added to perform the automatic steering control. Therefore, smooth comparison data can be obtained. Therefore, as if the current detection value is used as the comparison data as it is, the change in the detection value based on the recoil or vibration of the detection bar is reflected as it is in the automatic steering control, or the left and right detection is performed based on the severe change in the detection value. The inconvenience that the value reversal phenomenon occurs frequently can be prevented, so that the smoothness of the automatic traveling control is improved .

In addition, since the detection values are added, the detection results are effectively used and the detection accuracy is improved without wasting the detection results as in the case of using only the peak value among the detection values. Can be measured.

Further, in adding the detection values of the past predetermined number of times to make comparison data , the past predetermined number of times is determined by the contact cell.
Of the inter-stock period calculated from the sensor detection interval
The predetermined time during which the detection value of the contact sensor is input
Since this is a number calculated by multiplying the number, it is possible to tolerate any misalignment of the planting position in the provisional left and right detection crops. it is possible to tolerate a shift of planting positions by causing corresponding to the number of data obtained during the times running.

In addition, the contact values input at predetermined time intervals are sequentially stored in different storage areas, and a maximum value or a minimum value is extracted from the stored detection values of a predetermined number of times in the past to perform automatic steering. In making comparison data for control, the predetermined number of times in the past is calculated between stocks calculated from the detection interval of the contact sensor.
The detection value of the contact sensor is input to an integer multiple of the cycle
If the number is calculated by multiplying the reciprocal of the predetermined time , the comparison data is smoothed in the same manner as described above, so that smooth automatic steering control can be performed. It is possible to maintain the past maximum value even if there is a missing stock in the provisional command crop,
Ketsukabu can to eliminate the inconvenience of performing automatic steering control was Ayamatsu measures on improvement of control accuracy based on.

[Brief description of the drawings]

FIG. 1 is a side view of a traveling machine body.

FIG. 2 is a block diagram schematically showing a control mechanism.

FIG. 3 is a flowchart showing an interrupt routine.

FIG. 4 is a flowchart showing a calculation routine.

FIG. 5 is a flowchart showing an automatic steering routine.

FIG. 6 is an address map of a memory.

FIG. 7 is a timing chart showing the operation.

FIG. 8 is a flowchart showing a calculation routine of the second embodiment.

FIG. 9 is a timing chart showing the operation of the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 5 Detection sensor 5a Detection bar 5b Angle sensor 8 Control part

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masami Matsuoka 667 Iida-machi, Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture Inside Mitsubishi Agricultural Machinery Co., Ltd. 667, Machi-cho 1 Mitsubishi Agricultural Machinery Co., Ltd. (56) References JP-A-59-42807 (JP, A) JP-A-62-285710 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , (DB name) A01B 69/00 G05D 1/02

Claims (2)

(57) [Claims] 1. A traveling machine that travels between existing crop lines,
A mobile agricultural machine comprising: a pair of left and right analog contact sensors for detecting crops; and an automatic steering control unit for automatically steering and controlling the traveling body by comparing left and right detection values of the contact sensors. A detection value input unit for inputting a detection value of the contact sensor to the control unit every predetermined time (1 / fs); a detection value storage unit for sequentially storing the input detection value in different storage areas; Upon provision of a detection value calculating means to compare data for automatic steering control by adding the detection value of the past predetermined number of times (n) min of the detection values, the last predetermined number of times
(N) is the inter-stock circumference calculated from the detection interval of the contact sensor.
The detection value of the contact sensor is obtained by multiplying the period (t) by an integer.
It is calculated by multiplying the reciprocal (fs) of the input predetermined time.
An automatic steering control device for a mobile agricultural machine, wherein 2. A traveling machine that travels between existing crop lines,
A mobile agricultural machine comprising: a pair of left and right analog contact sensors for detecting crops; and an automatic steering control unit for automatically steering and controlling the traveling body by comparing left and right detection values of the contact sensors. A detection value input unit for inputting a detection value of the contact sensor to the control unit every predetermined time (1 / fs); a detection value storage unit for sequentially storing the input detection value in different storage areas; near providing a detection value extracting means to compare data for automatic steering control from the detection value of the past predetermined number of times (n) min of the detection value by extracting the maximum value or minimum value
The predetermined number of times (n) in the past is the detection interval of the contact sensor.
To an integer multiple of the inter-stock period (t) calculated from
The reciprocal (f) of a predetermined time during which the detection value of the contact sensor is input
An automatic steering control device for a mobile agricultural machine, wherein the number is calculated by multiplying s) .