JP3040070B2 - Control mechanism for unmanned agricultural vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control mechanism for an unmanned agricultural vehicle, and more particularly to a control mechanism such as spraying of a chemical solution in the course of a traveling course by a speed sprayer or the like for unmanned agricultural operation. And a control mechanism for an unmanned agricultural vehicle.

[0002]

2. Description of the Related Art In agricultural work using a speed sprayer, there is a conceivable method in which a speed sprayer is run unattended to perform required work for the purpose of reducing the adverse effect on the human body due to spraying of a chemical solution and improving the efficiency of the spraying of a chemical solution. ing. As a method of unmanned traveling of the speed sprayer, there is a method of burying an electric wire in the ground of a traveling course in a field and detecting a magnetic field generated when the electric wire is energized with a magnetic sensor attached to the speed sprayer, and guiding the traveling, a traveling course There is a method in which a guide track is provided on the ground along the road, and a speed sprayer is guided along the guide track.

[0003]

However, in the case of an unmanned traveling speed sprayer or the like, it is necessary to stop the spraying of the chemical solution during the running or change the spraying direction to change the operation contents as appropriate. is there.
When the speed sprayer is at the turn point of the traveling course, there is no need to spray the chemical, and when there is a fruit tree on only one side of the traveling course, it may be necessary to spray the chemical only on one side. Because.

In the case where the work content is changed in the course of traveling, when the speed sprayer moves to the switching position of the traveling course, the fan is stopped or the spraying direction is changed according to a switching signal or the like. Control method is sure. An object of the present invention is to provide a control mechanism for an unmanned agricultural vehicle that enables switching and control of work content at a predetermined position on a traveling course in a vehicle guided and guided unmanned.

[0005]

The present invention has the following means to achieve the above object. That is, the instruction to switch the work content is given to the work switching position in the middle of the traveling course .
A guide post having a recording section
A control mechanism for agricultural unmanned vehicle that drives by switching work in example position, the vehicle, the vehicle
It is urged to extend to the side of the main body at all times and almost water
A sensor arm rotatably supported in a flat position, and the sensor
Always extends in the direction of the sensor arm extension at the end of the arm
And is supported so that it can rotate substantially horizontally.
Sensor stay skid and the sensor stay skid
The recording unit comprising a detection sensor supported by the
A detection unit for detecting a control signal of the
A control unit for controlling the work content of the vehicle.
The id post drives the vehicle along a running course
At the time of the movement of the sensor arm,
Turn the surface on which the recording section is
It is installed so that the passing position and height position of the
Characterized in that that. Further, the detection unit including the sensor arm, the sensor stay skid, and the like can be stored in a lower surface of a vehicle body. In addition, the user is instructed to switch the work content to the work switch position in the middle of the traveling course.
A guide post with a recording section shown
A control mechanism for an unmanned agricultural vehicle that switches and drives the work content at a switching position , wherein the vehicle is
While hanging downward by its own weight on the lower surface of the vehicle body,
A rotatable sensor arm and the sensor arm
While hanging downward from the lower end of the
A rotatable sensor stay skid,
And a detection sensor supported by the sensor stay skid.
A detecting unit for detecting a control signal of the recording unit, comprising:
Control unit that controls the work content of the vehicle based on the control signal
And the guide post is provided in front of the traveling course.
Upper surface provided with the recording unit in accordance with the passing position of the recording unit
Is installed so as to protrude from the ground . Further, the recording unit is formed by a magnetic means such as a magnetic tape or a magnetic material.

[0006]

Whenever the vehicle travels on the traveling course and advances to the guide post installation position, the detecting unit detects the control signal of the work content from the recording unit of the guide post, and the control unit performs the operation based on the control signal. The work contents of the vehicle are switched and controlled. When the guide post is installed in the ground, the detection unit detects when the vehicle has advanced to the installation position of the guide post. With a sensor arm that extends to the side of the vehicle, the vehicle advances to the guide post installation position, and when the sensor arm contacts the guide post, the sensor arm rotates against the biasing force, and The sensor stay skid comes in contact with the surface on which the recording section of the post is provided.
The sensor stay skid slides on the side surface of the guide post along with the movement of the vehicle due to the urging force, during which the control unit detects a control signal. When the sensor arm is mounted to hang down by its own weight, the vehicle advances to the guide post installation position, and the sensor arm contacts the side surface of the guide post so that the sensor arm rotates and the recording section of the guide post is used. When the sensor stay skid rises on the provided surface and the sensor stay skid moves by sliding on the upper surface of the guide post, the control unit detects a control signal.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows an embodiment in which a speed sprayer is used as an unmanned agricultural vehicle. The control mechanism of the present embodiment installs a guide post in advance in a place where the work content should be changed in the middle of the traveling course of the speed sprayer set in the field, and the speed sprayer has advanced to the place where the guide post is installed At this time, a control signal from the guide post is detected by a detection portion of the speed sprayer, and the operation content of the speed sprayer is controlled based on the control signal.

FIG. 1 shows a plan view of a speed sprayer. In the speed sprayer according to the present embodiment, a retractable sensor arm 12 is extended from one outer surface of a vehicle body 10, a sensor 14 is attached to an end of the sensor arm 12, and a control signal of a guide post is detected by the sensor 14. It was configured to be. The method of guiding the speed sprayer in the field is not particularly limited, and the method can be similarly applied to a method of installing an electric wire underground or a method of using a guide track.

In the embodiment, the sensor arm 12 is extended relatively long from the outer surface of the vehicle body 10, but this extends to the side of the traveling course so as not to hinder the traveling of the speed sprayer when the guide post is installed in the field. It depends on having installed in one. In FIG. 1, reference numeral 30 denotes a guide post installed in a field. The guide post 30 is separated from the position through which the outer surface of the speed sprayer passes by about several tens cm, and is set within a range in which the sensor arm 12 extending from the vehicle body 10 can contact when the speed sprayer travels. I do.

FIG. 6 is a perspective view of the guide post 30.
FIG. 6 (a) is a perspective view from the front side, and FIG. 6 (b) is a perspective view from the rear side. Guide post 30 of embodiment
The magnetic tape 3 serves as a recording part of a control signal for controlling a speed sprayer on a surface of the support plate 32 by fixing an iron support plate 32 to a side surface of a concrete block base 30a.
4 is affixed. The guide post 30 is set up so as to face the outer surface of the speed sprayer running on the surface to which the magnetic tape 34 is attached.
4 is set so that the sticking surface is substantially parallel to the traveling direction of the speed sprayer.

The magnetic tape 34 is used by a speed sprayer traveling along a running course to detect a control signal at the guide post 30 by the sensor 14. In the embodiment, the position of the sensor 14 attached to the sensor arm 12 is determined. The magnetic tape 34 is stuck according to. Since the support plate 32 is made of a magnetic material, the magnetic tape 34
Can be easily attracted and removed by magnetism. Instead of the magnetic tape 34, another magnetic material may be used.

FIG. 2 shows an enlarged view of the mounting structure of the sensor arm 12 and the sensor 14. Reference numeral 16 denotes an arm base for supporting the sensor arm 12 on the vehicle body 10 of the speed sprayer. The sensor arm 12 is supported by the arm base 16 via an arm support shaft 18 so as to be rotatable substantially horizontally. 20 is a return spring,
The sensor arm 12 is biased so as to be constantly held in a direction substantially perpendicular to the traveling direction of the speed sprayer.

Reference numeral 22 denotes a sensor stay for supporting the sensor 14. In the embodiment, the three sensors 14 are mounted on the sensor stay 22 at equal intervals in the vertical direction. The magnetic tape 34 arranged on the guide post 30 is set in accordance with the positions of these three sensors 14. Reference numeral 24 denotes a sensor stay skid that supports the sensor stay 22. The sensor stay skid 24 is rotatably supported on a tip end of the sensor arm 12 through a shaft 26 in a substantially horizontal plane.
Are urged to extend in the same direction as the extension direction of Note that the sensor 1
The monitoring directions 4 are orthogonal to each other.

The structure of the detecting portions such as the sensor arm 12, the sensor stay skid 24, the return spring 20, and the spring 28 is surely controlled between the speed sprayer and the guide post 30 when the speed sprayer passes beside the guide post 30. This is to enable the transmission and reception of signals.

FIGS. 3, 4 and 5 show the operation of these detecting sections during the travel of the speed sprayer. FIG. 3 shows a state in which the sensor arm 12 is gradually approaching the guide post 30 while the speed sprayer is guiding the vehicle along the traveling course in the direction of the arrow. In this state, the sensor arm 12 is in a free state, and extends in a direction substantially orthogonal to the traveling course by the urging force of the return spring 20, and the sensor stay skid 24 also extends linearly in the extending direction of the sensor arm 12.

FIG. 4 shows that the sensor arm 12 abuts on the end face of the guide post 30 when the speed sprayer further advances, and the sensor arm 12 moves against the urging force of the return spring 20 when the speed sprayer advances, thereby causing the arm support shaft 18 to move. FIG. As the speed sprayer advances, the sensor arm 12 further rotates, and the sensor stay skid 2
4 contacts the inner surface of the guide post 30. At this time, the sensor stay skid 24 is bent by the support shaft 26 against the urging force of the spring 28 as shown in FIG.

FIG. 5 shows a state in which the sensor stay skid 24 is moving while contacting the inner surface of the guide post 30. The sensor 14 is supported by a sensor stay 22, and the sensor stay 24 slides on the guide post 30 so that the sensor 14 moves on the surface of the guide post 30 to which the magnetic tape 34 is attached.
The interval between the monitoring end of the sensor 14 and the plane of the sensor stay skid 24 is set in advance to an interval at which the magnetic detection by the magnetic tape 34 can be reliably performed, whereby the control signal can be reliably detected. In order to allow the surface of the sensor stay skid 24 to move in contact with the inner surface of the guide post 30 as described above, the urging force of the spring 28 needs to be set weaker than that of the return spring 20.

After the sensor stay skid 24 slides on the inner surface of the guide post 30, the return arm 28 and the urging force of the spring 28 return the sensor arm 12 and the sensor stay skid 24 to their original positions. Thus, each time the speed sprayer passes through the place where the guide post 30 is installed, the sensor 14
A control signal is detected by the control unit, and the control unit of the speed sprayer controls the speed sprayer based on the control signal detected by the detection unit in accordance with predetermined work contents such as stopping the application of the chemical solution.

The control mechanism of the above embodiment is the guide post 3
When the speed sprayer passes through the installation position of No. 0, the sensor stay skid 24 is
Is formed so as to come into contact with the surface to which the magnetic tape 34 is attached and pass through the inner surface of the guide post 30. Therefore, in order to surely transmit and receive signals like a magnetic sensor, it is necessary to approach the magnetic recording unit considerably. The control signal can be recognized with certainty even if there is, thereby enabling stable control. In the embodiment, when the magnetic tape 34 is detected by the sensor 14, the sensor 14 is set perpendicular to the magnetic tape 34 for detection, so that more reliable detection is possible.

Further, even if the speed sprayer is displaced from the traveling course due to the biasing force of the return spring 20 and the spring 28, the sensor arm 12 is provided so as to be considerably extended, and the amount of displacement is reliably detected. There is also an advantage that can be. In the case of unmanned guided traveling, the speed sprayer can be slightly deviated from the traveling course due to various external conditions. Therefore, it is important to be able to cope with the deviation of the traveling course as in the embodiment.

In the above embodiment, no particular consideration is given to the correction in the height direction when the speed sprayer travels. That is, the height of the guide post 30 is adjusted in advance according to the height at which the sensor 14 passes when the speed sprayer travels, and when the speed sprayer passes through the guide post 30, the sensor 14 and the guide post are adjusted. 30 (magnetic tape 34) are used so that the heights thereof match. When it is necessary to compensate for the displacement of the sensor 14 also in the height direction when passing through the guide post 30, the upper surface or the lower surface of the guide post 30 used in the above embodiment is used as a guide surface. With the same configuration as in the embodiment, it is possible to position the sensor 14 in the height direction.

FIGS. 7 to 10 show a speed sprayer 1 according to another embodiment of the present invention, in which retractable sensor arms 12a and 12b are attached to the lower side of a vehicle body 10 of the speed sprayer.
An example is shown in which a control signal for switching the work content is received from a guide post 30 installed on a 0 course. In this embodiment, as shown in FIG. 7, a control signal detection unit is provided at the center of the rear bottom surface of the vehicle body 10.
Therefore, the guide post 30 is installed on the center line of the traveling course.

FIG. 8 shows the structure of the detection unit mounted on the bottom surface of the vehicle body 10. Reference numeral 40 denotes a body frame, and the sensor arm 12 is mounted on the body frame 40 via a support shaft 44.
Attach the upper ends of a and 12b. As shown in FIG. 9, in the present embodiment, two sensor arms 12
a and 12b, and the sensor stay skid 24 is attached to the lower end of each of the sensor arms 12a and 12b via a shaft 46.

The sensor 14 is attached to the sensor stay 22 in the same manner as in the above embodiment. The attachment of the sensor 14 to the sensor stay 22 and the connection between the sensor stay 22 and the sensor stay skid 24 are the same as those in the above embodiment. FIG. 10 shows a guide post 30 used in the present embodiment. In the case of the present embodiment, the configuration of the guide post 30 such that the magnetic tape 34 or the magnetic material is attached to the surface in accordance with the arrangement of the sensor 14 is the same as that of the above-described embodiment. The guide post 30 is placed with the surface facing up. Guide post 30 with respect to the traveling direction (arrow) of the speed sprayer
Are arranged as shown in the figure.

FIGS. 11, 12, and 13 show an operation of detecting a control signal from the guide post 30 by the detection unit of the present embodiment. The speed sprayer of the present embodiment runs over a guide post 30 installed on a running course, and FIG. 11 shows a state where the speed sprayer is moving toward the guide post 30. The sensor arms 12a and 12b are always suspended by their own weight.

FIG. 12 shows a state in which the speed sprayer has advanced to the position where the guide post 30 is installed, and the sensor arms 12a and 12b are in contact with the side surfaces of the guide post 30. As the speed sprayer further advances, the sensor arms 12a and 12b rotate backward, and the sensor stay skid 24 rides on the upper surface of the guide post 30. The sensor stay skid 24 bends around the shaft 46 as a fulcrum, and moves forward while contacting the upper surface of the guide post 30 as shown in FIG.

FIG. 8 shows a state where the sensor arms 12a and 12b are in the lower position and a state where the sensor stay skid 24 is in the upper position where the sensor stay skid slides on the guide post 30. The sensor stay skid 24 is placed on the guide post 30.
The detection of the magnetic tape 34 by the sensor 14 and the detection of a control signal regarding the work content when the vehicle passes the same as in the above embodiment. After passing through the guide post 30, the sensor arms 12a and 12b again hang downward. In this manner, the magnetic tape 34 is detected by the sensor 14 every time the guide post 30 is passed, and the control signal of the work content is transmitted and received.

The control mechanism of the present embodiment is also reliably controlled by passing the sensor stay skid 24 in contact with the guide post 30 on the surface on which the recording portion such as the magnetic tape 34 is provided, similarly to the above-described embodiment. Although it is configured to detect a signal, in the case of the present embodiment, the sensor arm 12a, 12b or the like is always provided so as to hang downward by its own weight, so that the return spring as in the previous embodiment is used. 20. There is an advantage that it is not necessary to provide the spring 28. However, in the case of the present embodiment, it is necessary to set the height of the guide post 30 so that the speed sprayer can pass, and to allow the speed sprayer to travel without being displaced so much from the traveling course.

FIGS. 14 and 15 show a vehicle in which the retractable sensor arm 12 is extended from the outer surface of the vehicle body of the speed sprayer. The embodiment in which the sensor arm 12 can be stored in the vehicle body 10 is shown. . In the present embodiment, the base of the sensor arm 12 is supported by the movable arm base 50, and the movable arm base 50 is movably supported by the guide rail 52. The guide rail 52 extends in the direction perpendicular to the traveling direction on the lower surface of the vehicle body 10, that is, the sensor arm 1
2, the sensor arm 12 is moved to the lower surface of the vehicle body 10 to secure a length that can be stored.

As shown in FIG. 14, the sensor arm 12
Is always brought into contact with and supported by the side plate 50a of the movable arm base 50 by the urging force of the return spring 20.
The sensor arm 12 extends in a direction perpendicular to the traveling direction of the vehicle main body 10 in a state of being in contact with the side plate 50a. The side plate 50a is provided with an engagement groove 50b with which the L-shaped mounting portion 52a of the guide rail 52 is engaged. The engagement groove 50b is provided in a shape cut from the end face of the side plate 50a, and when the sensor arm 12 is pulled out, the mounting portion 52a is formed.
Is engaged, the moving arm base 50 is prevented from rotating. Since the moving arm base 50 and the guide rail 52 are only engaged by the round holes, the moving arm base 50 is rotatable around the guide rail 52, and the mounting portion 52a is engaged with the engaging groove 50b. It is not stopped until it is combined.

FIG. 15 shows the sensor arm 12 connected to the vehicle body 1.
0 shows a state stored in the lower surface. When storing the sensor arm 12, the movable arm base 50 is slid along the guide rail 52 and pushed inward, and the movable arm base 50 is rotated by 90 ° around the guide rail 52 at the pushed-in position and accommodated. Engagement groove 5 of side plate 50a
The moving arm base 50 is rotatable around the guide rail 52 when the engagement between the mounting arm 52 and the mounting portion 52a is released.
It can be easily rotated and stored. Note that the movable arm base 5 is set at the position where the movable arm base 50 is pushed in.
A fixed base table 54 is installed at a position on the back side of the guide rail 52 to support the base rails 0. The fixed base 54 is an L-shaped member, and has a support plate 54a that supports the movable arm base 50 extending from below.

The movable arm base 50 is rotated so that the sensor arm 12 is pushed in so that the sensor arm 12 is on the upper side, and the movable arm base 50 is supported on the support plate 54a. By rotating the movable arm base 50 by 90 °, the sensor arm 12 supported by the movable arm base 50 is raised and supported to a position substantially equal to the height of the guide rail 52, and is supported by the tip of the sensor arm 12. The sensor stay 22 is also horizontally supported. Even in the retracted state, the sensor arm 12 is supported in contact with the side plate 50a by the urging force of the return spring 20. This ensures that the sensor arm 22 is supported even when the speed sprayer is running.

In the present embodiment, the sensor arm 12, the sensor stay 22 and the like can be stored on the lower surface of the vehicle body 10, so that the sensor arm 12 is stored in the case of normal running other than unmanned running. 1
2 can be prevented from hindering traveling. Further, since the movable arm base 50 is stored by rotating the movable arm base 50 by 90 ° when stored in the lower surface of the vehicle body 10, the sensor arm 12 and the sensor stay 22 can be stored without protruding from the lower surface of the vehicle body 10, It can be stored so as not to interfere with traveling. In the present embodiment, the method of extending the sensor arm 12 from the vehicle body and detecting a control signal from the guide post 30 to perform unmanned traveling is the same as in the above-described embodiment.

In each of the embodiments described above, the control signal to the speed sprayer is detected using a magnetic sensor. However, various data can be recorded on the magnetic tape 34 as a magnetic recording section. Further, the control of the speed sprayer is not limited to the control by the magnetic control signal, but can be controlled by the optical reading, the optical control signal, and the electric control signal. Even when optical or electrical signals are used, it is effective to accurately position the sensor 14 with respect to the guide post 30 so that data can be transferred, etc., in order to perform reliable control.

In each of the above embodiments, the case where the guide post 30 is installed on the ground is shown. However, the guide post 30 is buried in the ground in the traveling course of the speed sprayer, and the vehicle is mounted on the guide post 30. It is also possible to make the detection unit detect the control signal when passing.
A guide line for unmanned traveling of a speed sprayer may be installed in the ground, but the guide post 30 is located at a position where it does not interfere with this, and can be reliably detected by a method that does not interfere, for example, a magnetic detection method. It is possible. In the case of the method of installing the guide post in the ground as described above, the detection unit on the vehicle side needs to be able to detect in a separated state unlike the above-described embodiment.

In the above embodiment, a speed sprayer has been described as an example. However, the present invention is not limited to a speed sprayer, and the same applies to an unmanned agricultural vehicle which is controlled so as to change the work content during a running course and to drive. Can be applied to

[0037]

According to the control mechanism for an unmanned agricultural vehicle according to the present invention, as described above, when the vehicle is controlled so as to change the work content in the course of the running course, the work content is surely changed. , And it is possible to reliably and easily change the work content during unmanned traveling.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an arrangement position of a detection unit in an unmanned traveling speed sprayer.

FIG. 2 is an explanatory diagram illustrating a configuration of a detection unit such as a sensor arm.

FIG. 3 is an explanatory diagram illustrating a detection operation by a detection unit.

FIG. 4 is an explanatory diagram illustrating a detection operation by a detection unit.

FIG. 5 is an explanatory diagram illustrating a detection operation by a detection unit.

FIG. 6 is a perspective view of a guide post.

FIG. 7 is an explanatory diagram showing an arrangement position of a detection unit in an unmanned traveling speed sprayer.

FIG. 8 is an explanatory diagram showing a mounting state of a detection unit.

FIG. 9 is a perspective view of a mounting structure for a sensor arm and the like.

FIG. 10 is a perspective view of a guide post.

FIG. 11 is an explanatory diagram illustrating a detection operation by a detection unit.

FIG. 12 is an explanatory diagram illustrating a detection operation by a detection unit.

FIG. 13 is an explanatory diagram illustrating a detection operation performed by a detection unit.

FIG. 14 is a perspective view of an embodiment in which a sensor arm can be stored in a lower surface of a vehicle body.

FIG. 15 is a perspective view showing a state in which a sensor arm is stored.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Vehicle main body 12, 12a, 12b Sensor arm 14 Sensor 16 Arm base 20 Return spring 22 Sensor stay 24 Sensor stay skid 28 Spring 30 Guide post 32 Support plate 34 Magnetic tape 40 Body frame 50 Moving arm base 52 Guide

Claims (4)

(57) [Claims] 1. At a work switching position in the middle of a traveling course
A guide port having a recording unit for instructing switching of work contents
Set up a strike, control mechanism der of agricultural unmanned vehicle to drive by switching your work in the working switching position
Therefore, the vehicle is urged in a direction to always extend to the side of the vehicle body.
A sensor arm supported rotatably substantially horizontally, and
How to extend the sensor arm always at the tip of the sensor arm
Energizes to extend in the direction and can be rotated substantially horizontally
A supported sensor stay skid and the sensor stay
Before having a sensor for detection supported on a skid
A detecting unit for detecting a control signal of the recording unit, and a control for controlling a work content of the vehicle based on the control signal
Part, and the guide post is provided when the vehicle travels along a traveling course.
A surface on which the recording unit is provided within a moving range of the sensor arm.
With the sensor stay skid facing the passing side of the vehicle.
It is characterized by being installed at the passage position and height position
Control system for agricultural unmanned vehicles. 2. The sensor arm and the sensor stay.
The detection unit including the kid etc. can be stored in the lower surface of the vehicle body
The agricultural unmanned running according to claim 1, characterized in that:
Vehicle control mechanism. 3. A work switching position in the middle of a traveling course.
A guide port having a recording unit for instructing switching of work contents
Set up a strike, control mechanism der of agricultural unmanned vehicle to drive by switching your work in the working switching position
Therefore, when the vehicle hangs down on the lower surface of the vehicle body by its own weight,
A sensor arm rotatably mounted on the sensor arm and the sensor
-If you hang down from the lower end of the arm by its own weight
And a sensor stay skid, which is mounted rotatably
A detection sensor supported by the sensor stay skid;
A detecting unit for detecting a control signal of the recording unit, comprising:
And control for controlling the work content of the vehicle based on the control signal.
And the guide post is aligned with a passing position of the detection unit on the traveling course.
Make sure that the top surface with the recording section is
And a control mechanism for an unmanned agricultural vehicle. 4. The recording unit according to claim 1, wherein the recording unit is a magnetic tape or a magnetic material.
Claim 1, characterized in that it is by a pneumatic means
4. The control mechanism for an unmanned agricultural vehicle according to 2 or 3.